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Tactile Sensing Using Machine Learning-Driven Electrical Impedance Tomography
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DOI：10.1109/JSEN.2021.3054870.png)
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Abstract
En 中文
Electrical Impedance Tomography (EIT) tactile sensors have limited success in equipping robots with tactile sensing capabilities due to the low spatial resolution of the resulting tactile images and the presence of image artifacts. To address these limitations, we propose a modular framework for invariant recognition of objects, within the context of an EIT artificial skin sensor. Three interconnected problems, i.e., EIT image reconstruction, segmentation and object recognition, are tackled in this work with the aid of machine learning. A novel conductivity surface decomposition approach, based on low order bivariate polynomials and RBF networks is introduced for the efficient solution of the EIT inverse problem. Next, segmentation of the reconstructed images is performed using a convolutional neural network and transfer learning. Finally, a subspace KNN ensemble classifier is trained on the set of object descriptors extracted from the segmented inhomogeneities to classify the objects. The proposed framework provides an accuracy of 97.5% on unseen data.
Keywords:
Sensors
Image reconstruction
Voltage measurement
Image segmentation
Shape
Object recognition
Conductivity
Electrical impedance tomography
tactile sensing
image reconstruction
segmentation
object recognition
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