ViTac: Feature Sharing between Vision and Tactile Sensing for Cloth Texture Recognition

Shan Luo, Wenzhen Yuan, Edward Adelson, Anthony G. Cohn and Raul Fuentes


Abstract

Vision and touch are two of the important sensing modalities for humans and they offer complementary information for sensing the environment. Robots could also benefit from such multi-modal sensing ability. In this paper, addressing for the first time (to the best of our knowledge) texture recognition from tactile images and vision, we propose a new fusion method named Deep Maximum Covariance Analysis (DMCA) to learn a joint latent space for sharing features through vision and tactile sensing. The features of camera images and tactile data acquired from a GelSight sensor are learned by deep neural networks. But the learned features are of a high dimensionality and are redundant due to the differences between the two sensing modalities, which deteriorates the perception performance. To address this, the learned features are paired using maximum covariance analysis. Results of the algorithm on a newly collected dataset of paired visual and tactile data relating to cloth textures show that a good recognition performance of greater than 90\% can be achieved by using the proposed DMCA framework. In addition, we find that the perception performance of either vision or tactile sensing can be improved by employing the shared representation space, compared to learning from unimodal data.

Information

title:
ViTac: Feature Sharing between Vision and Tactile Sensing for Cloth Texture Recognition
author:
Shan Luo,
Wenzhen Yuan,
Edward Adelson,
Anthony G. Cohn and Raul Fuentes
citation:
Robotics and Automation (ICRA), 2018 IEEE International Conference on arXiv:1802.07490v2 [cs.RO]
shortcite:
arXiv:1802.07490v2 [cs.RO]
year:
2018
created:
2018-03-13
keyword:
adelson,
wenzhen
www:
http://persci.mit.edu/pub_abstracts/vitac-feature-sharing-between-vision-and-tactile-sensing-for-cloth-texture-recognition.html
pdf:
https://arxiv.org/pdf/1802.07490.pdf
pageid:
vitac-feature-sharing-between-vision-and-tactile-sensing-for-cloth-texture-recognition
type:
publication
 
pub_abstracts/vitac-feature-sharing-between-vision-and-tactile-sensing-for-cloth-texture-recognition.html.txt · Last modified: 2018/12/20 20:05 by elmer