Instrumentation & Measurement Magazine 24-3 - 88

representations of objects
can be generated based
on the distance between a
robot and the object (i.e.,
closer objects at higher resolution). Our experiments
conducted over a dataset of 43 objects suggest
that an average compression rate of 95.74 % can be
achieved without distorting the object.

3D Object
Recognition
3D object detection and
recognition using robotmounted cameras is a
relatively well-established
Fig. 3. Selectively simplified 3D modeling using the enhanced model of visual attention.
task in robotics. Literature
on 3D object recognition
the quality of a simplified mesh, a non-maximum suppression can be broadly grouped into conventional methods that rely
scheme is applied to avoid a large number of salient points oc- on feature extraction from segmented images and use a clascurring within the same neighborhood over the mesh of the sifier to recognize objects, and deep learning-based method
object. Salient points are finally projected to 3D as a list of ver- where feature extraction, object localization and recognition
tices which should be preserved while other vertices remain are all performed using a deep convolutional neural network
accessible to Qslim algorithm for simplification [11]. Qslim al- (CNN) based architecture. Conversely, tactile object recognigorithm is one of the most popular and efficient simplification tion can be performed either through dynamic or static touch.
algorithms where vertex pairs are iteratively contracted while While dynamic touch relies on data acquisition through movmaintaining a surface error metric. It simplifies 3D objects uni- ing the sensing probe over the surface of object, a static touch
formly without considering the minor local features which are is performed with an immobile tactile sensor contacting an obdecisive in the representation of an object, justifying why the ject. Static touches capture local shape of an object, including
important salient areas are not subject to simplification. Us- small scale deformations on its surface, as illustrated in Fig. 4.
ing the proposed approach, different Level of Details (LoD) The acquisition of static tactile data requiring the movement

Fig. 4. Object recognition from haptic glance.
88	

IEEE Instrumentation & Measurement Magazine	

May 2021



Instrumentation & Measurement Magazine 24-3

Table of Contents for the Digital Edition of Instrumentation & Measurement Magazine 24-3

No label
Instrumentation & Measurement Magazine 24-3 - No label
Instrumentation & Measurement Magazine 24-3 - Cover2
Instrumentation & Measurement Magazine 24-3 - 1
Instrumentation & Measurement Magazine 24-3 - 2
Instrumentation & Measurement Magazine 24-3 - 3
Instrumentation & Measurement Magazine 24-3 - 4
Instrumentation & Measurement Magazine 24-3 - 5
Instrumentation & Measurement Magazine 24-3 - 6
Instrumentation & Measurement Magazine 24-3 - 7
Instrumentation & Measurement Magazine 24-3 - 8
Instrumentation & Measurement Magazine 24-3 - 9
Instrumentation & Measurement Magazine 24-3 - 10
Instrumentation & Measurement Magazine 24-3 - 11
Instrumentation & Measurement Magazine 24-3 - 12
Instrumentation & Measurement Magazine 24-3 - 13
Instrumentation & Measurement Magazine 24-3 - 14
Instrumentation & Measurement Magazine 24-3 - 15
Instrumentation & Measurement Magazine 24-3 - 16
Instrumentation & Measurement Magazine 24-3 - 17
Instrumentation & Measurement Magazine 24-3 - 18
Instrumentation & Measurement Magazine 24-3 - 19
Instrumentation & Measurement Magazine 24-3 - 20
Instrumentation & Measurement Magazine 24-3 - 21
Instrumentation & Measurement Magazine 24-3 - 22
Instrumentation & Measurement Magazine 24-3 - 23
Instrumentation & Measurement Magazine 24-3 - 24
Instrumentation & Measurement Magazine 24-3 - 25
Instrumentation & Measurement Magazine 24-3 - 26
Instrumentation & Measurement Magazine 24-3 - 27
Instrumentation & Measurement Magazine 24-3 - 28
Instrumentation & Measurement Magazine 24-3 - 29
Instrumentation & Measurement Magazine 24-3 - 30
Instrumentation & Measurement Magazine 24-3 - 31
Instrumentation & Measurement Magazine 24-3 - 32
Instrumentation & Measurement Magazine 24-3 - 33
Instrumentation & Measurement Magazine 24-3 - 34
Instrumentation & Measurement Magazine 24-3 - 35
Instrumentation & Measurement Magazine 24-3 - 36
Instrumentation & Measurement Magazine 24-3 - 37
Instrumentation & Measurement Magazine 24-3 - 38
Instrumentation & Measurement Magazine 24-3 - 39
Instrumentation & Measurement Magazine 24-3 - 40
Instrumentation & Measurement Magazine 24-3 - 41
Instrumentation & Measurement Magazine 24-3 - 42
Instrumentation & Measurement Magazine 24-3 - 43
Instrumentation & Measurement Magazine 24-3 - 44
Instrumentation & Measurement Magazine 24-3 - 45
Instrumentation & Measurement Magazine 24-3 - 46
Instrumentation & Measurement Magazine 24-3 - 47
Instrumentation & Measurement Magazine 24-3 - 48
Instrumentation & Measurement Magazine 24-3 - 49
Instrumentation & Measurement Magazine 24-3 - 50
Instrumentation & Measurement Magazine 24-3 - 51
Instrumentation & Measurement Magazine 24-3 - 52
Instrumentation & Measurement Magazine 24-3 - 53
Instrumentation & Measurement Magazine 24-3 - 54
Instrumentation & Measurement Magazine 24-3 - 55
Instrumentation & Measurement Magazine 24-3 - 56
Instrumentation & Measurement Magazine 24-3 - 57
Instrumentation & Measurement Magazine 24-3 - 58
Instrumentation & Measurement Magazine 24-3 - 59
Instrumentation & Measurement Magazine 24-3 - 60
Instrumentation & Measurement Magazine 24-3 - 61
Instrumentation & Measurement Magazine 24-3 - 62
Instrumentation & Measurement Magazine 24-3 - 63
Instrumentation & Measurement Magazine 24-3 - 64
Instrumentation & Measurement Magazine 24-3 - 65
Instrumentation & Measurement Magazine 24-3 - 66
Instrumentation & Measurement Magazine 24-3 - 67
Instrumentation & Measurement Magazine 24-3 - 68
Instrumentation & Measurement Magazine 24-3 - 69
Instrumentation & Measurement Magazine 24-3 - 70
Instrumentation & Measurement Magazine 24-3 - 71
Instrumentation & Measurement Magazine 24-3 - 72
Instrumentation & Measurement Magazine 24-3 - 73
Instrumentation & Measurement Magazine 24-3 - 74
Instrumentation & Measurement Magazine 24-3 - 75
Instrumentation & Measurement Magazine 24-3 - 76
Instrumentation & Measurement Magazine 24-3 - 77
Instrumentation & Measurement Magazine 24-3 - 78
Instrumentation & Measurement Magazine 24-3 - 79
Instrumentation & Measurement Magazine 24-3 - 80
Instrumentation & Measurement Magazine 24-3 - 81
Instrumentation & Measurement Magazine 24-3 - 82
Instrumentation & Measurement Magazine 24-3 - 83
Instrumentation & Measurement Magazine 24-3 - 84
Instrumentation & Measurement Magazine 24-3 - 85
Instrumentation & Measurement Magazine 24-3 - 86
Instrumentation & Measurement Magazine 24-3 - 87
Instrumentation & Measurement Magazine 24-3 - 88
Instrumentation & Measurement Magazine 24-3 - 89
Instrumentation & Measurement Magazine 24-3 - 90
Instrumentation & Measurement Magazine 24-3 - 91
Instrumentation & Measurement Magazine 24-3 - 92
Instrumentation & Measurement Magazine 24-3 - 93
Instrumentation & Measurement Magazine 24-3 - 94
Instrumentation & Measurement Magazine 24-3 - 95
Instrumentation & Measurement Magazine 24-3 - 96
Instrumentation & Measurement Magazine 24-3 - 97
Instrumentation & Measurement Magazine 24-3 - 98
Instrumentation & Measurement Magazine 24-3 - 99
Instrumentation & Measurement Magazine 24-3 - 100
Instrumentation & Measurement Magazine 24-3 - Cover3
Instrumentation & Measurement Magazine 24-3 - Cover4
https://www.nxtbook.com/allen/iamm/26-6
https://www.nxtbook.com/allen/iamm/26-5
https://www.nxtbook.com/allen/iamm/26-4
https://www.nxtbook.com/allen/iamm/26-3
https://www.nxtbook.com/allen/iamm/26-2
https://www.nxtbook.com/allen/iamm/26-1
https://www.nxtbook.com/allen/iamm/25-9
https://www.nxtbook.com/allen/iamm/25-8
https://www.nxtbook.com/allen/iamm/25-7
https://www.nxtbook.com/allen/iamm/25-6
https://www.nxtbook.com/allen/iamm/25-5
https://www.nxtbook.com/allen/iamm/25-4
https://www.nxtbook.com/allen/iamm/25-3
https://www.nxtbook.com/allen/iamm/instrumentation-measurement-magazine-25-2
https://www.nxtbook.com/allen/iamm/25-1
https://www.nxtbook.com/allen/iamm/24-9
https://www.nxtbook.com/allen/iamm/24-7
https://www.nxtbook.com/allen/iamm/24-8
https://www.nxtbook.com/allen/iamm/24-6
https://www.nxtbook.com/allen/iamm/24-5
https://www.nxtbook.com/allen/iamm/24-4
https://www.nxtbook.com/allen/iamm/24-3
https://www.nxtbook.com/allen/iamm/24-2
https://www.nxtbook.com/allen/iamm/24-1
https://www.nxtbook.com/allen/iamm/23-9
https://www.nxtbook.com/allen/iamm/23-8
https://www.nxtbook.com/allen/iamm/23-6
https://www.nxtbook.com/allen/iamm/23-5
https://www.nxtbook.com/allen/iamm/23-2
https://www.nxtbook.com/allen/iamm/23-3
https://www.nxtbook.com/allen/iamm/23-4
https://www.nxtbookmedia.com