This module is a solution for Task 4-1 of the TACMAN project. The robot incrementally constructs the surface of an object using tactile sensors. This module implements two solutions: one based on Gaussian process regression and one based on Gaussian process classification. For more details please read the README file.
iCub: YARP, icub-main and icub-contrib
Use cmake to compile for your OS distribution. Under Linux you can compile it as follows:
mkdir build
cd build
ccmake ..
make install
object-surface-exploration --from <config-file>
/object-surface-exploration/rpc:i
commands:
Help
display available commands
explore <exploration-type> <object-name>
explores the workspace defined in the config file. Valid exploration-types are: regression, classification and multi
Jamali, N; Ciliberto, C ; Rosasco, L; Natale,~L (2016). ``Active perception: Building Objects' Models using Tactile Exploration''. In the proceedings of the IEEE-RAS International Conference on Humanoids.