arXiv subjects

Shan Luo

Publications and source records attributed to Shan Luo.

95 records · Page 6Linked to original sources

arXiv2017

Localizing the Object Contact through Matching Tactile Features with Visual Map

This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile object identification. To apply it in robotics, we propose to localize tactile readings in visual images by sharing same sets of feature descriptors through two sensing modalities. It is then treated as a probabilistic estimation problem solved in a framework of recursive Bayesian filtering. Feature-based measurement model and Gaussian based motion model are thus built. In our tests, a tactile array sensor is utilized to generate tactile images during interaction with objects and the results have proven the feasibility of our proposed framework.

cs.RO↗

arXiv2017

Iterative Closest Labeled Point for Tactile Object Shape Recognition

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize objects using both tactile and kinesthetic information.The iCLAP first assigns different local tactile features with distinct label numbers. The label numbers of the tactile features together with their associated 3D positions form a 4D point cloud of the object. In this manner, the two sensing modalities are merged to form a synthesized perception of the touched object. To recognize an object, the partial 4D point cloud obtained from a number of touches iteratively matches with all the reference cloud models to identify the best fit. An extensive evaluation study with 20 real objects shows that our proposed iCLAP approach outperforms those using either of the separate sensing modalities, with a substantial recognition rate improvement of up to 18%.

cs.RO↗

arXiv2011

Selection Consistency of EBIC for GLIM with Non-canonical Links and Diverging Number of Parameters

In this article, we investigate the properties of the EBIC in variable selection for generalized linear models with non-canonical links and diverging number of parameters in ultra-high dimensional feature space. The selection consistency of the EBIC in this situation is established under moderate conditions. The finite sample performance of the EBIC coupled with a forward selection procedure is demonstrated through simulation studies and a real data analysis.

math.ST↗

arXiv2011

Sequential Lasso for feature selection with ultra-high dimensional feature space

We propose a novel approach, Sequential Lasso, for feature selection in linear regression models with ultra-high dimensional feature spaces. We investigate in this article the asymptotic properties of Sequential Lasso and establish its selection consistency. Like other sequential methods, the implementation of Sequential Lasso is not limited by the dimensionality of the feature space. It has advantages over other sequential methods. The simulation studies comparing Sequential Lasso with other sequential methods are reported.

stat.ME↗

arXiv2011

Extended BIC for linear regression models with diverging number of relevant features and high or ultra-high feature spaces

In many conventional scientific investigations with high or ultra-high dimensional feature spaces, the relevant features, though sparse, are large in number compared with classical statistical problems, and the magnitude of their effects tapers off. It is reasonable to model the number of relevant features as a diverging sequence when sample size increases. In this article, we investigate the properties of the extended Bayes information criterion (EBIC) (Chen and Chen, 2008) for feature selection in linear regression models with diverging number of relevant features in high or ultra-high dimensional feature spaces. The selection consistency of the EBIC in this situation is established. The application of EBIC to feature selection is considered in a two-stage feature selection procedure. Simulation studies are conducted to demonstrate the performance of the EBIC together with the two-stage feature selection procedure in finite sample cases.

math.ST↗