Survey on Distances used in the Tactile
Recognition of Shapes

D-M. Purcaru


Abstract
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In robotics, the shapes recognized by touch are usually described
through their geometrical parameters.  Whena 2D-tactile matrix
sensor assures the object exploration, each prototype is
represented through a class of binary imprints.  This paper
presents the d_1, d_2, d_n, d_infinity, d*_infinity distances
recommended for estimate the similarity of the shapes touched
with a tactile matrix sensor, when a prototype is represented
through all or more imprints.  The d_1, d_2, d_n, d_infinity
classical distances are proper only if the analyzed shapes are
very different, and d*_infinity is adequate for the recognition
of similar shapes.