A Novel Bilinear Feature and Multi-Layer Fused Convolutional Neural Network for Tactile Shape Recognition

Convolutional neural networks (CNNs) can automatically learn features from pressure information, and some studies have applied CNNs for tactile shape recognition. However, the limited density of the sensor and its flexibility requirement lead the obtained tactile images to have a low-resolution and blurred. To address this issue, we propose a bilinear feature and multi-layer fused convolutional neural network (BMF-CNN). The bilinear calculation of the feature improves the feature extraction capability of the network. Meanwhile, the multi-layer fusion strategy exploits the complementarity of different layers to enhance the feature utilization efficiency. To validate the proposed method, a 26 class letter-shape tactile image dataset with complex edges was constructed. The BMF-CNN model achieved a 98.64% average accuracy of tactile shape. The results show that BMF-CNN can deal with tactile shapes more effectively than traditional CNN and artificial feature methods.