1: Introduction. - 1. 1 The promise of robotics. - 1. 2 Improving robotic system performance. - 1. 3 System description. - 1. 4 Summary. - 2: Model Database. - 2. 1 Object models for recognition. - 2. 2 Criteria for a recognition model. - 2. 3 A hierarchical model data base. - 2. 4 Creating the models. - 2. 5 Computing surface attributes. - 2. 6 Classifying surfaces. - 2. 7 Computing hole and cavity attributes. - 2. 8 Example model. - 3: 2-D Vision. - 3. 1 Introduction. - 3. 2 Image acquisition. - 3. 3 Thresholding. - 3. 4 Edge detection. - 3. 5 Segmentation. - 3. 6 Summary. - 4: 3-D Vision. - 4. 1 Introduction. - 4. 2 Computational stereo. - 4. 3 Image acquisition. - 4. 4 Camera modeling. - 4. 5 Camera calibration. - 4. 6 Feature acquisition. - 4. 7 Image matching. - 4. 8 Depth determination. - 4. 9 Interpolation. - 4. 10 Summary. - 5: Tactile Sensing. - 5. 1 Introduction. - 5. 2 Capabilities of tactile sensors. - 5. 3 Summary of tactile sensing. - 5. 4 Experimental tactile sensor. - 5. 5 Organization of tactile processing. - 5. 6 Low level tactile processing. - 5. 7 Intermediate level tactile processing. - 5. 8 Summary. - 6: Integrating Vision and Touch. - 6. 1 Introduction. - 6. 2 Composite bicubic surfaces. - 6. 3 Building level 0 surfaces. - 6. 4 Building higher level surfaces. - 6. 5 Building hole and cavity descriptions. - 6. 6 Summary. - 7: Matching. - 7. 1 Introduction. - 7. 2 Design of the matcher. - 7. 3 Model instantiation. - 7. 4 Verification. - 7. 5 Summary. - 8: Experimental Results. - 8. 1 Introduction. - 8. 2 Experiment 1. - 8. 3 Experiment 2. - 8. 4 Experiment 3. - 8. 5 Experiment 4. - 8. 6 Experiment 5. - 8. 7 Experiment 6. - 8. 8 Experiment 7. - 8. 9 Summary. - 9: Conclusion. - 9. 1 Introduction. - 9. 2 Discovering 3-D structure. - 9. 3 The multi-sensor approach. - 9. 4 Limitations of the system. - 9. 5 Future directions. - References. - Appendix: Bicubic Spline Surfaces. - 1. Introduction. - 2. Parametric curves and surfaces. - 3. Coons' patches. - 3. 1 Linearly interpolated patches. - 3. 2 Hermite interpolation. - 3. 3 Curvature continuous patches. Language: English