Fig. 3: Multi-scale object press recognition based on convolutional neural networks.
From: Large-area magnetic skin for multi-point and multi-scale tactile sensing with super-resolution
a The overall process of object recognition mainly consists of two parts: data preprocessing and CNN classification. b Illustration of the five small-scale pressing heads with their press positions and corresponding effective sensors and c signals. The corresponding (d) 3D, e 2D PCA clustered results, f and the corresponding confusion map of five pressing heads. g Illustration of the thirteen large-scale pressing heads with corresponding forty-eight dimensions signals. The corresponding (h) PCA clustered results of thirteen pressing heads and i enlarged detail view of four pressing heads. and j The corresponding confusion map of thirteen large-scale pressing heads.
