Fig. 5
From: Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors
Process for creating a new virtual point: a Original image received from a USB camera. b Point detected after image processing. c Ellipse fitting based on the detected point. d New virtual points created based on the fitted ellipse (Orange: newly created virtual point, Blue: the original point). e Comparing spatial partitioning results (Blue: the Voronoi space division, Orange: the Delaunay triangulation)