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This paper studies the recognition and localization of 2-D shapes bounded by low-degree polynomial curve segments based on minimal tactile data. We have derived differential invariants for quadratic curves and two special classes of cubic curves. Such an invariant, independent of translation and rotation, is computed from the local geometry at any two points on the curve. Recognition of a curve class becomes verifying the corresponding invariant with more than one pairs of data points. Next,doi:10.1109/robot.2004.1308044 dblp:conf/icra/IbrayevJ04 fatcat:fgytv35mf5eqtde5lh2mfvgxsu