Related papers: PROSPECT: Precision Robot Spectroscopy Exploration…
Robots benefit from being able to classify objects they interact with or manipulate based on their material properties. This capability ensures fine manipulation of complex objects through proper grasp pose and force selection. Prior work…
Recent progress in computational photography has shown that we can acquire near-infrared (NIR) information in addition to the normal visible (RGB) band, with only slight modifications to standard digital cameras. Due to the proximity of the…
Near-infrared (NIR) hyperspectral imaging has become a critical tool in modern analytical science. However, conventional NIR hyperspectral imaging systems face challenges including high cost, bulky instrumentation, and inefficient data…
In this paper, we propose a novel projector-camera system for practical and low-cost acquisition of a dense object 3D model with the spectral reflectance property. In our system, we use a standard RGB camera and leverage an off-the-shelf…
We present surface normal estimation using a single near infrared (NIR) image. We are focusing on fine-scale surface geometry captured with an uncalibrated light source. To tackle this ill-posed problem, we adopt a generative adversarial…
Recognizing an object's material can inform a robot on the object's fragility or appropriate use. To estimate an object's material during manipulation, many prior works have explored the use of haptic sensing. In this paper, we explore a…
Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…
Reconstructing an object's high-quality 3D shape with inherent spectral reflectance property, beyond typical device-dependent RGB albedos, opens the door to applications requiring a high-fidelity 3D model in terms of both geometry and…
Wide-field survey instruments are used to efficiently observe large regions of the sky. To achieve the necessary field of view, and to provide a higher signal-to-noise ratio for faint sources, many modern instruments are undersampled.…
Infrared (IR) images are widely used in many fields such as medical imaging, object tracking, astronomy and military purposes for securing borders. Infrared images can be captured day or night based on the type of capturing device. The…
Neutron reflectometry (NR) is a powerful technique to probe surfaces and interfaces. NR is inherently an indirect measurement technique, access to the physical quantities of interest (layer thickness, scattering length density, roughness),…
Liquids and granular media are pervasive throughout human environments. Their free-flowing nature causes people to constrain them into containers. We do so with thousands of different types of containers made out of different materials with…
Infrared (IR) spectroscopy is an indispensable tool for many practical applications including material analysis and sensing. Existing IR spectroscopy techniques face challenges related to the inferior performance and the high cost of…
The Infrared Spectrograph (IRS) is one of three science instruments on the Spitzer Space Telescope. The IRS comprises four separate spectrograph modules covering the wavelength range from 5.3 to 38micron with spectral resolutions, R \~90…
Acquiring accurate depth information of transparent objects using off-the-shelf RGB-D cameras is a well-known challenge in Computer Vision and Robotics. Depth estimation/completion methods are typically employed and trained on datasets with…
Near-infrared (NIR) hyperspectral imaging is widely used to reveal morphological and chemical information. However, conventional spectral imagers usually rely on costly focal plane arrays and suffer from data redundancy and inefficiencies…
Neural Radiance Field (NeRF)-based segmentation methods focus on object semantics and rely solely on RGB data, lacking intrinsic material properties. This limitation restricts accurate material perception, which is crucial for robotics,…
Spectral measurements in the infrared (IR) optical range provide unique fingerprints of materials which are useful for material analysis, environmental sensing, and health diagnostics. Current IR spectroscopy techniques require the use of…
Surgical instrument tracking is an active research area that can provide surgeons feedback about the location of their tools relative to anatomy. Recent tracking methods are mainly divided into two parts: segmentation and object detection.…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…