Related papers: Learning to See Inside Opaque Liquid Containers us…
Humans have rich understanding of liquid containers and their contents; for example, we can effortlessly pour water from a pitcher to a cup. Doing so requires estimating the volume of the cup, approximating the amount of water in the…
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…
The ability to recognize the liquid surface and the liquid level in transparent containers is perhaps the most commonly used evaluation method when dealing with fluids. Such recognition is essential in determining the liquid volume, fill…
Optical vibration sensing enables recovering the scene sound directly from the surface vibration of nearby objects, turning everyday objects into ``visual microphones''. However, most prior methods had focused on capturing the vibrations of…
Humans perceive the world by interacting with objects, which often happens in a dynamic way. For example, a human would shake a bottle to guess its content. However, it remains a challenge for robots to understand many dynamic signals…
Although the inverted vial test has been widely used as a qualitative method for estimating fluid viscosity, quantitative rheological characterization has remained limited due to its complex, uncontrolled flow - driven by gravity, surface…
Traditional liquid identification instruments are often unavailable to the general public. This paper shows the feasibility of identifying unknown liquids with commercial lightweight devices, such as a smartphone. The key insight is that…
Solid particles, such as rice and coffee beans, are commonly stored in containers and are ubiquitous in our daily lives. Understanding those particles' properties could help us make later decisions or perform later manipulation tasks such…
This work explores the use of computer vision for image segmentation and classification of medical fluid samples in transparent containers (for example, tubes, syringes, infusion bags). Handling fluids such as infusion fluids, blood, and…
The recognition of materials and objects inside transparent containers using computer vision has a wide range of applications, ranging from industrial bottles filling to the automation of chemistry laboratory. One of the main challenges in…
Many optical measurement techniques, such as light scattering from wavelength-scale particles or detecting motion from a surface with an optical lever, encode information in a complex radiation pattern. Extracting all available information…
Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…
Visual object counting is a fundamental computer vision task underpinning numerous real-world applications, from cell counting in biomedicine to traffic and wildlife monitoring. However, existing methods struggle to handle the challenge of…
We introduce SonicSense, a holistic design of hardware and software to enable rich robot object perception through in-hand acoustic vibration sensing. While previous studies have shown promising results with acoustic sensing for object…
Visual object counting is a fundamental computer vision task in industrial inspection, where accurate, high-throughput inventory tracking and quality assurance are critical. Moreover, manufactured parts are often too light to reliably…
Small vibrations observed in video can unveil information beyond what is visual, such as sound and material properties. It is possible to passively record these vibrations when they are visually perceptible, or actively amplify their visual…
We propose a deep visuo-tactile model for realtime estimation of the liquid inside a deformable container in a proprioceptive way.We fuse two sensory modalities, i.e., the raw visual inputs from the RGB camera and the tactile cues from our…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…
The contactless estimation of the weight of a container and the amount of its content manipulated by a person are key pre-requisites for safe human-to-robot handovers. However, opaqueness and transparencies of the container and the content,…