相关论文: Classification of Household Materials via Spectros…
Advanced microscopy and/or spectroscopy tools play indispensable role in nanoscience and nanotechnology research, as it provides rich information about the growth mechanism, chemical compositions, crystallography, and other important…
Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…
To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…
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…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
We propose a method for performing material identification from radiographs without energy-resolved measurements. Material identification has a wide variety of applications, including in biomedical imaging, nondestructive testing, and…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
Identifying similar materials, i.e., those sharing a certain property or feature, requires interoperable data of high quality. It also requires means to measure similarity. We demonstrate how a spectral fingerprint as a descriptor, combined…
Cutting is a common form of manipulation when working with divisible objects such as food, rope, or clay. Cooking in particular relies heavily on cutting to divide food items into desired shapes. However, cutting food is a challenging task…
The estimation of the optical properties of a material from RGB-images is an important but extremely ill-posed problem in Computer Graphics. While recent works have successfully approached this problem even from just a single photograph,…
Accurately modeling local surface properties of objects is crucial to many robotic applications, from grasping to material recognition. Surface properties like friction are however difficult to estimate, as visual observation of the object…
This paper presents a spectral correlation-based method (SpectGRASP) for robotic grasping of arbitrarily shaped, unknown objects. Given a point cloud of an object, SpectGRASP extracts contact points on the object's surface matching the hand…
The field of robotics faces inherent challenges in manipulating deformable objects, particularly in understanding and standardising fabric properties like elasticity, stiffness, and friction. While the significance of these properties is…
Despite the potential the ability to identify granular materials creates for applications such as robotic cooking or earthmoving, granular material identification remains a challenging area, existing methods mostly relying on shaking the…
The early detection of terrorist threat objects, such as guns and knives, through improved metal detection, has the potential to reduce the number of attacks and improve public safety and security. To achieve this, there is considerable…
Mid-infrared spectroscopy is often used to identify material. Thousands of spectral points are measured in a time-consuming process using expensive table-top instrument. However, material identification is a sparse problem, which in theory…
Metallic materials such as brass, copper, and aluminum are used in numerous applications, including industrial manufacturing. The vibration characteristics of these objects are unique and can be used to identify these objects from a…
We introduce the soft curvature and spectroscopy (SCANS) system: a versatile, electronics-free, fluidically actuated soft manipulator capable of assessing the spectral properties of objects either in hand or through pre-touch caging. This…
Determining material properties from camera images can expand the ability to identify complex objects in indoor environments, which is valuable for consumer robotics applications. To support this, we introduce MatPredict, a dataset that…
Many of today's robot perception systems aim at accomplishing perception tasks that are too simplistic and too hard. They are too simplistic because they do not require the perception systems to provide all the information needed to…