相关论文: Classification of Household Materials via Spectros…
Humans are very effective at interpreting subtle properties of the partner's movement and use this skill to promote smooth interactions. Therefore, robotic platforms that support human partners in daily activities should acquire similar…
The proximity perception of objects in granular materials is significant, especially for applications like minesweeping. However, due to particles' opacity and complex properties, existing proximity sensors suffer from high costs from…
Accurate identification of complex terrain characteristics, such as soil composition and coefficient of friction, is essential for model-based planning and control of mobile robots in off-road environments. Spectral signatures leverage…
Articulated objects are commonly found in daily life. It is essential that robots can exhibit robust perception and manipulation skills for articulated objects in real-world robotic applications. However, existing methods for articulated…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
Granular materials (GMs) are ubiquitous in daily life. Understanding their properties is also important, especially in agriculture and industry. However, existing works require dedicated measurement equipment and also need large human…
Can robots mold soft plastic materials by shaping depth images? The short answer is no: current day robots can't. In this article, we address the problem of shaping plastic material with an anthropomorphic arm/hand robot, which observes the…
The recognition and classification of the diversity of materials that exist in the environment around us are a key visual competence that computer vision systems focus on in recent years. Understanding the identification of materials in…
Optical spectroscopy techniques such as differential reflectance and transmittance have proven to be very powerful techniques to study 2D materials. However, a thorough description of the experimental setups needed to carry out these…
Inferring physical properties can significantly enhance robotic manipulation by enabling robots to handle objects safely and efficiently through adaptive grasping strategies. Previous approaches have typically relied on either tactile or…
We present multispectral rendering techniques for visualizing layered materials found in biological specimens. We are the first to use acquired data from the near-infrared and ultraviolet spectra for non-photorealistic rendering (NPR).…
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Identifying whether the robot is contacting rigid or soft…
Achieving accurate material segmentation for 3-channel RGB images is challenging due to the considerable variation in a material's appearance. Hyperspectral images, which are sets of spectral measurements sampled at multiple wavelengths,…
Hyperspectral images provide abundant spatial and spectral information that is very valuable for material detection in diverse areas of practical science. The high-dimensions of data lead to many processing challenges that can be addressed…
Touch sensing can help robots understand their sur- rounding environment, and in particular the objects they interact with. To this end, roboticists have, in the last few decades, developed several tactile sensing solutions, extensively…
In this paper we report a spectrometric approach to dual-energy digital radiography that has been developed and applied to identify specific organic substances and discern small differences in their effective atomic number. An experimental…
Successful navigation in outdoor environments requires accurate prediction of the physical interactions between the robot and the terrain. Many prior methods rely on geometric or semantic labels to classify traversable surfaces. However,…
Traditional color images only depict color intensities in red, green and blue channels, often making object trackers fail in challenging scenarios, e.g., background clutter and rapid changes of target appearance. Alternatively, material…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…