Abstract
Scene material recognition is a valuable perceptual
ability for robots. However, current methods fail to provide
robust solution for indoor surrounding material recognition. As
human beings are able to immediately understand properties
of surrounding materials, especially when it concerns smooth
fluffy materials, we believe robots should be equipped with
similar abilities. In this paper we explore a new idea for fluffy
surface perception for robots based on above hypothesis. The
aim is to enable robots to distinguish smooth and fluffy surfaces
without touching them. This is achieved through calculating
image matchability map from video cameras. Through measuring
the similarity of images captured from different viewpoints,
robots are able to immediately recognize whether it is a fluffy
material. The method has been validated by primary experiments.
Our results show that robots can have a sense of material
properties for fluffy materials without touching them or any prior
knowledge
| Original language | English |
|---|---|
| Title of host publication | 2013 IEEE International Conference Systems, Man, and Cybernetics |
| Subtitle of host publication | SMC 2013 |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 4219-4224 |
| ISBN (Print) | 9780769551548 |
| DOIs | |
| Publication status | Published - 2013 |