New Perception of Fluffy Surfaces

被引：3

作者：

Kadyrov, Alexander ^{[1
]}

Yu, Hui ^{[1
]}

Liu, Honghai ^{[1
]}

机构：

[1] Univ Portsmouth, Sch Creat Technol, Portsmouth PO1 2UP, Hants, England

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013) | 2013年

关键词：

Perception; fabric; fluffy material; computer vision;

D O I：

10.1109/SMC.2013.719

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：4219 / 4224

页数：6

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