Robotic Perception of Material

Krotkov, Eric

Robotic Perception of Material

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Proceedings of the Fourteenth International Joint Conference on Artificial Intelligence. Action and Perception. Pages 88-94.

Abstract

In this paper, we develop a conceptual framework in which acts of manipulation are undertaken for the sake of perceiving material. Within this framework, we disambiguate different materials by actively contacting and probing them, and by sensing the resulting forces, displacements, and sounds. We report experimental results from four separate implementations of this framework using a variety of sensory modalities, including force, vision, and audition. For each implementation, we identify sensor-derived measures that are diagnostic of material properties, and use those measures to categorize objects by their material class. Based on the experimental results, we conclude that the issue of shape-in variance is of critical importance for future work.

Eric Krotkov. 1995. Robotic Perception of Material. In Proceedings of the Fourteenth International Joint Conference on Artificial Intelligence, IJCAI-95. IJCAI, 88–94. https://ijcai.org/proceedings/1995/12

@inproceedings{ijcai1995p12,
  title     = {Robotic Perception of Material},
  author    = {Krotkov, Eric},
  booktitle = {Proceedings of the Fourteenth International Joint Conference on
               Artificial Intelligence, {IJCAI-95}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {Chris S. Mellish},
  pages     = {88--94},
  year      = {1995},
  note      = {Action and Perception},
  url       = {https://ijcai.org/proceedings/1995/12},
}

TY  - CPAPER
TI  - Robotic Perception of Material
AU  - Krotkov, Eric
T2  - Proceedings of the Fourteenth International Joint Conference on Artificial Intelligence, IJCAI-95
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1995
SP  - 88
EP  - 94
UR  - https://ijcai.org/proceedings/1995/12
ER  -