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When a tool is used to tap onto an object or it is dragged over the object surface, vibrations are induced in the tool that can be captured using acceleration sensors. Based on these signals, this paper presents an approach for tool-mediated surface classification which is robust against varying scan-time parameters. We examine freehand recordings of 69 textures and propose a classification system...
The surface properties of an object can be explored by sliding the tip of a tool over the surface. This induces vibrations in the tool that can be captured using acceleration sensors. Based on these signals, this paper presents a first step towards tool-mediated retrieval of perceptually similar surfaces. We conduct subjective experiments to identify ground truth data about perceptually similar surfaces...
Robots in a household environment have to execute a variety of tasks including carrying objects. In order to grasp the correct objects for a desired action it is indispensable that the robot is able to recognize the objects in its environment. From time to time, the robot will encounter new unknown objects which it has never seen before. In order to recognize them in a later task the robot has to...
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