Friction from vision: A study of algorithmic and human performance with consequences for robot perception and teleoperation

Martim Brandão, Kenji Hashimoto, Atsuo Takanishi

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

Friction estimation from vision is an important problem for robot locomotion through contact. The problem is challenging due to its dependence on many factors such as material, surface conditions and contact area. In this paper we 1) conduct an analysis of image features that correlate with humans' friction judgements; and 2) compare algorithmic to human performance at the task of predicting the coefficient of friction between different surfaces and a robot's foot. The analysis is based on two new datasets which we make publicly available. One is annotated with human judgements of friction, illumination, material and texture; the other is annotated with static coefficient of friction (COF) of a robot's foot and human judgements of friction. We propose and evaluate visual friction prediction methods based on image features, material class and text mining. And finally, we make conclusions regarding the robustness to COF uncertainty which is necessary by control and planning algorithms; the low performance of humans at the task when compared to simple predictors based on material label; and the promising use of text mining to estimate friction from vision.

本文言語English
ホスト出版物のタイトルHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
出版社IEEE Computer Society
ページ428-435
ページ数8
ISBN(電子版)9781509047185
DOI
出版ステータスPublished - 2016 12 30
イベント16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
継続期間: 2016 11 152016 11 17

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
国/地域Mexico
CityCancun
Period16/11/1516/11/17

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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