Visual estimation of object density distribution through observation of its impulse response

Artashes Mkhitaryan, Darius Burschka

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

In this paper we introduce a novel vision based approach for estimating physical properties of an object such as its center of mass and mass distribution. Passive observation only allows to approximate the center of mass with the centroid of the object. This special case is only true for objects that consist of one material and have unified mass distribution. We introduce an active interaction technique with the object derived from the analogon to system identification with impulse functions. We treat the object as a black box and estimate its internal structure by analyzing the response of the object to external impulses. The impulses are realized by striking the object at points computed based on its external geometry. We determine the center of mass from the profile of the observed angular motion of the object that is captured by a high frame-rate camera. We use the motion profiles from multiple strikes to compute the mass distribution. Knowledge of these properties of the object leads to more energy efficient and stable object manipulation. As we show in our real world experiments, our approach is able to estimate the intrinsic layered density structure of an object.

Original languageEnglish
Title of host publicationVISAPP 2013 - Proceedings of the International Conference on Computer Vision Theory and Applications
Pages586-595
Number of pages10
StatePublished - 2013
Event8th International Conference on Computer Vision Theory and Applications, VISAPP 2013 - Barcelona, Spain
Duration: 21 Feb 201324 Feb 2013

Publication series

NameVISAPP 2013 - Proceedings of the International Conference on Computer Vision Theory and Applications
Volume1

Conference

Conference8th International Conference on Computer Vision Theory and Applications, VISAPP 2013
Country/TerritorySpain
CityBarcelona
Period21/02/1324/02/13

Keywords

  • Active exploration
  • Motion analysis
  • Object categorization

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