Visual Estimation of Object Density Distribution through Observation of its Impulse Response

Artashes Mkhitaryan, Darius Burschka

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.

References

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Paper Citation


in Harvard Style

Mkhitaryan A. and Burschka D. (2013). Visual Estimation of Object Density Distribution through Observation of its Impulse Response . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2013) ISBN 978-989-8565-47-1, pages 586-595. DOI: 10.5220/0004199705860595


in Bibtex Style

@conference{visapp13,
author={Artashes Mkhitaryan and Darius Burschka},
title={Visual Estimation of Object Density Distribution through Observation of its Impulse Response},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2013)},
year={2013},
pages={586-595},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004199705860595},
isbn={978-989-8565-47-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2013)
TI - Visual Estimation of Object Density Distribution through Observation of its Impulse Response
SN - 978-989-8565-47-1
AU - Mkhitaryan A.
AU - Burschka D.
PY - 2013
SP - 586
EP - 595
DO - 10.5220/0004199705860595