Estimatingweight of unknown objects using active thermography

Tamas Aujeszky, Georgios Korres, Mohamad Eid, Farshad Khorrami

Research output: Contribution to journalArticle

Abstract

Successful manipulation of unknown objects requires an understanding of their physical properties. Infrared thermography has the potential to provide real-time, contactless material characterization for unknown objects. In this paper, we propose an approach that utilizes active thermography and custom multi-channel neural networks to perform classification between samples and regression towards the density property. With the help of an off-the-shelf technology to estimate the volume of the object, the proposed approach is capable of estimating the weight of the unknown object. We show the efficacy of the infrared thermography approach to a set of ten commonly used materials to achieve a 99.1% R2-fit for predicted versus actual density values. The system can be used with tele-operated or autonomous robots to optimize grasping techniques for unknown objects without touching them.

Original languageEnglish (US)
Article number92
JournalRobotics
Volume8
Issue number4
DOIs
StatePublished - Dec 1 2019

Keywords

  • Infrared thermography
  • Material characterization
  • Neural networks
  • Weight estimation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Control and Optimization
  • Artificial Intelligence

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