Friend or foe: exploiting sensor failures for transparent object localization and classification

Viktor Seib; Andreas Barthen; Philipp Marohn; Dietrich Paulus

doi:10.1117/12.2266255

8 February 2017 Friend or foe: exploiting sensor failures for transparent object localization and classification

Viktor Seib, Andreas Barthen, Philipp Marohn, Dietrich Paulus

Proceedings Volume 10253, 2016 International Conference on Robotics and Machine Vision; 102530I (2017) https://doi.org/10.1117/12.2266255
Event: 2016 International Conference on Robotics and Machine Vision, 2016, Moscow, Russia

Abstract

In this work we address the problem of detecting and recognizing transparent objects using depth images from an RGB-D camera. Using this type of sensor usually prohibits the localization of transparent objects since the structured light pattern of these cameras is not reflected by transparent surfaces. Instead, transparent surfaces often appear as undefined values in the resulting images. However, these erroneous sensor readings form characteristic patterns that we exploit in the presented approach. The sensor data is fed into a deep convolutional neural network that is trained to classify and localize drinking glasses. We evaluate our approach with four different types of transparent objects. To our best knowledge, no datasets offering depth images of transparent objects exist so far. With this work we aim at closing this gap by providing our data to the public.

Citation Download Citation

Viktor Seib, Andreas Barthen, Philipp Marohn, and Dietrich Paulus "Friend or foe: exploiting sensor failures for transparent object localization and classification", Proc. SPIE 10253, 2016 International Conference on Robotics and Machine Vision, 102530I (8 February 2017); https://doi.org/10.1117/12.2266255

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available