Classification of Household Materials via Spectroscopy

@article{Erickson2018ClassificationOH,
  title={Classification of Household Materials via Spectroscopy},
  author={Zackory M. Erickson and Nathan Luskey and S. Chernova and Charles C. Kemp},
  journal={IEEE Robotics and Automation Letters},
  year={2018},
  volume={4},
  pages={700-707}
}
Recognizing an object's material can inform a robot on the object's fragility or appropriate use. To estimate an object's material during manipulation, many prior works have explored the use of haptic sensing. In this letter, we explore a technique for robots to estimate the materials of objects using spectroscopy. We demonstrate that spectrometers provide several benefits for material recognition, including fast response times and accurate measurements with low noise. Furthermore… 

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