Object Material Classification by Surface Reflection Analysis with a Time-of-Flight Range Sensor

The main objective of this work is to analyze the reflectance properties of real object surfaces and investigate the degree of roughness. Our noncontact active vision technique utilizes the local surface geometry of objects and the longer wavelength scattering light reflected from their surface. After investigating the properties of microstructure of the material surface, the system classifies various household objects into several material categories according to the characteristic of the micro particles that belong to the surface of each object.

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