48,343 research outputs found
Distinguishing Computer-generated Graphics from Natural Images Based on Sensor Pattern Noise and Deep Learning
Computer-generated graphics (CGs) are images generated by computer software.
The~rapid development of computer graphics technologies has made it easier to
generate photorealistic computer graphics, and these graphics are quite
difficult to distinguish from natural images (NIs) with the naked eye. In this
paper, we propose a method based on sensor pattern noise (SPN) and deep
learning to distinguish CGs from NIs. Before being fed into our convolutional
neural network (CNN)-based model, these images---CGs and NIs---are clipped into
image patches. Furthermore, three high-pass filters (HPFs) are used to remove
low-frequency signals, which represent the image content. These filters are
also used to reveal the residual signal as well as SPN introduced by the
digital camera device. Different from the traditional methods of distinguishing
CGs from NIs, the proposed method utilizes a five-layer CNN to classify the
input image patches. Based on the classification results of the image patches,
we deploy a majority vote scheme to obtain the classification results for the
full-size images. The~experiments have demonstrated that (1) the proposed
method with three HPFs can achieve better results than that with only one HPF
or no HPF and that (2) the proposed method with three HPFs achieves 100\%
accuracy, although the NIs undergo a JPEG compression with a quality factor of
75.Comment: This paper has been published by Sensors. doi:10.3390/s18041296;
Sensors 2018, 18(4), 129
Improved GelSight Tactile Sensor for Measuring Geometry and Slip
A GelSight sensor uses an elastomeric slab covered with a reflective membrane
to measure tactile signals. It measures the 3D geometry and contact force
information with high spacial resolution, and successfully helped many
challenging robot tasks. A previous sensor, based on a semi-specular membrane,
produces high resolution but with limited geometry accuracy. In this paper, we
describe a new design of GelSight for robot gripper, using a Lambertian
membrane and new illumination system, which gives greatly improved geometric
accuracy while retaining the compact size. We demonstrate its use in measuring
surface normals and reconstructing height maps using photometric stereo. We
also use it for the task of slip detection, using a combination of information
about relative motions on the membrane surface and the shear distortions. Using
a robotic arm and a set of 37 everyday objects with varied properties, we find
that the sensor can detect translational and rotational slip in general cases,
and can be used to improve the stability of the grasp.Comment: IEEE/RSJ International Conference on Intelligent Robots and System
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