The Boombox：声振动的视觉重建
The Boombox: Visual Reconstruction from Acoustic Vibrations
摘要：
与箱子和容器的交互是机器人技术中的基本任务，使得箱子内物体的状态估计至关重要。虽然机器人经常使用摄像机进行状态估计，但由于遮挡和较差的照明，视觉模态并不总是理想的。我们介绍Boombox，一个使用声音来估计盒子内内容状态的容器。基于物体与其容器之间的碰撞会引起声学振动的观察，我们提出了一种用于学习重建视觉场景的卷积网络。虽然我们使用低成本和低功耗的接触式麦克风来检测振动，我们的研究结果表明，从多模态数据的学习，使状态估计从负担得起的音频传感器。由于机器人使用容器的方式很多，我们相信这个盒子在机器人领域会有很多应用。我们的项目网站是：boombox.cs.columbia.edu
英文摘要：
Interacting with bins and containers is a fundamental task in robotics, making state estimation of the objects inside the bin critical. While robots often use cameras for state estimation, the visual modality is not always ideal due to occlusions and poor illumination. We introduce The Boombox, a container that uses sound to estimate the state of the contents inside a box. Based on the observation that the collision between objects and its containers will cause an acoustic vibration, we present a convolutional network for learning to reconstruct visual scenes. Although we use low-cost and low-power contact microphones to detect the vibrations, our results show that learning from multimodal data enables state estimation from affordable audio sensors. Due to the many ways that robots use containers, we believe the box will have a number of applications in robotics. Our project website is at: boombox.cs.columbia.edu
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
