Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Container Localisation and Mass Estimation with an RGB-D Camera   In the research area of human-robot interactions, the automatic estimation of
the mass of a container manipulated by a person leveraging only visual
information is a challenging task. The main challenges consist of occlusions,
different filling materials and lighting conditions. The mass of an object
constitutes key information for the robot to correctly regulate the force
required to grasp the container. We propose a single RGB-D camera-based method
to locate a manipulated container and estimate its empty mass i.e.,
independently of the presence of the content. The method first automatically
selects a number of candidate containers based on the distance with the fixed
frontal view, then averages the mass predictions of a lightweight model to
provide the final estimation. Results on the CORSMAL Containers Manipulation
dataset show that the proposed method estimates empty container mass obtaining
a score of 71.08% under different lighting or filling conditions.

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The categories of this paper are: hep-th
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The categories of this paper are: q-alg
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The categories of this paper are: ao-sci
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The categories of this paper are: nlin
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The categories of this paper are: mtrl-th
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The categories of this paper are: chem-ph
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The categories of this paper are: patt-sol
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The categories of this paper are: nucl-ex
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The categories of this paper are: adap-org
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The categories of this paper are: cmp-lg
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The categories of this paper are: nucl-th
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The categories of this paper are: q-bio
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The categories of this paper are: quant-ph
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The categories of this paper are: alg-geom
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The categories of this paper are: bayes-an
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The categories of this paper are: econ