Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Vision-Guided Active Tactile Perception for Crack Detection and
  Reconstruction   Crack detection is of great significance for monitoring the integrity and
well-being of the infrastructure such as bridges and underground pipelines,
which are harsh environments for people to access. In recent years, computer
vision techniques have been applied in detecting cracks in concrete structures.
However, they suffer from variances in light conditions and shadows, lacking
robustness and resulting in many false positives. To address the uncertainty in
vision, human inspectors actively touch the surface of the structures, guided
by vision, which has not been explored in autonomous crack detection. In this
paper, we propose a novel approach to detect and reconstruct cracks in concrete
structures using vision-guided active tactile perception. Given an RGB-D image
of a structure, the rough profile of the crack in the structure surface will
first be segmented with a fine-tuned Deep Convolutional Neural Networks, and a
set of contact points are generated to guide the collection of tactile images
by a camera-based optical tactile sensor. When contacts are made, a pixel-wise
mask of the crack can be obtained from the tactile images and therefore the
profile of the crack can be refined by aligning the RGB-D image and the tactile
images. Extensive experiment results have shown that the proposed method
improves the effectiveness and robustness of crack detection and reconstruction
significantly, compared to crack detection with vision only, and has the
potential to enable robots to help humans with the inspection and repair of the
concrete infrastructure.

33
The categories of this paper are: plasm-ph
7
The categories of this paper are: hep-th
30
The categories of this paper are: q-alg
13
The categories of this paper are: quant-ph
6
The categories of this paper are: astro-ph
14
The categories of this paper are: math-ph
23
The categories of this paper are: solv-int
24
The categories of this paper are: dg-ga
35
The categories of this paper are: mtrl-th
31
The categories of this paper are: ao-sci
12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess
2
The categories of this paper are: math
34
The categories of this paper are: chem-ph
8
The categories of this paper are: hep-ex
21
The categories of this paper are: adap-org