{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/materobot-material-recognition-in-wearable","title":"MateRobot: Material Recognition in Wearable Robotics for People with Visual Impairments","arxiv_id":"2302.14595","date":"2023-02-28","proceeding":null,"authors":["Junwei Zheng","Jiaming Zhang","Kailun Yang","Kunyu Peng","Rainer Stiefelhagen"],"abstract":"People with Visual Impairments (PVI) typically recognize objects through haptic perception. Knowing objects and materials before touching is desired by the target users but under-explored in the field of human-centered robotics. To fill this gap, in this work, a wearable vision-based robotic system, MateRobot, is established for PVI to recognize materials and object categories beforehand. To address the computational constraints of mobile platforms, we propose a lightweight yet accurate model MateViT to perform pixel-wise semantic segmentation, simultaneously recognizing both objects and materials. Our methods achieve respective 40.2% and 51.1% of mIoU on COCOStuff-10K and DMS datasets, surpassing the previous method with +5.7% and +7.0% gains. Moreover, on the field test with participants, our wearable system reaches a score of 28 in the NASA-Task Load Index, indicating low cognitive demands and ease of use. Our MateRobot demonstrates the feasibility of recognizing material property through visual cues and offers a promising step towards improving the functionality of wearable robots for PVI. The source code has been made publicly available at https://junweizheng93.github.io/publications/MATERobot/MATERobot.html.","url_abs":"https://arxiv.org/abs/2302.14595v3","url_pdf":"https://arxiv.org/pdf/2302.14595v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"materobot-material-recognition-in-wearable","repo_url":"https://github.com/junweizheng93/materobot","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"Apache-2.0"}}],"tasks":[{"task_slug":"material-recognition","task_name":"Material Recognition"},{"task_slug":"semantic-segmentation","task_name":"Semantic Segmentation"}],"methods":[{"method_slug":"test","method_name":"Test"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2302.14595","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}