arXiv subjects

Sudip Mittal

Publications and source records attributed to Sudip Mittal.

2 recordsLinked to original sources

arXiv2026

DARP: A Calibrated Dual-Arm RGB-D-IR Dataset for Multi-View Robotic Perception

Robotic perception from a single viewpoint is often limited by self-occlusion and incomplete surface visibility. This paper presents DARP(Dual-Arm Robotic Perception) https://doi.org/10.21227/rmv3-be47, a calibrated dual-arm RGB-D-IR dataset for object-centered robotic perception using two independently moving eye-in-hand manipulators positioned on opposite sides of a shared tabletop workspace. Each arm carries an Intel RealSense sensor that continuously records RGB, depth, and stereo infrared data while synchronized robot joint states are logged for pose recovery. Objects are placed without fixed poses or marked locations, and the acquisition procedure performs automatic localization, cross-arm confirmation, adaptive viewpoint generation, and continuous multimodal recording. DARP contains ten unique tabletop objects and preserves the original sensor recordings, robot-state logs, object-level metadata, and calibration information required to reconstruct camera trajectories in a shared metric frame. To evaluate the geometric consistency of the acquisition, we implement a deterministic multi-view fusion pipeline that converts calibrated RGB-D observations into complementary partial point clouds and measured surface meshes without using learned or generative completion methods. Evaluation on 224 held-out RGB-D keyframes comprising 1,563,466 three-dimensional query points yields a median point-to-mesh distance of 2.13~mm and an RMSE of 4.04~mm, with 96.56\% of points within 10~mm of the measured-surface mesh. DARP is intended as a reusable resource for multi-view reconstruction, collaborative robotic perception, multimodal fusion, active perception, and future learning-based reasoning over partial object observations.

cs.RO↗

arXiv2026

Seeing Through Extreme Visual Sparsity: Surface Understanding from a Single Random Visual Patch

Surface material recognition from incomplete visual observations remains a challenging problem in robotic perception and environmental understanding. This paper discusses Sparse Surface Understanding Framework (SSUF), a unified dual-task learning framework that adapts four pretrained architectures-Convolutional Autoencoder (ConvAE), Vision Transformer (ViT), Swin Transformer, and Masked Autoencoder (MAE) for si-multaneous surface reconstruction and material classification. Experiments were conducted on the Touch-and-Go dataset using a sparse observation protocol in which only 10% of the original image remained visible while the remaining regions were masked. To enable a fair comparison, reconstruction-oriented models were extended with classification heads, whereas classification- oriented models were augmented with reconstruction decoders. The resulting architectures were assessed using reconstruction quality, classification performance, model complexity, and in-ference efficiency metrics. Experimental results revealed distinct strengths across the models. Swin Transformer achieved the best classification performance with an accuracy of 89.21%, an F1-score of 0.8922, and a ROC-AUC of 0.9813. In contrast, MAE produced the highest reconstruction scores among evaluated models, with a PSNR of 16.06 dB and an SSIM of 0.4501, while ViT provided the best overall balance between reconstruction and classification performance. Furthermore, all models achieved real-time inference, requiring less than 5 ms per image. Over-all, the results show that pretrained architectures can support material recognition under severe visual sparsity, while accurate image reconstruction remains challenging.

cs.CV↗