{"id":"https://openalex.org/W3161493225","doi":"https://doi.org/10.1109/icpr48806.2021.9412784","title":"Surface Material Dataset for Robotics Applications (SMDRA): A Dataset with Friction Coefficient and RGB-D for Surface Segmentation","display_name":"Surface Material Dataset for Robotics Applications (SMDRA): A Dataset with Friction Coefficient and RGB-D for Surface Segmentation","publication_year":2021,"publication_date":"2021-01-10","ids":{"openalex":"https://openalex.org/W3161493225","doi":"https://doi.org/10.1109/icpr48806.2021.9412784","mag":"3161493225"},"language":"en","primary_location":{"id":"doi:10.1109/icpr48806.2021.9412784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr48806.2021.9412784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 25th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038018195","display_name":"Donghun Noh","orcid":"https://orcid.org/0009-0008-4633-9153"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Donghun Noh","raw_affiliation_strings":["Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042893654","display_name":"Hyunwoo Nam","orcid":"https://orcid.org/0000-0003-0601-8845"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hyunwoo Nam","raw_affiliation_strings":["Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050411522","display_name":"Min Sung Ahn","orcid":"https://orcid.org/0000-0002-9987-5696"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Min Sung Ahn","raw_affiliation_strings":["Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021215670","display_name":"Hosik Chae","orcid":"https://orcid.org/0009-0008-5884-6670"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hosik Chae","raw_affiliation_strings":["Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sangjoon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangjoon Lee","raw_affiliation_strings":["Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052680326","display_name":"Kyle Gillespie","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle Gillespie","raw_affiliation_strings":["Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory (RoMeLa), University of California, Los Angeles (UCLA), Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5038018195"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":0.2775,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52934862,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"30","issue":null,"first_page":"6275","last_page":"6281"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9837999939918518,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8298755288124084},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.7257712483406067},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6745119094848633},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6498440504074097},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6234449148178101},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.6066222190856934},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.5214411616325378},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.507567286491394},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4781421422958374},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4534745514392853},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.45034900307655334},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4415946900844574},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10722529888153076}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8298755288124084},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.7257712483406067},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6745119094848633},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6498440504074097},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6234449148178101},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.6066222190856934},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.5214411616325378},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.507567286491394},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4781421422958374},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4534745514392853},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.45034900307655334},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4415946900844574},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10722529888153076},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icpr48806.2021.9412784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icpr48806.2021.9412784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 25th International Conference on Pattern Recognition (ICPR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W347808922","https://openalex.org/W1522301498","https://openalex.org/W1686810756","https://openalex.org/W1812662907","https://openalex.org/W1861492603","https://openalex.org/W1901129140","https://openalex.org/W1903029394","https://openalex.org/W1953465585","https://openalex.org/W1954665043","https://openalex.org/W1971990676","https://openalex.org/W2006477110","https://openalex.org/W2034453137","https://openalex.org/W2035633629","https://openalex.org/W2037682187","https://openalex.org/W2053494425","https://openalex.org/W2055444218","https://openalex.org/W2065072818","https://openalex.org/W2082335320","https://openalex.org/W2118322086","https://openalex.org/W2127067435","https://openalex.org/W2131881002","https://openalex.org/W2132030382","https://openalex.org/W2143576559","https://openalex.org/W2171197969","https://openalex.org/W2271840356","https://openalex.org/W2345646064","https://openalex.org/W2412682806","https://openalex.org/W2509228421","https://openalex.org/W2553930976","https://openalex.org/W2680574120","https://openalex.org/W2770073266","https://openalex.org/W2791908700","https://openalex.org/W2964121744","https://openalex.org/W2966015075","https://openalex.org/W3041790910","https://openalex.org/W3044326411","https://openalex.org/W6639102338","https://openalex.org/W6639824700"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703"],"abstract_inverted_index":{"In":[0,135],"this":[1,137,152,188],"paper,":[2],"we":[3],"introduce":[4],"the":[5,45,93,143,199,210,216],"Surface":[6],"Material":[7],"Dataset":[8],"for":[9,30,227],"Robotics":[10],"Applications":[11],"(SMDRA),":[12],"a":[13,71,103,125,223],"collection":[14],"of":[15,26,74,88,95,102,127,145],"RGB":[16],"color":[17],"image,":[18],"depth":[19,111],"data,":[20],"and":[21,47,69,169,204,229,245],"pixel-wise":[22,99],"friction":[23,75,146,181],"coefficient":[24,147],"data":[25,90,101,112],"10":[27],"different":[28,104,128,231],"materials":[29,60],"computer":[31,249],"vision":[32,250],"research":[33],"specifically":[34],"with":[35,142],"robotics":[36],"applications":[37],"in":[38,81,132,158,163,174],"mind":[39],"that":[40,82,192,215,241],"require":[41],"physical":[42],"contact":[43],"between":[44],"robot":[46],"its":[48],"environment":[49],"such":[50],"as":[51],"robotic":[52,129,253],"manipulators":[53],"or":[54],"walking":[55],"robots.":[56],"These":[57],"selected":[58],"surface":[59],"are":[61,106,233],"both":[62],"easily":[63],"accessible":[64],"around":[65],"our":[66],"daily":[67],"lives":[68],"cover":[70],"wide":[72],"range":[73],"coefficients.":[76],"Our":[77],"dataset":[78,138],"is":[79,85,113,139],"unique":[80],"while":[83],"there":[84],"an":[86,116,175],"abundance":[87],"RGB-D":[89],"due":[91],"to":[92,150,171,186,221],"popularization":[94],"imaging":[96],"sensors,":[97],"additional":[98,153,236],"aligned":[100],"modality":[105],"not":[107,234],"readily":[108],"available.":[109],"The":[110],"collected":[114],"by":[115],"active":[117],"stereo":[118],"camera":[119],"which":[120],"has":[121],"shown":[122],"promise":[123],"on":[124,209,252],"variety":[126],"applications,":[130],"especially":[131],"outdoor":[133],"environments.":[134],"addition,":[136],"greatly":[140],"expanded":[141],"addition":[144],"data.":[148,189],"Similarly":[149],"humans,":[151],"information":[154],"can":[155,206,218,243],"be":[156,207,219],"helpful":[157],"ensuing":[159],"proper":[160],"decision":[161],"making":[162],"tasks":[164],"ranging":[165],"from":[166],"grasping":[167],"orientation":[168],"strength":[170],"path":[172],"determination":[173],"unstructured":[176],"environment.":[177],"A":[178],"newly":[179],"developed":[180],"measuring":[182],"device":[183],"was":[184],"used":[185],"obtain":[187],"We":[190],"verify":[191],"existing":[193],"Convolutional":[194,201],"Neural":[195],"Network":[196,202],"(CNN)":[197],"architectures,":[198],"Fully":[200],"(FCN)":[203],"U-Net,":[205],"trained":[208],"SMDRA.":[211],"This":[212],"result":[213],"demonstrates":[214],"SMDRA":[217],"utilized":[220],"train":[222],"neural":[224],"network":[225],"model":[226],"segmentation":[228],"these":[230],"modes":[232,240],"just":[235],"information,":[237],"but":[238],"valuable":[239],"researchers":[242],"incorporate":[244],"exploit":[246],"when":[247],"applying":[248],"algorithms":[251],"platforms.":[254]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
