We do not denoise the recovered audio in the Chirp section as the denoising can remove interesting frequency bands that may correspond to material properties. To maximize the information conveyed by each plot, we scale the color axis of each of these plots independently.

Input (Video) Input (Audio) Recovered (Audio)
Brick, 3800Hz Play Play
Cardboard, 3800Hz Play Play
Chips2, 2200Hz Play Play
Foam_Cup, 5500Hz Play Play
Foil_Container, 2200Hz Play Play
KitKat, 2200Hz Play Play
Membrane, 5500Hz Play Play
Plant, 2200Hz Play Play
Plate, 2200Hz Play Play
Rose, 2200Hz Play Play
Vase, 2200Hz Play Play
Water, 3800Hz Play Play