3D Object Reconstruction from Hand-Object Interactions

Recent advances have enabled 3d object reconstruction approaches using a single off-the-shelf RGB-D camera. Although these approaches are successful for a wide range of object classes, they rely on stable and distinctive geometric or texture features. Many objects like mechanical parts, toys, household or decorative articles, however, are textureless and characterized by minimalistic shapes that are simple and symmetric. Existing in-hand scanning systems and 3d reconstruction techniques fail for such symmetric objects in the absence of highly distinctive features. In this work, we show that extracting 3d hand motion for in-hand scanning effectively facilitates the reconstruction of even featureless and highly symmetric objects and we present an approach that fuses the rich additional information of hands into a 3d reconstruction pipeline, significantly contributing to the state-of-the-art of in-hand scanning.Comment: International Conference on Computer Vision (ICCV) 2015, http://files.is.tue.mpg.de/dtzionas/In-Hand-Scannin

Grasping unknown objects in clutter by superquadric representation

© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object modelling, well suited for unknown symmetric objects in cluttered scenarios which is followed by optimized antipodal grasping. The incomplete object models are processed through a mirroring algorithm that assumes symmetry to first create an approximate complete model and then fit for SQ representation. The grasping algorithm is designed for maximum force balance and stability, taking advantage of the quick retrieval of dimension and surface curvature information from the SQ parameters. The pose of the SQs with respect to the direction of gravity is calculated and used together with the parameters of the SQs and specification of the gripper, to select the best direction of approach and contact points. The SQ fitting method has been tested on custom datasets containing objects in isolation as well as in clutter. The grasping algorithm is evaluated on a PR2 robot and real time results are presented. Initial results indicate that though the method is based on simplistic shape information, it outperforms other learning based grasping algorithms that also work in clutter in terms of time-efficiency and accuracy.Peer ReviewedPostprint (author's final draft

Component-wise modeling of articulated objects

We introduce a novel framework for modeling articulated objects based on the aspects of their components. By decomposing the object into components, we divide the problem in smaller modeling tasks. After obtaining 3D models for each component aspect by employing a shape deformation paradigm, we merge them together, forming the object components. The final model is obtained by assembling the components using an optimization scheme which fits the respective 3D models to the corresponding apparent contours in a reference pose. The results suggest that our approach can produce realistic 3D models of articulated objects in reasonable time

Near-infrared polarimetric study of the bipolar nebula IRAS 19312+1950

We obtained H-band polarimetric data of IRAS 19312+1950 using the near-infrared camera (CIAO) on the 8 m Subaru telescope. In order to investigate the physical properties of the central star and the nebula, we performed dust radiative transfer modeling and compared the model results with the observed spectral energy distributions (SEDs), the radial profiles of the total intensity image, and the fraction of linear polarization map. The total intensity image shows a nearly spherical core with ~3" radius, an S-shaped arm extending ~10" in the northwest to southeast direction, and an extended lobe towards the southwest. The polarization map shows a centro-symmetric vector alignment in almost the entire nebula and low polarizations along the S-shaped arm. These results suggest that the nebula is accompanied by a central star, and the S-shaped arm has a physically ring-like structure. From our radiative transfer modeling, we estimated the stellar temperature, the bolometric luminosity, and the current mass-loss rate to be 2800 K, 7000 L_sun, and 5.3x10^{-6} M_sun yr^{-1}, respectively. Taking into account previous observational results, such as the detection of SiO maser emissions and silicate absorption feature in the 10 $\mu$m spectrum, our dust radiative transfer analysis based on our NIR imaging polarimetry suggests that (1) the central star of IRAS 19312+1950 is likely to be an oxygen-rich, dust-enshrouded AGB star and (2) most of the circumstellar material originates from other sources (e.g. ambient dark clouds) rather than as a result of mass loss from the central star.Comment: 8 pages with 4 figure