474 research outputs found
A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds
This paper proposes a segmentation-free, automatic and efficient procedure to
detect general geometric quadric forms in point clouds, where clutter and
occlusions are inevitable. Our everyday world is dominated by man-made objects
which are designed using 3D primitives (such as planes, cones, spheres,
cylinders, etc.). These objects are also omnipresent in industrial
environments. This gives rise to the possibility of abstracting 3D scenes
through primitives, thereby positions these geometric forms as an integral part
of perception and high level 3D scene understanding.
As opposed to state-of-the-art, where a tailored algorithm treats each
primitive type separately, we propose to encapsulate all types in a single
robust detection procedure. At the center of our approach lies a closed form 3D
quadric fit, operating in both primal & dual spaces and requiring as low as 4
oriented-points. Around this fit, we design a novel, local null-space voting
strategy to reduce the 4-point case to 3. Voting is coupled with the famous
RANSAC and makes our algorithm orders of magnitude faster than its conventional
counterparts. This is the first method capable of performing a generic
cross-type multi-object primitive detection in difficult scenes. Results on
synthetic and real datasets support the validity of our method.Comment: Accepted for publication at CVPR 201
Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fits
We present a novel and effective method for detecting 3D primitives in
cluttered, unorganized point clouds, without axillary segmentation or type
specification. We consider the quadric surfaces for encapsulating the basic
building blocks of our environments - planes, spheres, ellipsoids, cones or
cylinders, in a unified fashion. Moreover, quadrics allow us to model higher
degree of freedom shapes, such as hyperboloids or paraboloids that could be
used in non-rigid settings.
We begin by contributing two novel quadric fits targeting 3D point sets that
are endowed with tangent space information. Based upon the idea of aligning the
quadric gradients with the surface normals, our first formulation is exact and
requires as low as four oriented points. The second fit approximates the first,
and reduces the computational effort. We theoretically analyze these fits with
rigor, and give algebraic and geometric arguments. Next, by re-parameterizing
the solution, we devise a new local Hough voting scheme on the null-space
coefficients that is combined with RANSAC, reducing the complexity from
to (three points). To the best of our knowledge, this is the
first method capable of performing a generic cross-type multi-object primitive
detection in difficult scenes without segmentation. Our extensive qualitative
and quantitative results show that our method is efficient and flexible, as
well as being accurate.Comment: Submitted to IEEE Transactions on Pattern Analysis and Machine
Intelligence (T-PAMI). arXiv admin note: substantial text overlap with
arXiv:1803.0719
User-guided free-form asset modelling
In this paper a new system for piecewise primitive surface recovery on point clouds is presented, which allows a novice user to sketch areas of interest in order to guide the fitting process. The algorithm is demonstrated against a benchmark technique for autonomous surface fitting, and, contrasted against existing literature in user guided surface recovery, with empirical evidence. It is concluded that the system is an improvement to the current documented literature for its visual quality when modelling objects which are composed of piecewise primitive shapes, and, in its ability to fill large holes on occluded surfaces using free-form input
Data-Driven Grasp Synthesis - A Survey
We review the work on data-driven grasp synthesis and the methodologies for
sampling and ranking candidate grasps. We divide the approaches into three
groups based on whether they synthesize grasps for known, familiar or unknown
objects. This structure allows us to identify common object representations and
perceptual processes that facilitate the employed data-driven grasp synthesis
technique. In the case of known objects, we concentrate on the approaches that
are based on object recognition and pose estimation. In the case of familiar
objects, the techniques use some form of a similarity matching to a set of
previously encountered objects. Finally for the approaches dealing with unknown
objects, the core part is the extraction of specific features that are
indicative of good grasps. Our survey provides an overview of the different
methodologies and discusses open problems in the area of robot grasping. We
also draw a parallel to the classical approaches that rely on analytic
formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic
Bayesian Quadrature for Multiple Related Integrals
Bayesian probabilistic numerical methods are a set of tools providing
posterior distributions on the output of numerical methods. The use of these
methods is usually motivated by the fact that they can represent our
uncertainty due to incomplete/finite information about the continuous
mathematical problem being approximated. In this paper, we demonstrate that
this paradigm can provide additional advantages, such as the possibility of
transferring information between several numerical methods. This allows users
to represent uncertainty in a more faithful manner and, as a by-product,
provide increased numerical efficiency. We propose the first such numerical
method by extending the well-known Bayesian quadrature algorithm to the case
where we are interested in computing the integral of several related functions.
We then prove convergence rates for the method in the well-specified and
misspecified cases, and demonstrate its efficiency in the context of
multi-fidelity models for complex engineering systems and a problem of global
illumination in computer graphics.Comment: Proceedings of the 35th International Conference on Machine Learning
(ICML), PMLR 80:5369-5378, 201
Fitting quadrics with a Bayesian prior
Quadrics are a compact mathematical formulation for a range of primitive surfaces. A problem arises when there are not enough data-points to compute the model but knowledge of the shape is available. This paper presents a method for fitting a quadric with a Bayesian prior. We use a matrix normal prior in order to favour ellipsoids on ambiguous data. The results show the algorithm to cope well when there are few points in the point cloud, competing with contemporary techniques in the area
User-guided free-form asset modelling
In this paper a new system for piecewise primitive surface recovery on point
clouds is presented, which allows a novice user to sketch areas of interest in
order to guide the fitting process. The algorithm is demonstrated against a
benchmark technique for autonomous surface fitting, and, contrasted against
existing literature in user guided surface recovery, with empirical evidence.
It is concluded that the system is an improvement to the current documented
literature for its visual quality when modelling objects which are composed of
piecewise primitive shapes, and, in its ability to fill large holes on occluded
surfaces using free-form input
Clustering: Methodology, hybrid systems, visualization, validation and implementation
Unsupervised learning is one of the most important steps of machine learning applications. Besides its ability to obtain the insight of the data distribution, unsupervised learning is used as a preprocessing step for other machine learning algorithm. This dissertation investigates the application of unsupervised learning into various types of data for many machine learning tasks such as clustering, regression and classification. The dissertation is organized into three papers. In the first paper, unsupervised learning is applied to mixed categorical and numerical feature data type to transform the data objects from the mixed type feature domain into a new sparser numerical domain. By making use of the data fusion capacity of adaptive resonance theory clustering, the approach is able to reduce the distinction between the numerical and categorical features. The second paper presents a novel method to improve the performance of wind forecast by clustering the time series of the surrounding wind mills into the similar group by using hidden Markov model clustering and using the clustering information to enhance the forecast. A fast forecast method is also introduced by using extreme learning machine which can be trained by analytic form to choose the optimal value of past samples for prediction and appropriate size of the neural network. In the third paper, unsupervised learning is used to automatically learn the feature from the dataset itself without human design of sophisticated feature extractors. The paper points out that by using unsupervised feature learning with multi-quadric radial basis function extreme learning machine the performance of the classifier is better than several other supervised learning methods. The paper further improves the speed of training the neural network by presenting an algorithm that runs parallel on GPU --Abstract, page iv
- …