Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd

Object detection and 6D pose estimation in the crowd (scenes with multiple object instances, severe foreground occlusions and background distractors), has become an important problem in many rapidly evolving technological areas such as robotics and augmented reality. Single shot-based 6D pose estimators with manually designed features are still unable to tackle the above challenges, motivating the research towards unsupervised feature learning and next-best-view estimation. In this work, we present a complete framework for both single shot-based 6D object pose estimation and next-best-view prediction based on Hough Forests, the state of the art object pose estimator that performs classification and regression jointly. Rather than using manually designed features we a) propose an unsupervised feature learnt from depth-invariant patches using a Sparse Autoencoder and b) offer an extensive evaluation of various state of the art features. Furthermore, taking advantage of the clustering performed in the leaf nodes of Hough Forests, we learn to estimate the reduction of uncertainty in other views, formulating the problem of selecting the next-best-view. To further improve pose estimation, we propose an improved joint registration and hypotheses verification module as a final refinement step to reject false detections. We provide two additional challenging datasets inspired from realistic scenarios to extensively evaluate the state of the art and our framework. One is related to domestic environments and the other depicts a bin-picking scenario mostly found in industrial settings. We show that our framework significantly outperforms state of the art both on public and on our datasets.Comment: CVPR 2016 accepted paper, project page: http://www.iis.ee.ic.ac.uk/rkouskou/6D_NBV.htm

Towards an\u2028 EU research and innovation policy agenda for nature-based solutions & re-naturing cities. Final report of the Horizon 2020 expert group on nature-based solutions and re-naturing cities.

1. Nature-based solutions harness the power and sophistication of nature to turn environmental, social and economic challenges into innovation opportunities. They can address a variety of societal challenges in sustainable ways, with the potential to contribute to green growth, 'future-proofing' society, fostering citizen well-being, providing business opportunities and positioning Europe as a leader in world markets. \u2028 2. Nature-based solutions are actions which are inspired by, supported by or copied from nature. They have tremendous potential to be energy and resource-efficient and resilient to change, but to be successful they must be adapted to local conditions. \u2028 3. Many nature-based solutions result in multiple co-benefits for health, the economy, society and the environment, and thus they can represent more efficient and cost-effective solutions than more traditional approaches. \u2028 4. An EU Research & Innovation (R&I) agenda on nature-based solutions will enable Europe to become a world leader both in R&I and in the growing market for nature-based solutions. For this, the evidence base for the effectiveness of nature-based solutions needs to be developed and then used to implement solutions. Both need to be done in conjunction with stakeholders. The potential for transferability and upscaling of solutions also requires further investigation. There is also a need to develop a systemic approach that combines technical, business, finance, governance, regulatory and social innovation. \u2028 5. Four principal goals have been identified that can be addressed by nature-based solutions: �� Enhancing sustainable urbanisation through nature-based solutions can stimulate economic growth as well as improving the environment, making cities more attractive, and enhancing human well-being. \u2028 �� Restoring degraded ecosystems using nature-based solutions can improve the resilience of ecosystems, enabling them to deliver vital ecosystem services and also to meet other societal challenges. \u2028 �� Developing climate change adaptation and mitigation using nature-based solutions can provide more resilient responses and enhance the storage of carbon. \u2028 �� Improving risk management and resilience using nature-based solutions can lead to greater benefits than conventional methods and offer synergies in reducing multiple risks. \u2028 6. Based on the four goals, seven nature-based solutions for R&I actions are recommended to be taken forward by the European Commission and Member States: �� Urban regeneration through nature-based solutions \u2028 �� Nature-based solutions for improving well-being in urban areas \u2028 �� Establishing nature-based solutions for coastal resilience \u2028 �� Multi-functional nature-based watershed management and ecosystem restoration \u2028 �� Nature-based solutions for increasing the sustainability of the use of matter and energy \u2028 �� Nature-based solutions for enhancing the insurance value of ecosystems \u2028 �� Increasing carbon sequestration through nature-based solutions \u2028This report was produced by the Horizon 2020 Expert Group on 'Nature-Based Solutions and Re- Naturing Cities', informed by the findings of an e-consultation and a stakeholder workshop. \u202

Articulated Clinician Detection Using 3D Pictorial Structures on RGB-D Data

Reliable human pose estimation (HPE) is essential to many clinical applications, such as surgical workflow analysis, radiation safety monitoring and human-robot cooperation. Proposed methods for the operating room (OR) rely either on foreground estimation using a multi-camera system, which is a challenge in real ORs due to color similarities and frequent illumination changes, or on wearable sensors or markers, which are invasive and therefore difficult to introduce in the room. Instead, we propose a novel approach based on Pictorial Structures (PS) and on RGB-D data, which can be easily deployed in real ORs. We extend the PS framework in two ways. First, we build robust and discriminative part detectors using both color and depth images. We also present a novel descriptor for depth images, called histogram of depth differences (HDD). Second, we extend PS to 3D by proposing 3D pairwise constraints and a new method that makes exact inference tractable. Our approach is evaluated for pose estimation and clinician detection on a challenging RGB-D dataset recorded in a busy operating room during live surgeries. We conduct series of experiments to study the different part detectors in conjunction with the various 2D or 3D pairwise constraints. Our comparisons demonstrate that 3D PS with RGB-D part detectors significantly improves the results in a visually challenging operating environment.Comment: The supplementary video is available at https://youtu.be/iabbGSqRSg

Scene classification using spatial pyramid matching and hierarchical Dirichlet processes

The goal of scene classification is to automatically assign a scene image to a semantic category (i.e. building or river ) based on analyzing the visual contents of this image. This is a challenging problem due to the scene images\u27 variability, ambiguity, and a wide range of illumination or scale conditions that may apply. On the contrary, it is a fundamental problem in computer vision and can be used to guide other processes such as image browsing, contentbased image retrieval and object recognition by providing contextual information. This thesis implemented two scene classification systems: one is based on Spatial Pyramid Matching (SPM) and the other one is applying Hierarchical Dirichlet Processes (HDP). Both approaches are based on the most popular bag-of-words representation, which is a histogram of quantized visual features. SPM represents an image as a spatial pyramid which is produced by computing histograms of local features for multiple levels with different resolutions. Spatial Pyramid Matching is then used to estimate the overall perceptual similarity between images which can be used as a support vector machine (SVM) kernel. In the second approach, HDP is used to model the bag-of-words representations of images; each image is described as a mixture of latent themes and each theme is described as a mixture of words. The number of themes is automatically inferred from data. The themes are shared by images not only inside one scene category but also across all categories. Both systems are tested on three popular datasets from the field and their performances are compared. In addition, the two approaches are combined, resulting in performance improvement over either separate system

Active recognition and pose estimation of rigid and deformable objects in 3D space

Object recognition and pose estimation is a fundamental problem in computer vision and of utmost importance in robotic applications. Object recognition refers to the problem of recognizing certain object instances, or categorizing objects into specific classes. Pose estimation deals with estimating the exact position of the object in 3D space, usually expressed in Euler angles. There are generally two types of objects that require special care when designing solutions to the aforementioned problems: rigid and deformable. Dealing with deformable objects has been a much harder problem, and usually solutions that apply to rigid objects, fail when used for deformable objects due to the inherent assumptions made during the design. In this thesis we deal with object categorization, instance recognition and pose estimation of both rigid and deformable objects. In particular, we are interested in a special type of deformable objects, clothes. We tackle the problem of autonomously recognizing and unfolding articles of clothing using a dual manipulator. This problem consists of grasping an article from a random point, recognizing it and then bringing it into an unfolded state by a dual arm robot. We propose a data-driven method for clothes recognition from depth images using Random Decision Forests. We also propose a method for unfolding an article of clothing after estimating and grasping two key-points, using Hough Forests. Both methods are implemented into a POMDP framework allowing the robot to interact optimally with the garments, taking into account uncertainty in the recognition and point estimation process. This active recognition and unfolding makes our system very robust to noisy observations. Our methods were tested on regular-sized clothes using a dual-arm manipulator. Our systems perform better in both accuracy and speed compared to state-of-the-art approaches. In order to take advantage of the robotic manipulator and increase the accuracy of our system, we developed a novel approach to address generic active vision problems, called Active Random Forests. While state of the art focuses on best viewing parameters selection based on single view classifiers, we propose a multi-view classifier where the decision mechanism of optimally changing viewing parameters is inherent to the classification process. This has many advantages: a) the classifier exploits the entire set of captured images and does not simply aggregate probabilistically per view hypotheses; b) actions are based on learnt disambiguating features from all views and are optimally selected using the powerful voting scheme of Random Forests and c) the classifier can take into account the costs of actions. The proposed framework was applied to the same task of autonomously unfolding clothes by a robot, addressing the problem of best viewpoint selection in classification, grasp point and pose estimation of garments. We show great performance improvement compared to state of the art methods and our previous POMDP formulation. Moving from deformable to rigid objects while keeping our interest to domestic robotic applications, we focus on object instance recognition and 3D pose estimation of household objects. We are particularly interested in realistic scenes that are very crowded and objects can be perceived under severe occlusions. Single shot-based 6D pose estimators with manually designed features are still unable to tackle such difficult scenarios for a variety of objects, motivating the research towards unsupervised feature learning and next-best-view estimation. We present a complete framework for both single shot-based 6D object pose estimation and next-best-view prediction based on Hough Forests, the state of the art object pose estimator that performs classification and regression jointly. Rather than using manually designed features we propose an unsupervised feature learnt from depth-invariant patches using a Sparse Autoencoder. Furthermore, taking advantage of the clustering performed in the leaf nodes of Hough Forests, we learn to estimate the reduction of uncertainty in other views, formulating the problem of selecting the next-best-view. To further improve 6D object pose estimation, we propose an improved joint registration and hypotheses verification module as a final refinement step to reject false detections. We provide two additional challenging datasets inspired from realistic scenarios to extensively evaluate the state of the art and our framework. One is related to domestic environments and the other depicts a bin-picking scenario mostly found in industrial settings. We show that our framework significantly outperforms state of the art both on public and on our datasets. Unsupervised feature learning, although efficient, might produce sub-optimal features for our particular tast. Therefore in our last work, we leverage the power of Convolutional Neural Networks to tackled the problem of estimating the pose of rigid objects by an end-to-end deep regression network. To improve the moderate performance of the standard regression objective function, we introduce the Siamese Regression Network. For a given image pair, we enforce a similarity measure between the representation of the sample images in the feature and pose space respectively, that is shown to boost regression performance. Furthermore, we argue that our pose-guided feature learning using our Siamese Regression Network generates more discriminative features that outperform the state of the art. Last, our feature learning formulation provides the ability of learning features that can perform under severe occlusions, demonstrating high performance on our novel hand-object dataset. Concluding, this work is a research on the area of object detection and pose estimation in 3D space, on a variety of object types. Furthermore we investigate how accuracy can be further improved by applying active vision techniques to optimally move the camera view to minimize the detection error.Open Acces

The insider on the outside: a novel system for the detection of information leakers in social networks

Confidential information is all too easily leaked by naive users posting comments. In this paper we introduce DUIL, a system for Detecting Unintentional Information Leakers. The value of DUIL is in its ability to detect those responsible for information leakage that occurs through comments posted on news articles in a public environment, when those articles have withheld material non-public information. DUIL is comprised of several artefacts, each designed to analyse a different aspect of this challenge: the information, the user(s) who posted the information, and the user(s) who may be involved in the dissemination of information. We present a design science analysis of DUIL as an information system artefact comprised of social, information, and technology artefacts. We demonstrate the performance of DUIL on real data crawled from several Facebook news pages spanning two years of news articles