On the Design and Analysis of Multiple View Descriptors

We propose an extension of popular descriptors based on gradient orientation histograms (HOG, computed in a single image) to multiple views. It hinges on interpreting HOG as a conditional density in the space of sampled images, where the effects of nuisance factors such as viewpoint and illumination are marginalized. However, such marginalization is performed with respect to a very coarse approximation of the underlying distribution. Our extension leverages on the fact that multiple views of the same scene allow separating intrinsic from nuisance variability, and thus afford better marginalization of the latter. The result is a descriptor that has the same complexity of single-view HOG, and can be compared in the same manner, but exploits multiple views to better trade off insensitivity to nuisance variability with specificity to intrinsic variability. We also introduce a novel multi-view wide-baseline matching dataset, consisting of a mixture of real and synthetic objects with ground truthed camera motion and dense three-dimensional geometry

A 3D descriptor to detect task-oriented grasping points in clothing

© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. Most current approaches follow a multiple re-grasp strategy, in which clothes are sequentially grasped from different points until one of them yields a recognizable configuration. In this work we propose a method that combines 3D and appearance information to directly select a suitable grasping point for the task at hand, which in our case consists of hanging a shirt or a polo shirt from a hook. Our method follows a coarse-to-fine approach in which, first, the collar of the garment is detected and, next, a grasping point on the lapel is chosen using a novel 3D descriptor. In contrast to current 3D descriptors, ours can run in real time, even when it needs to be densely computed over the input image. Our central idea is to take advantage of the structured nature of range images that most depth sensors provide and, by exploiting integral imaging, achieve speed-ups of two orders of magnitude with respect to competing approaches, while maintaining performance. This makes it especially adequate for robotic applications as we thoroughly demonstrate in the experimental section.Peer ReviewedPostprint (author's final draft

Learning shape correspondence with anisotropic convolutional neural networks

Establishing correspondence between shapes is a fundamental problem in geometry processing, arising in a wide variety of applications. The problem is especially difficult in the setting of non-isometric deformations, as well as in the presence of topological noise and missing parts, mainly due to the limited capability to model such deformations axiomatically. Several recent works showed that invariance to complex shape transformations can be learned from examples. In this paper, we introduce an intrinsic convolutional neural network architecture based on anisotropic diffusion kernels, which we term Anisotropic Convolutional Neural Network (ACNN). In our construction, we generalize convolutions to non-Euclidean domains by constructing a set of oriented anisotropic diffusion kernels, creating in this way a local intrinsic polar representation of the data (`patch'), which is then correlated with a filter. Several cascades of such filters, linear, and non-linear operators are stacked to form a deep neural network whose parameters are learned by minimizing a task-specific cost. We use ACNNs to effectively learn intrinsic dense correspondences between deformable shapes in very challenging settings, achieving state-of-the-art results on some of the most difficult recent correspondence benchmarks

The effect of polymorphism on the structural, dynamic and dielectric properties of plastic crystal water: A molecular dynamics simulation perspective

We have employed molecular dynamics simulations based on the TIP4P/2005 water model to investigate the local structural, dynamical, and dielectric properties of the two recently reported body-centered-cubic and face-centered-cubic plastic crystal phases of water. Our results reveal significant differences in the local orientational structure and rotational dynamics of water molecules for the two polymorphs. The probability distributions of trigonal and tetrahedral order parameters exhibit a multi-modal structure, implying the existence of significant local orientational heterogeneities, particularly in the face-centered-cubic phase. The calculated hydrogen bond statistics and dynamics provide further indications of the existence of a strongly heterogeneous and rapidly interconverting local orientational structural network in both polymorphs. We have observed a hindered molecular rotation, much more pronounced in the body-centered-cubic phase, which is reflected by the decay of the fourth-order Legendre reorientational correlation functions and angular Van Hove functions. Molecular rotation, however, is additionally hindered in the high-pressure liquid compared to the plastic crystal phase. The results obtained also reveal significant differences in the dielectric properties of the polymorphs due to the different dipolar orientational correlation characterizing each phase

Hyperuniformity, quasi-long-range correlations, and void-space constraints in maximally random jammed particle packings. I. Polydisperse spheres

Hyperuniform many-particle distributions possess a local number variance that grows more slowly than the volume of an observation window, implying that the local density is effectively homogeneous beyond a few characteristic length scales. Previous work on maximally random strictly jammed sphere packings in three dimensions has shown that these systems are hyperuniform and possess unusual quasi-long-range pair correlations, resulting in anomalous logarithmic growth in the number variance. However, recent work on maximally random jammed sphere packings with a size distribution has suggested that such quasi-long-range correlations and hyperuniformity are not universal among jammed hard-particle systems. In this paper we show that such systems are indeed hyperuniform with signature quasi-long-range correlations by characterizing the more general local-volume-fraction fluctuations. We argue that the regularity of the void space induced by the constraints of saturation and strict jamming overcomes the local inhomogeneity of the disk centers to induce hyperuniformity in the medium with a linear small-wavenumber nonanalytic behavior in the spectral density, resulting in quasi-long-range spatial correlations. A numerical and analytical analysis of the pore-size distribution for a binary MRJ system in addition to a local characterization of the n-particle loops governing the void space surrounding the inclusions is presented in support of our argument. This paper is the first part of a series of two papers considering the relationships among hyperuniformity, jamming, and regularity of the void space in hard-particle packings.Comment: 40 pages, 15 figure

Real-time, long-term hand tracking with unsupervised initialization

This paper proposes a complete tracking system that is capable of long-term, real-time hand tracking with unsupervised initialization and error recovery. Initialization is steered by a three-stage hand detector, combining spatial and temporal information. Hand hypotheses are generated by a random forest detector in the first stage, whereas a simple linear classifier eliminates false positive detections. Resulting detections are tracked by particle filters that gather temporal statistics in order to make a final decision. The detector is scale and rotation invariant, and can detect hands in any pose in unconstrained environments. The resulting discriminative confidence map is combined with a generative particle filter based observation model to enable robust, long-term hand tracking in real-time. The proposed solution is evaluated using several challenging, publicly available datasets, and is shown to clearly outperform other state of the art object tracking methods