Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects. To achieve this, it first uses a category-agnostic affordance prediction algorithm to select and execute among four different grasping primitive behaviors. It then recognizes picked objects with a cross-domain image classification framework that matches observed images to product images. Since product images are readily available for a wide range of objects (e.g., from the web), the system works out-of-the-box for novel objects without requiring any additional training data. Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy for both known and novel grasped objects. The approach was part of the MIT-Princeton Team system that took 1st place in the stowing task at the 2017 Amazon Robotics Challenge. All code, datasets, and pre-trained models are available online at http://arc.cs.princeton.eduComment: Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIk

Image compression based on 2D Discrete Fourier Transform and matrix minimization algorithm

In the present era of the internet and multimedia, image compression techniques are essential to improve image and video performance in terms of storage space, network bandwidth usage, and secure transmission. A number of image compression methods are available with largely differing compression ratios and coding complexity. In this paper we propose a new method for compressing high-resolution images based on the Discrete Fourier Transform (DFT) and Matrix Minimization (MM) algorithm. The method consists of transforming an image by DFT yielding the real and imaginary components. A quantization process is applied to both components independently aiming at increasing the number of high frequency coefficients. The real component matrix is separated into Low Frequency Coefficients (LFC) and High Frequency Coefficients (HFC). Finally, the MM algorithm followed by arithmetic coding is applied to the LFC and HFC matrices. The decompression algorithm decodes the data in reverse order. A sequential search algorithm is used to decode the data from the MM matrix. Thereafter, all decoded LFC and HFC values are combined into one matrix followed by the inverse DFT. Results demonstrate that the proposed method yields high compression ratios over 98% for structured light images with good image reconstruction. Moreover, it is shown that the proposed method compares favorably with the JPEG technique based on compression ratios and image quality

Designing a novel virtual collaborative environment to support collaboration in design review meetings

Project review meetings are part of the project management process and are organised to assess progress and resolve any design conflicts to avoid delays in construction. One of the key challenges during a project review meeting is to bring the stakeholders together and use this time effectively to address design issues as quickly as possible. At present, current technology solutions based on BIM or CAD are information-centric and do not allow project teams to collectively explore the design from a range of perspectives and brainstorm ideas when design conflicts are encountered. This paper presents a system architecture that can be used to support multi-functional team collaboration more effectively during such design review meetings. The proposed architecture illustrates how information-centric BIM or CAD systems can be made human- and team-centric to enhance team communication and problem solving. An implementation of the proposed system architecture has been tested for its utility, likability and usefulness during design review meetings. The evaluation results suggest that the collaboration platform has the potential to enhance collaboration among multi-functional teams

Adaptive Multicell 3D Beamforming in Multi-Antenna Cellular Networks

We consider a cellular network with multi-antenna base stations (BSs) and single-antenna users, multicell cooperation, imperfect channel state information, and directional antennas each with a vertically adjustable beam. We investigate the impact of the elevation angle of the BS antenna pattern, denoted as tilt, on the performance of the considered network when employing either a conventional single-cell transmission or a fully cooperative multicell transmission. Using the results of this investigation, we propose a novel hybrid multicell cooperation technique in which the intercell interference is controlled via either cooperative beamforming in the horizontal plane or coordinated beamfroming in the vertical plane of the wireless channel, denoted as adaptive multicell 3D beamforming. The main idea is to divide the coverage area into two disjoint vertical regions and adapt the multicell cooperation strategy at the BSs when serving each region. A fair scheduler is used to share the time-slots between the vertical regions. It is shown that the proposed technique can achieve performance comparable to that of a fully cooperative transmission but with a significantly lower complexity and signaling requirements. To make the performance analysis computationally efficient, analytical expressions for the user ergodic rates under different beamforming strategies are also derived.Comment: Accepted for publication in IEEE Transaction on Vehicular Technolog

Seamless and Secure VR: Adapting and Evaluating Established Authentication Systems for Virtual Reality

Virtual reality (VR) headsets are enabling a wide range of new opportunities for the user. For example, in the near future users may be able to visit virtual shopping malls and virtually join international conferences. These and many other scenarios pose new questions with regards to privacy and security, in particular authentication of users within the virtual environment. As a first step towards seamless VR authentication, this paper investigates the direct transfer of well-established concepts (PIN, Android unlock patterns) into VR. In a pilot study (N = 5) and a lab study (N = 25), we adapted existing mechanisms and evaluated their usability and security for VR. The results indicate that both PINs and patterns are well suited for authentication in VR. We found that the usability of both methods matched the performance known from the physical world. In addition, the private visual channel makes authentication harder to observe, indicating that authentication in VR using traditional concepts already achieves a good balance in the trade-off between usability and security. The paper contributes to a better understanding of authentication within VR environments, by providing the first investigation of established authentication methods within VR, and presents the base layer for the design of future authentication schemes, which are used in VR environments only