Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting

This paper proposes a single-shot approach for recognising clothing categories from 2.5D features. We propose two visual features, BSP (B-Spline Patch) and TSD (Topology Spatial Distances) for this task. The local BSP features are encoded by LLC (Locality-constrained Linear Coding) and fused with three different global features. Our visual feature is robust to deformable shapes and our approach is able to recognise the category of unknown clothing in unconstrained and random configurations. We integrated the category recognition pipeline with a stereo vision system, clothing instance detection, and dual-arm manipulators to achieve an autonomous sorting system. To verify the performance of our proposed method, we build a high-resolution RGBD clothing dataset of 50 clothing items of 5 categories sampled in random configurations (a total of 2,100 clothing samples). Experimental results show that our approach is able to reach 83.2\% accuracy while classifying clothing items which were previously unseen during training. This advances beyond the previous state-of-the-art by 36.2\%. Finally, we evaluate the proposed approach in an autonomous robot sorting system, in which the robot recognises a clothing item from an unconstrained pile, grasps it, and sorts it into a box according to its category. Our proposed sorting system achieves reasonable sorting success rates with single-shot perception.Comment: 9 pages, accepted by IROS201

Actors vs Shared Memory: two models at work on Big Data application frameworks

This work aims at analyzing how two different concurrency models, namely the shared memory model and the actor model, can influence the development of applications that manage huge masses of data, distinctive of Big Data applications. The paper compares the two models by analyzing a couple of concrete projects based on the MapReduce and Bulk Synchronous Parallel algorithmic schemes. Both projects are doubly implemented on two concrete platforms: Akka Cluster and Managed X10. The result is both a conceptual comparison of models in the Big Data Analytics scenario, and an experimental analysis based on concrete executions on a cluster platform

An experimental validation of the PRO model for parallel and distributed computation

National audienceThe Parallel Resource-Optimal (PRO) computation model was introduced by Gebremedhin et al. [2002] as a framework for the design and analysis of efficient parallel algorithms. The key features of the PRO model that distinguish it from previous parallel computation models are the full integration of resource-optimality into the design process and the use of a {granularity function as a parameter for measuring quality. In this paper we present experimental results on parallel algorithms, designed using the PRO model, for two representative problems: list ranking and sorting. The algorithms are implemented using SSCRAP, our environment for developing coarse-grained algorithms. The experimental performance results observed agree well with analytical predictions using the PRO model. Moreover, by using different platforms to run our experiments, we have been able to provide an integrated view of the modeling of an underlying architecture and the design and implementation of scalable parallel algorithms