LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes

Deep neural network (DNN) architectures have been shown to outperform traditional pipelines for object segmentation and pose estimation using RGBD data, but the performance of these DNN pipelines is directly tied to how representative the training data is of the true data. Hence a key requirement for employing these methods in practice is to have a large set of labeled data for your specific robotic manipulation task, a requirement that is not generally satisfied by existing datasets. In this paper we develop a pipeline to rapidly generate high quality RGBD data with pixelwise labels and object poses. We use an RGBD camera to collect video of a scene from multiple viewpoints and leverage existing reconstruction techniques to produce a 3D dense reconstruction. We label the 3D reconstruction using a human assisted ICP-fitting of object meshes. By reprojecting the results of labeling the 3D scene we can produce labels for each RGBD image of the scene. This pipeline enabled us to collect over 1,000,000 labeled object instances in just a few days. We use this dataset to answer questions related to how much training data is required, and of what quality the data must be, to achieve high performance from a DNN architecture

Some Pattern Recognition Challenges in Data-Intensive Astronomy

We review some of the recent developments and challenges posed by the data analysis in modern digital sky surveys, which are representative of the information-rich astronomy in the context of Virtual Observatory. Illustrative examples include the problems of an automated star-galaxy classification in complex and heterogeneous panoramic imaging data sets, and an automated, iterative, dynamical classification of transient events detected in synoptic sky surveys. These problems offer good opportunities for productive collaborations between astronomers and applied computer scientists and statisticians, and are representative of the kind of challenges now present in all data-intensive fields. We discuss briefly some emergent types of scalable scientific data analysis systems with a broad applicability.Comment: 8 pages, compressed pdf file, figures downgraded in quality in order to match the arXiv size limi