5,216 research outputs found
Perceptually Motivated Shape Context Which Uses Shape Interiors
In this paper, we identify some of the limitations of current-day shape
matching techniques. We provide examples of how contour-based shape matching
techniques cannot provide a good match for certain visually similar shapes. To
overcome this limitation, we propose a perceptually motivated variant of the
well-known shape context descriptor. We identify that the interior properties
of the shape play an important role in object recognition and develop a
descriptor that captures these interior properties. We show that our method can
easily be augmented with any other shape matching algorithm. We also show from
our experiments that the use of our descriptor can significantly improve the
retrieval rates
Distributive Lattices, Affine Semigroups, and Branching Rules of the Classical Groups
We study algebras encoding stable range branching rules for the pairs of
complex classical groups of the same type in the context of toric degenerations
of spherical varieties. By lifting affine semigroup algebras constructed from
combinatorial data of branching multiplicities, we obtain algebras having
highest weight vectors in multiplicity spaces as their standard monomial type
bases. In particular, we identify a family of distributive lattices and their
associated Hibi algebras which can uniformly describe the stable range
branching algebras for all the pairs we consider.Comment: 30 pages, extensively revise
The Binary Space Partitioning-Tree Process
The Mondrian process represents an elegant and powerful approach for space
partition modelling. However, as it restricts the partitions to be
axis-aligned, its modelling flexibility is limited. In this work, we propose a
self-consistent Binary Space Partitioning (BSP)-Tree process to generalize the
Mondrian process. The BSP-Tree process is an almost surely right continuous
Markov jump process that allows uniformly distributed oblique cuts in a
two-dimensional convex polygon. The BSP-Tree process can also be extended using
a non-uniform probability measure to generate direction differentiated cuts.
The process is also self-consistent, maintaining distributional invariance
under a restricted subdomain. We use Conditional-Sequential Monte Carlo for
inference using the tree structure as the high-dimensional variable. The
BSP-Tree process's performance on synthetic data partitioning and relational
modelling demonstrates clear inferential improvements over the standard
Mondrian process and other related methods
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
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