Recognising the Clothing Categories from Free-Configuration Using Gaussian-Process-Based Interactive Perception

In this paper, we propose a Gaussian Process- based interactive perception approach for recognising highly- wrinkled clothes. We have integrated this recognition method within a clothes sorting pipeline for the pre-washing stage of an autonomous laundering process. Our approach differs from reported clothing manipulation approaches by allowing the robot to update its perception confidence via numerous interactions with the garments. The classifiers predominantly reported in clothing perception (e.g. SVM, Random Forest) studies do not provide true classification probabilities, due to their inherent structure. In contrast, probabilistic classifiers (of which the Gaussian Process is a popular example) are able to provide predictive probabilities. In our approach, we employ a multi-class Gaussian Process classification using the Laplace approximation for posterior inference and optimising hyper-parameters via marginal likelihood maximisation. Our experimental results show that our approach is able to recognise unknown garments from highly-occluded and wrinkled con- figurations and demonstrates a substantial improvement over non-interactive perception approaches

Using Landsat-Based Phenology Metrics, Terrain Variables, and Machine Learning for Mapping and Probabilistic Prediction of Forest Community Types in West Virginia

This study investigates the mapping of forest community types for the entire state of West Virginia, USA using Global Land Analysis and Discovery (GLAD) Phenology Metrics analysis ready data (ARD) derived from the Landsat time series and digital terrain variables derived from a digital terrain model (DTM). Both classifications and probabilistic predictions were made using random forest (RF) machine learning (ML) and training data derived from ground plots provided by the West Virginia Natural Heritage Program (WVNHP). The primary goal of this study is to explore the use of globally consistent ARD data for operational forest type mapping over a large spatial extent. Mean overall accuracy calculated from 50 model replicates for differentiating seven forest community types using only variables selected from the 348 GLAD Phenology Metrics used in the study resulted in an overall accuracy (OA) of 53.36% (map-level image classification efficacy (MICE) = 0.42). Accuracy increased to a mean OA of 73.0% (MICE = 0.62) when the Oak/Hickory and Oak/Pine classes were combined to an Oak Dominant class. Once selected terrain variables were added to the model, the mean OA for differentiating the seven forest types increased to 61.58% (MICE = 0.52). Our results highlight the benefits of combining spectral data and terrain variables and also the enhancement of the product’s usefulness when probabilistic prediction are provided alongside a hard classification. The GLAD Phenology Metrics did not provide an accuracy comparable to those obtained using harmonic regression coefficients; however, they generally outperformed models trained using only summer or fall seasonal medians and performed comparably to spring medians. We suggest further exploration of the GLAD Phenology Metrics as input for other spatial predictive mapping and modeling tasks

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

Learning Analysis-by-Synthesis for 6D Pose Estimation in RGB-D Images

Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a forward process, such as a rendered image of the object of interest in a particular pose. Due to occlusion or complicated sensor noise, it can be difficult to perform this comparison in a meaningful way. We propose an approach that "learns to compare", while taking these difficulties into account. This is done by describing the posterior density of a particular object pose with a convolutional neural network (CNN) that compares an observed and rendered image. The network is trained with the maximum likelihood paradigm. We observe empirically that the CNN does not specialize to the geometry or appearance of specific objects, and it can be used with objects of vastly different shapes and appearances, and in different backgrounds. Compared to state-of-the-art, we demonstrate a significant improvement on two different datasets which include a total of eleven objects, cluttered background, and heavy occlusion.Comment: 16 pages, 8 figure