Point Pair Feature based Object Detection for Random Bin Picking

Point pair features are a popular representation for free form 3D object detection and pose estimation. In this paper, their performance in an industrial random bin picking context is investigated. A new method to generate representative synthetic datasets is proposed. This allows to investigate the influence of a high degree of clutter and the presence of self similar features, which are typical to our application. We provide an overview of solutions proposed in literature and discuss their strengths and weaknesses. A simple heuristic method to drastically reduce the computational complexity is introduced, which results in improved robustness, speed and accuracy compared to the naive approach

Occlusion Coherence: Detecting and Localizing Occluded Faces

The presence of occluders significantly impacts object recognition accuracy. However, occlusion is typically treated as an unstructured source of noise and explicit models for occluders have lagged behind those for object appearance and shape. In this paper we describe a hierarchical deformable part model for face detection and landmark localization that explicitly models part occlusion. The proposed model structure makes it possible to augment positive training data with large numbers of synthetically occluded instances. This allows us to easily incorporate the statistics of occlusion patterns in a discriminatively trained model. We test the model on several benchmarks for landmark localization and detection including challenging new data sets featuring significant occlusion. We find that the addition of an explicit occlusion model yields a detection system that outperforms existing approaches for occluded instances while maintaining competitive accuracy in detection and landmark localization for unoccluded instances

Edaq530: a transparent, open-end and open-source measurement solution in natural science education

We present Edaq530, a low-cost, compact and easy-to-use digital measurement solution consisting of a thumb-sized USB-to-sensor interface and a measurement software. The solution is fully open-source, our aim being to provide a viable alternative to professional solutions. Our main focus in designing Edaq530 has been versatility and transparency. In this paper, we shall introduce the capabilities of Edaq530, complement it by showing a few sample experiments, and discuss the feedback we have received in the course of a teacher training workshop in which the participants received personal copies of Edaq530 and later made reports on how they could utilise Edaq530 in their teaching

Data-Driven Shape Analysis and Processing

Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and visualization of geometric data. In contrast to traditional approaches, a key feature of data-driven approaches is that they aggregate information from a collection of shapes to improve the analysis and processing of individual shapes. In addition, they are able to learn models that reason about properties and relationships of shapes without relying on hard-coded rules or explicitly programmed instructions. We provide an overview of the main concepts and components of these techniques, and discuss their application to shape classification, segmentation, matching, reconstruction, modeling and exploration, as well as scene analysis and synthesis, through reviewing the literature and relating the existing works with both qualitative and numerical comparisons. We conclude our report with ideas that can inspire future research in data-driven shape analysis and processing.Comment: 10 pages, 19 figure

A Pooling Approach to Modelling Spatial Relations for Image Retrieval and Annotation

Over the last two decades we have witnessed strong progress on modeling visual object classes, scenes and attributes that have significantly contributed to automated image understanding. On the other hand, surprisingly little progress has been made on incorporating a spatial representation and reasoning in the inference process. In this work, we propose a pooling interpretation of spatial relations and show how it improves image retrieval and annotations tasks involving spatial language. Due to the complexity of the spatial language, we argue for a learning-based approach that acquires a representation of spatial relations by learning parameters of the pooling operator. We show improvements on previous work on two datasets and two different tasks as well as provide additional insights on a new dataset with an explicit focus on spatial relations

Geometric analysis of macromolecule organization within cryo-electron tomograms

Cryo-electron tomography (CET) provides unprecedented views into the native cellular environment at molecular resolution. While subtomogram analysis yields high-resolution native structures of molecular complexes, it also determines the precise positions and orientations of these macromolecules within the cell. Analyzing the geometric relationships between adjacent macromolecules can offer structural insights into molecular interactions and identify supramolecular ensembles. However, computation..