Object recognition and pose estimation of planar objects from range data

The Extravehicular Activity Helper/Retriever (EVAHR) is a robotic device currently under development at the NASA Johnson Space Center that is designed to fetch objects or to assist in retrieving an astronaut who may have become inadvertently de-tethered. The EVAHR will be required to exhibit a high degree of intelligent autonomous operation and will base much of its reasoning upon information obtained from one or more three-dimensional sensors that it will carry and control. At the highest level of visual cognition and reasoning, the EVAHR will be required to detect objects, recognize them, and estimate their spatial orientation and location. The recognition phase and estimation of spatial pose will depend on the ability of the vision system to reliably extract geometric features of the objects such as whether the surface topologies observed are planar or curved and the spatial relationships between the component surfaces. In order to achieve these tasks, three-dimensional sensing of the operational environment and objects in the environment will therefore be essential. One of the sensors being considered to provide image data for object recognition and pose estimation is a phase-shift laser scanner. The characteristics of the data provided by this scanner have been studied and algorithms have been developed for segmenting range images into planar surfaces, extracting basic features such as surface area, and recognizing the object based on the characteristics of extracted features. Also, an approach has been developed for estimating the spatial orientation and location of the recognized object based on orientations of extracted planes and their intersection points. This paper presents some of the algorithms that have been developed for the purpose of recognizing and estimating the pose of objects as viewed by the laser scanner, and characterizes the desirability and utility of these algorithms within the context of the scanner itself, considering data quality and noise

Review of research in feature-based design

Research in feature-based design is reviewed. Feature-based design is regarded as a key factor towards CAD/CAPP integration from a process planning point of view. From a design point of view, feature-based design offers possibilities for supporting the design process better than current CAD systems do. The evolution of feature definitions is briefly discussed. Features and their role in the design process and as representatives of design-objects and design-object knowledge are discussed. The main research issues related to feature-based design are outlined. These are: feature representation, features and tolerances, feature validation, multiple viewpoints towards features, features and standardization, and features and languages. An overview of some academic feature-based design systems is provided. Future research issues in feature-based design are outlined. The conclusion is that feature-based design is still in its infancy, and that more research is needed for a better support of the design process and better integration with manufacturing, although major advances have already been made

Relation Networks for Object Detection

Although it is well believed for years that modeling relations between objects would help object recognition, there has not been evidence that the idea is working in the deep learning era. All state-of-the-art object detection systems still rely on recognizing object instances individually, without exploiting their relations during learning. This work proposes an object relation module. It processes a set of objects simultaneously through interaction between their appearance feature and geometry, thus allowing modeling of their relations. It is lightweight and in-place. It does not require additional supervision and is easy to embed in existing networks. It is shown effective on improving object recognition and duplicate removal steps in the modern object detection pipeline. It verifies the efficacy of modeling object relations in CNN based detection. It gives rise to the first fully end-to-end object detector

Intelligent computational sketching support for conceptual design

Sketches, with their flexibility and suggestiveness, are in many ways ideal for expressing emerging design concepts. This can be seen from the fact that the process of representing early designs by free-hand drawings was used as far back as in the early 15th century [1]. On the other hand, CAD systems have become widely accepted as an essential design tool in recent years, not least because they provide a base on which design analysis can be carried out. Efficient transfer of sketches into a CAD representation, therefore, is a powerful addition to the designers' armoury.It has been pointed out by many that a pen-on-paper system is the best tool for sketching. One of the crucial requirements of a computer aided sketching system is its ability to recognise and interpret the elements of sketches. 'Sketch recognition', as it has come to be known, has been widely studied by people working in such fields: as artificial intelligence to human-computer interaction and robotic vision. Despite the continuing efforts to solve the problem of appropriate conceptual design modelling, it is difficult to achieve completely accurate recognition of sketches because usually sketches implicate vague information, and the idiosyncratic expression and understanding differ from each designer

Broadcasting Convolutional Network for Visual Relational Reasoning

In this paper, we propose the Broadcasting Convolutional Network (BCN) that extracts key object features from the global field of an entire input image and recognizes their relationship with local features. BCN is a simple network module that collects effective spatial features, embeds location information and broadcasts them to the entire feature maps. We further introduce the Multi-Relational Network (multiRN) that improves the existing Relation Network (RN) by utilizing the BCN module. In pixel-based relation reasoning problems, with the help of BCN, multiRN extends the concept of `pairwise relations' in conventional RNs to `multiwise relations' by relating each object with multiple objects at once. This yields in O(n) complexity for n objects, which is a vast computational gain from RNs that take O(n^2). Through experiments, multiRN has achieved a state-of-the-art performance on CLEVR dataset, which proves the usability of BCN on relation reasoning problems.Comment: Accepted paper at ECCV 2018. 24 page