Metric Learning for Generalizing Spatial Relations to New Objects

Human-centered environments are rich with a wide variety of spatial relations between everyday objects. For autonomous robots to operate effectively in such environments, they should be able to reason about these relations and generalize them to objects with different shapes and sizes. For example, having learned to place a toy inside a basket, a robot should be able to generalize this concept using a spoon and a cup. This requires a robot to have the flexibility to learn arbitrary relations in a lifelong manner, making it challenging for an expert to pre-program it with sufficient knowledge to do so beforehand. In this paper, we address the problem of learning spatial relations by introducing a novel method from the perspective of distance metric learning. Our approach enables a robot to reason about the similarity between pairwise spatial relations, thereby enabling it to use its previous knowledge when presented with a new relation to imitate. We show how this makes it possible to learn arbitrary spatial relations from non-expert users using a small number of examples and in an interactive manner. Our extensive evaluation with real-world data demonstrates the effectiveness of our method in reasoning about a continuous spectrum of spatial relations and generalizing them to new objects.Comment: Accepted at the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems. The new Freiburg Spatial Relations Dataset and a demo video of our approach running on the PR-2 robot are available at our project website: http://spatialrelations.cs.uni-freiburg.d

FAST: A multi-processed environment for visualization of computational fluid dynamics

Three-dimensional, unsteady, multi-zoned fluid dynamics simulations over full scale aircraft are typical of the problems being investigated at NASA Ames' Numerical Aerodynamic Simulation (NAS) facility on CRAY2 and CRAY-YMP supercomputers. With multiple processor workstations available in the 10-30 Mflop range, we feel that these new developments in scientific computing warrant a new approach to the design and implementation of analysis tools. These larger, more complex problems create a need for new visualization techniques not possible with the existing software or systems available as of this writing. The visualization techniques will change as the supercomputing environment, and hence the scientific methods employed, evolves even further. The Flow Analysis Software Toolkit (FAST), an implementation of a software system for fluid mechanics analysis, is discussed

Study of time-lapse processing for dynamic hydrologic conditions

The usefulness of dynamic display techniques in exploiting the repetitive nature of ERTS imagery was investigated. A specially designed Electronic Satellite Image Analysis Console (ESIAC) was developed and employed to process data for seven ERTS principal investigators studying dynamic hydrological conditions for diverse applications. These applications include measurement of snowfield extent and sediment plumes from estuary discharge, Playa Lake inventory, and monitoring of phreatophyte and other vegetation changes. The ESIAC provides facilities for storing registered image sequences in a magnetic video disc memory for subsequent recall, enhancement, and animated display in monochrome or color. The most unique feature of the system is the capability to time lapse the imagery and analytic displays of the imagery. Data products included quantitative measurements of distances and areas, binary thematic maps based on monospectral or multispectral decisions, radiance profiles, and movie loops. Applications of animation for uses other than creating time-lapse sequences are identified. Input to the ESIAC can be either digital or via photographic transparencies

Dialectical Polyptych: an interactive movie installation

Most of the known video games developed by important software companies usually establish an approach to the cinematic language in an attempt to create a perfect combination of narrative, visual technique and interaction. Unlike most video games, interactive film narratives normally involve an interruption in time whenever the spectator has to make choices. “Dialectical Polyptych” is an interactive movie included in a project called “Characters looking for a spectactor”, which aims to give the spectator on-the-fly control over film editing, thus exploiting the role of the spectator as an active subject in the presented narrative. This paper presents an installation based on a mobile device, which allows seamless real-time interactivity with the movie. Different finger touches in the screen allow the spectator to alternate between two parallel narratives, both producing a complementary narrative, and change the angle or shot within each narrative.info:eu-repo/semantics/publishedVersio

FAST: A multi-processed environment for visualization of computational fluid

Three dimensional, unsteady, multizoned fluid dynamics simulations over full scale aircraft is typical of problems being computed at NASA-Ames on CRAY2 and CRAY-YMP supercomputers. With multiple processor workstations available in the 10 to 30 Mflop range, it is felt that these new developments in scientific computing warrant a new approach to the design and implementation of analysis tools. These large, more complex problems create a need for new visualization techniques not possible with the existing software or systems available as of this time. These visualization techniques will change as the supercomputing environment, and hence the scientific methods used, evolve ever further. Visualization of computational aerodynamics require flexible, extensible, and adaptable software tools for performing analysis tasks. FAST (Flow Analysis Software Toolkit), an implementation of a software system for fluid mechanics analysis that is based on this approach is discussed

ImageSpirit: Verbal Guided Image Parsing

Humans describe images in terms of nouns and adjectives while algorithms operate on images represented as sets of pixels. Bridging this gap between how humans would like to access images versus their typical representation is the goal of image parsing, which involves assigning object and attribute labels to pixel. In this paper we propose treating nouns as object labels and adjectives as visual attribute labels. This allows us to formulate the image parsing problem as one of jointly estimating per-pixel object and attribute labels from a set of training images. We propose an efficient (interactive time) solution. Using the extracted labels as handles, our system empowers a user to verbally refine the results. This enables hands-free parsing of an image into pixel-wise object/attribute labels that correspond to human semantics. Verbally selecting objects of interests enables a novel and natural interaction modality that can possibly be used to interact with new generation devices (e.g. smart phones, Google Glass, living room devices). We demonstrate our system on a large number of real-world images with varying complexity. To help understand the tradeoffs compared to traditional mouse based interactions, results are reported for both a large scale quantitative evaluation and a user study.Comment: http://mmcheng.net/imagespirit

An Immersive Telepresence System using RGB-D Sensors and Head Mounted Display

We present a tele-immersive system that enables people to interact with each other in a virtual world using body gestures in addition to verbal communication. Beyond the obvious applications, including general online conversations and gaming, we hypothesize that our proposed system would be particularly beneficial to education by offering rich visual contents and interactivity. One distinct feature is the integration of egocentric pose recognition that allows participants to use their gestures to demonstrate and manipulate virtual objects simultaneously. This functionality enables the instructor to ef- fectively and efficiently explain and illustrate complex concepts or sophisticated problems in an intuitive manner. The highly interactive and flexible environment can capture and sustain more student attention than the traditional classroom setting and, thus, delivers a compelling experience to the students. Our main focus here is to investigate possible solutions for the system design and implementation and devise strategies for fast, efficient computation suitable for visual data processing and network transmission. We describe the technique and experiments in details and provide quantitative performance results, demonstrating our system can be run comfortably and reliably for different application scenarios. Our preliminary results are promising and demonstrate the potential for more compelling directions in cyberlearning.Comment: IEEE International Symposium on Multimedia 201

Scientific Visualization Using the Flow Analysis Software Toolkit (FAST)

Over the past few years the Flow Analysis Software Toolkit (FAST) has matured into a useful tool for visualizing and analyzing scientific data on high-performance graphics workstations. Originally designed for visualizing the results of fluid dynamics research, FAST has demonstrated its flexibility by being used in several other areas of scientific research. These research areas include earth and space sciences, acid rain and ozone modelling, and automotive design, just to name a few. This paper describes the current status of FAST, including the basic concepts, architecture, existing functionality and features, and some of the known applications for which FAST is being used. A few of the applications, by both NASA and non-NASA agencies, are outlined in more detail. Described in the Outlines are the goals of each visualization project, the techniques or 'tricks' used lo produce the desired results, and custom modifications to FAST, if any, done to further enhance the analysis. Some of the future directions for FAST are also described