Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects. To achieve this, it first uses a category-agnostic affordance prediction algorithm to select and execute among four different grasping primitive behaviors. It then recognizes picked objects with a cross-domain image classification framework that matches observed images to product images. Since product images are readily available for a wide range of objects (e.g., from the web), the system works out-of-the-box for novel objects without requiring any additional training data. Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy for both known and novel grasped objects. The approach was part of the MIT-Princeton Team system that took 1st place in the stowing task at the 2017 Amazon Robotics Challenge. All code, datasets, and pre-trained models are available online at http://arc.cs.princeton.eduComment: Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIk

Automatic and semi-automatic extraction of curvilinear features from SAR images

Extraction of curvilinear features from synthetic aperture radar (SAR) images is important for automatic recognition of various targets, such as fences, surrounding the buildings. The bright pixels which constitute curvilinear features in SAR images are usually disrupted and also degraded by high amount of speckle noise which makes extraction of such curvilinear features very difficult. In this paper an approach for the extraction of curvilinear features from SAR images is presented. The proposed approach is based on searching the curvilinear features as an optimum unidirectional path crossing over the vertices of the features determined after a despeckling operation. The proposed method can be used in a semi-automatic mode if the user supplies the starting vertex or in an automatic mode otherwise. In the semi-automatic mode, the proposed method produces reasonably accurate real-time solutions for SAR images

Detection of Mines in Acoustic Images using Higher Order Spectral Features

A new pattern-recognition algorithm detects approximately 90% of the mines hidden in the Coastal Systems Station Sonar0, 1, and 3 databases of cluttered acoustic images, with about 10% false alarms. Similar to other approaches, the algorithm presented here includes processing the images with an adaptive Wiener filter (the degree of smoothing depends on the signal strength in a local neighborhood) to remove noise without destroying the structural information in the mine shapes, followed by a two-dimensional FIR filter designed to suppress noise and clutter, while enhancing the target signature. A double peak pattern is produced as the FIR filter passes over mine highlight and shadow regions. Although the location, size, and orientation of this pattern within a region of the image can vary, features derived from higher order spectra (HOS) are invariant to translation, rotation, and scaling, while capturing the spatial correlations of mine-like objects. Classification accuracy is improved by combining features based on geometrical properties of the filter output with features based on HOS. The highest accuracy is obtained by fusing classification based on bispectral features with classification based on trispectral features