A perception and manipulation system for collecting rock samples

An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain

Traditional and new principles of perceptual grouping

Perceptual grouping refers to the process of determining which regions and parts of the visual scene belong together as parts of higher order perceptual units such as objects or patterns. In the early 20th century, Gestalt psychologists identified a set of classic grouping principles which specified how some image features lead to grouping between elements given that all other factors were held constant. Modern vision scientists have expanded this list to cover a wide range of image features but have also expanded the importance of learning and other non-image factors. Unlike early Gestalt accounts which were based largely on visual demonstrations, modern theories are often explicitly quantitative and involve detailed models of how various image features modulate grouping. Work has also been done to understand the rules by which different grouping principles integrate to form a final percept. This chapter gives an overview of the classic principles, modern developments in understanding them, and new principles and the evidence for them. There is also discussion of some of the larger theoretical issues about grouping such as at what stage of visual processing it occurs and what types of neural mechanisms may implement grouping principles

A Novel Framework for Highlight Reflectance Transformation Imaging

We propose a novel pipeline and related software tools for processing the multi-light image collections (MLICs) acquired in different application contexts to obtain shape and appearance information of captured surfaces, as well as to derive compact relightable representations of them. Our pipeline extends the popular Highlight Reflectance Transformation Imaging (H-RTI) framework, which is widely used in the Cultural Heritage domain. We support, in particular, perspective camera modeling, per-pixel interpolated light direction estimation, as well as light normalization correcting vignetting and uneven non-directional illumination. Furthermore, we propose two novel easy-to-use software tools to simplify all processing steps. The tools, in addition to support easy processing and encoding of pixel data, implement a variety of visualizations, as well as multiple reflectance-model-fitting options. Experimental tests on synthetic and real-world MLICs demonstrate the usefulness of the novel algorithmic framework and the potential benefits of the proposed tools for end-user applications.Terms: "European Union (EU)" & "Horizon 2020" / Action: H2020-EU.3.6.3. - Reflective societies - cultural heritage and European identity / Acronym: Scan4Reco / Grant number: 665091DSURF project (PRIN 2015) funded by the Italian Ministry of University and ResearchSardinian Regional Authorities under projects VIGEC and Vis&VideoLa