Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

Manipulating Attributes of Natural Scenes via Hallucination

In this study, we explore building a two-stage framework for enabling users to directly manipulate high-level attributes of a natural scene. The key to our approach is a deep generative network which can hallucinate images of a scene as if they were taken at a different season (e.g. during winter), weather condition (e.g. in a cloudy day) or time of the day (e.g. at sunset). Once the scene is hallucinated with the given attributes, the corresponding look is then transferred to the input image while preserving the semantic details intact, giving a photo-realistic manipulation result. As the proposed framework hallucinates what the scene will look like, it does not require any reference style image as commonly utilized in most of the appearance or style transfer approaches. Moreover, it allows to simultaneously manipulate a given scene according to a diverse set of transient attributes within a single model, eliminating the need of training multiple networks per each translation task. Our comprehensive set of qualitative and quantitative results demonstrate the effectiveness of our approach against the competing methods.Comment: Accepted for publication in ACM Transactions on Graphic

Semantic Perceptual Image Compression using Deep Convolution Networks

It has long been considered a significant problem to improve the visual quality of lossy image and video compression. Recent advances in computing power together with the availability of large training data sets has increased interest in the application of deep learning cnns to address image recognition and image processing tasks. Here, we present a powerful cnn tailored to the specific task of semantic image understanding to achieve higher visual quality in lossy compression. A modest increase in complexity is incorporated to the encoder which allows a standard, off-the-shelf jpeg decoder to be used. While jpeg encoding may be optimized for generic images, the process is ultimately unaware of the specific content of the image to be compressed. Our technique makes jpeg content-aware by designing and training a model to identify multiple semantic regions in a given image. Unlike object detection techniques, our model does not require labeling of object positions and is able to identify objects in a single pass. We present a new cnn architecture directed specifically to image compression, which generates a map that highlights semantically-salient regions so that they can be encoded at higher quality as compared to background regions. By adding a complete set of features for every class, and then taking a threshold over the sum of all feature activations, we generate a map that highlights semantically-salient regions so that they can be encoded at a better quality compared to background regions. Experiments are presented on the Kodak PhotoCD dataset and the MIT Saliency Benchmark dataset, in which our algorithm achieves higher visual quality for the same compressed size.Comment: Accepted to Data Compression Conference, 11 pages, 5 figure