30,652 research outputs found

    Geometry-aware Manipulability Learning, Tracking and Transfer

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    Body posture influences human and robots performance in manipulation tasks, as appropriate poses facilitate motion or force exertion along different axes. In robotics, manipulability ellipsoids arise as a powerful descriptor to analyze, control and design the robot dexterity as a function of the articulatory joint configuration. This descriptor can be designed according to different task requirements, such as tracking a desired position or apply a specific force. In this context, this paper presents a novel \emph{manipulability transfer} framework, a method that allows robots to learn and reproduce manipulability ellipsoids from expert demonstrations. The proposed learning scheme is built on a tensor-based formulation of a Gaussian mixture model that takes into account that manipulability ellipsoids lie on the manifold of symmetric positive definite matrices. Learning is coupled with a geometry-aware tracking controller allowing robots to follow a desired profile of manipulability ellipsoids. Extensive evaluations in simulation with redundant manipulators, a robotic hand and humanoids agents, as well as an experiment with two real dual-arm systems validate the feasibility of the approach.Comment: Accepted for publication in the Intl. Journal of Robotics Research (IJRR). Website: https://sites.google.com/view/manipulability. Code: https://github.com/NoemieJaquier/Manipulability. 24 pages, 20 figures, 3 tables, 4 appendice

    Finsler geometry on higher order tensor fields and applications to high angular resolution diffusion imaging.

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    We study 3D-multidirectional images, using Finsler geometry. The application considered here is in medical image analysis, specifically in High Angular Resolution Diffusion Imaging (HARDI) (Tuch et al. in Magn. Reson. Med. 48(6):1358–1372, 2004) of the brain. The goal is to reveal the architecture of the neural fibers in brain white matter. To the variety of existing techniques, we wish to add novel approaches that exploit differential geometry and tensor calculus. In Diffusion Tensor Imaging (DTI), the diffusion of water is modeled by a symmetric positive definite second order tensor, leading naturally to a Riemannian geometric framework. A limitation is that it is based on the assumption that there exists a single dominant direction of fibers restricting the thermal motion of water molecules. Using HARDI data and higher order tensor models, we can extract multiple relevant directions, and Finsler geometry provides the natural geometric generalization appropriate for multi-fiber analysis. In this paper we provide an exact criterion to determine whether a spherical function satisfies the strong convexity criterion essential for a Finsler norm. We also show a novel fiber tracking method in Finsler setting. Our model incorporates a scale parameter, which can be beneficial in view of the noisy nature of the data. We demonstrate our methods on analytic as well as simulated and real HARDI data

    Total Variation Regularized Tensor RPCA for Background Subtraction from Compressive Measurements

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    Background subtraction has been a fundamental and widely studied task in video analysis, with a wide range of applications in video surveillance, teleconferencing and 3D modeling. Recently, motivated by compressive imaging, background subtraction from compressive measurements (BSCM) is becoming an active research task in video surveillance. In this paper, we propose a novel tensor-based robust PCA (TenRPCA) approach for BSCM by decomposing video frames into backgrounds with spatial-temporal correlations and foregrounds with spatio-temporal continuity in a tensor framework. In this approach, we use 3D total variation (TV) to enhance the spatio-temporal continuity of foregrounds, and Tucker decomposition to model the spatio-temporal correlations of video background. Based on this idea, we design a basic tensor RPCA model over the video frames, dubbed as the holistic TenRPCA model (H-TenRPCA). To characterize the correlations among the groups of similar 3D patches of video background, we further design a patch-group-based tensor RPCA model (PG-TenRPCA) by joint tensor Tucker decompositions of 3D patch groups for modeling the video background. Efficient algorithms using alternating direction method of multipliers (ADMM) are developed to solve the proposed models. Extensive experiments on simulated and real-world videos demonstrate the superiority of the proposed approaches over the existing state-of-the-art approaches.Comment: To appear in IEEE TI
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