125,532 research outputs found
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
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
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