CodeNeRF: Disentangled Neural Radiance Fields for Object Categories

CodeNeRF is an implicit 3D neural representation that learns the variation of object shapes and textures across a category and can be trained, from a set of posed images, to synthesize novel views of unseen objects. Unlike the original NeRF, which is scene specific, CodeNeRF learns to disentangle shape and texture by learning separate embeddings. At test time, given a single unposed image of an unseen object, CodeNeRF jointly estimates camera viewpoint, and shape and appearance codes via optimization. Unseen objects can be reconstructed from a single image, and then rendered from new viewpoints or their shape and texture edited by varying the latent codes. We conduct experiments on the SRN benchmark, which show that CodeNeRF generalises well to unseen objects and achieves on-par performance with methods that require known camera pose at test time. Our results on real-world images demonstrate that CodeNeRF can bridge the sim-to-real gap. Project page: https://github.com/wayne1123/code-nerf

Joint Image and 3D Shape Part Representation in Large Collections for Object Blending

We propose a new approach to perform object shape retrieval from images, it can handle the shape of the part of the object and combine parts from different sources to find a different 3D shape. Our method creates a common representation for images and 3D models that enables mixing elements from both kinds of inputs. Our approach automatically extracts the desired part and its 3D shape from each source without the need of annotations. There are many applications to combining parts from images and 3D models, for example, performing smart online catalogue searches by selecting the parts that we are looking for from images or 3D models and retrieve a 3D shape that has the desired arrangement of parts. Our approach is capable of obtaining the shape of the parts of an object from an image in the wild, independently of the pose of the object and without the need of annotations of any kind

Leydig Cell Tumour and Mature Ovarian Teratoma: Rare Androgen-Secreting Ovarian Tumours in Postmenopausal Women

Androgen-secreting ovarian tumours are extremely rare accounting for <5% of all ovarian neoplasms. They are more frequent in postmenopausal women and should be suspected in the case of a rapid onset of androgenic symptoms. We report 4 cases of postmenopausal women who presented with signs of virilisation. All patients revealed increased serum levels of testosterone, normal dehydroepiandrosterone-sulfate and negative pelvic ultrasound for adnexal masses. An androgen-secreting ovarian tumour was suspected and all of them were submitted to bilateral oophorectomy. Histology confirmed the diagnosis of Leydig cell tumours in 3 patients and mature teratoma in 1. A successful response to surgery, which includes a decline in serum androgen levels and signs of hyperandrogenism, was observed in our patients. This case series demonstrates that androgen-secreting ovarian neoplasms may not be detectable by imaging studies, but should be considered in the differential diagnosis of all postmenopausal women with signs of hyperandrogenism.info:eu-repo/semantics/publishedVersio

xR-EgoPose: Egocentric 3D Human Pose from an HMD Camera

We present a new solution to egocentric 3D body pose estimation from monocular images captured from a downward looking fish-eye camera installed on the rim of a head mounted virtual reality device. This unusual viewpoint, just 2 cm away from the user's face, leads to images with unique visual appearance, characterized by severe self-occlusions and strong perspective distortions that result in a drastic difference in resolution between lower and upper body. Our contribution is two-fold. Firstly, we propose a new encoder-decoder architecture with a novel dual branch decoder designed specifically to account for the varying uncertainty in the 2D joint locations. Our quantitative evaluation, both on synthetic and real-world datasets, shows that our strategy leads to substantial improvements in accuracy over state of the art egocentric pose estimation approaches. Our second contribution is a new large-scale photorealistic synthetic dataset - xR-EgoPose - offering 383K frames of high quality renderings ofpeople with a diversity of skin tones, body shapes, clothing, in a variety of backgrounds and lighting conditions, performing a range of actions. Our experiments show that the high variability in our new synthetic training corpus leads to good generalization to real world footage and to state of the art results on real world datasets with ground truth. Moreover, an evaluation on the Human3.6M benchmark shows that the performance of our method is on par with top performing approaches on the more classic problem of 3D human pose from a third person viewpoint

DSP-SLAM: object oriented SLAM with deep shape priors

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud reconstructed by a feature-based SLAM system and equips it with the ability to enhance its sparse map with dense reconstructions of detected objects. Objects are detected via semantic instance segmentation, and their shape and pose is estimated using category-specific deep shape embeddings as priors, via a novel second order optimization. Our object-aware bundle adjustment builds a pose-graph to jointly optimize camera poses, object locations and feature points. DSP-SLAM can operate at 10 frames per second on 3 different input modalities: monocular, stereo, or stereo+LiDAR. We demonstrate DSP-SLAM operating at almost frame rate on monocular-RGB sequences from the Freiburg and Redwood-OS datasets, and on stereo+LiDAR sequences on the KITTI odometry dataset showing that it achieves high-quality full object reconstructions, even from partial observations, while maintaining a consistent global map. Our evaluation shows improvements in object pose and shape reconstruction with respect to recent deep prior-based reconstruction methods and reductions in camera tracking drift on the KITTI dataset

Few-Shot Keypoint Detection as Task Adaptation via Latent Embeddings

Dense object tracking, the ability to localize specific object points with pixel-level accuracy, is an important computer vision task with numerous downstream applications in robotics. Existing approaches either compute dense keypoint embeddings in a single forward pass, meaning the model is trained to track everything at once, or allocate their full capacity to a sparse predefined set of points, trading generality for accuracy. In this paper we explore a middle ground based on the observation that the number of relevant points at a given time are typically relatively few, e.g. grasp points on a target object. Our main contribution is a novel architecture, inspired by few-shot task adaptation, which allows a sparse-style network to condition on a keypoint embedding that indicates which point to track. Our central finding is that this approach provides the generality of dense-embedding models, while offering accuracy significantly closer to sparse-keypoint approaches. We present results illustrating this capacity vs. accuracy trade-off, and demonstrate the ability to zero-shot transfer to new object instances (within-class) using a real-robot pick-and-place task

Xiphias: Using a Multidimensional Approach towards Creating Meaningful Gamification-Based Badge Mechanics

This paper shows the design and initial testing of three new Xiphias Badges --Presence; Mastery; and Antifragility – based on the merging of the salient features from James Clear’s Behavior Change model (2016); Johann Hari’s Lost Connections model (2018); and Jordan Peterson’s recent interpretation of the Big Five model of Personality Traits (2007). This multidimensional approach is an attempt to cater to the multidimensionality of a user and aims to be a more universal gamification approach that taps into internal motivations. The badge mechanics were tested on 69 undergraduate students using a Low-Fidelity Gamified Tracker. The results of a survey that sought their insights on the utility of the badges showed their potential to be motivating factors in the classroom

Approaching the Intrinsic Bandgap in Suspended High-Mobility Graphene Nanoribbons

We report electrical transport measurements on a suspended ultra-low-disorder graphene nanoribbon(GNR) with nearly atomically smooth edges that reveal a high mobility exceeding 3000 cm2 V-1 s-1 and an intrinsic band gap. The experimentally derived bandgap is in quantitative agreement with the results of our electronic-structure calculations on chiral GNRs with comparable width taking into account the electron-electron interactions, indicating that the origin of the bandgap in non-armchair GNRs is partially due to the magnetic zigzag edges.Comment: 22 pages, 6 figure

Aviram-Ratner rectifying mechanism for DNA base pair sequencing through graphene nanogaps

We demonstrate that biological molecules such as Watson-Crick DNA base pairs can behave as biological Aviram-Ratner electrical rectifiers because of the spatial separation and weak hydrogen bonding between the nucleobases. We have performed a parallel computational implementation of the ab-initio non-equilibrium Green's function (NEGF) theory to determine the electrical response of graphene---base-pair---graphene junctions. The results show an asymmetric (rectifying) current-voltage response for the Cytosine-Guanine base pair adsorbed on a graphene nanogap. In sharp contrast we find a symmetric response for the Thymine-Adenine case. We propose applying the asymmetry of the current-voltage response as a sensing criterion to the technological challenge of rapid DNA sequencing via graphene nanogaps