Superquadrics for segmentation and modeling range data

We present a novel approach to reliable and efficient recovery of part-descriptions in terms of superquadric models from range data. We show that superquadrics can directly be recovered from unsegmented data, thus avoiding any presegmentation steps (e.g., in terms of surfaces). The approach is based on the recover-andselect paradigm. We present several experiments on real and synthetic range images, where we demonstrate the stability of the results with respect to viewpoint and noise

Visual object tracking performance measures revisited

The problem of visual tracking evaluation is sporting a large variety of performance measures, and largely suffers from lack of consensus about which measures should be used in experiments. This makes the cross-paper tracker comparison difficult. Furthermore, as some measures may be less effective than others, the tracking results may be skewed or biased towards particular tracking aspects. In this paper we revisit the popular performance measures and tracker performance visualizations and analyze them theoretically and experimentally. We show that several measures are equivalent from the point of information they provide for tracker comparison and, crucially, that some are more brittle than the others. Based on our analysis we narrow down the set of potential measures to only two complementary ones, describing accuracy and robustness, thus pushing towards homogenization of the tracker evaluation methodology. These two measures can be intuitively interpreted and visualized and have been employed by the recent Visual Object Tracking (VOT) challenges as the foundation for the evaluation methodology

Learning Manipulation under Physics Constraints with Visual Perception

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we consider the problem of autonomous block stacking and explore solutions to learning manipulation under physics constraints with visual perception inherent to the task. Inspired by the intuitive physics in humans, we first present an end-to-end learning-based approach to predict stability directly from appearance, contrasting a more traditional model-based approach with explicit 3D representations and physical simulation. We study the model's behavior together with an accompanied human subject test. It is then integrated into a real-world robotic system to guide the placement of a single wood block into the scene without collapsing existing tower structure. To further automate the process of consecutive blocks stacking, we present an alternative approach where the model learns the physics constraint through the interaction with the environment, bypassing the dedicated physics learning as in the former part of this work. In particular, we are interested in the type of tasks that require the agent to reach a given goal state that may be different for every new trial. Thereby we propose a deep reinforcement learning framework that learns policies for stacking tasks which are parametrized by a target structure.Comment: arXiv admin note: substantial text overlap with arXiv:1609.04861, arXiv:1711.00267, arXiv:1604.0006

To Fall Or Not To Fall: A Visual Approach to Physical Stability Prediction

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel object and their configurations. Developmental psychology has shown that such skills are acquired by infants from observations at a very early stage. In this paper, we contrast a more traditional approach of taking a model-based route with explicit 3D representations and physical simulation by an end-to-end approach that directly predicts stability and related quantities from appearance. We ask the question if and to what extent and quality such a skill can directly be acquired in a data-driven way bypassing the need for an explicit simulation. We present a learning-based approach based on simulated data that predicts stability of towers comprised of wooden blocks under different conditions and quantities related to the potential fall of the towers. The evaluation is carried out on synthetic data and compared to human judgments on the same stimuli

Learning Manipulation under Physics Constraints with Visual Perception

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we consider the problem of autonomous block stacking and explore solutions to learning manipulation under physics constraints with visual perception inherent to the task. Inspired by the intuitive physics in humans, we first present an end-to-end learning-based approach to predict stability directly from appearance, contrasting a more traditional model-based approach with explicit 3D representations and physical simulation. We study the model's behavior together with an accompanied human subject test. It is then integrated into a real-world robotic system to guide the placement of a single wood block into the scene without collapsing existing tower structure. To further automate the process of consecutive blocks stacking, we present an alternative approach where the model learns the physics constraint through the interaction with the environment, bypassing the dedicated physics learning as in the former part of this work. In particular, we are interested in the type of tasks that require the agent to reach a given goal state that may be different for every new trial. Thereby we propose a deep reinforcement learning framework that learns policies for stacking tasks which are parametrized by a target structure

Beyond standard benchmarks: Parameterizing performance evaluation in visual object tracking

Object-to-camera motion produces a variety of apparent motion patterns that significantly affect performance of short-term visual trackers. Despite being crucial for designing robust trackers, their influence is poorly explored in standard benchmarks due to weakly defined, biased and overlapping attribute annotations. In this paper we propose to go beyond pre-recorded benchmarks with post-hoc annotations by presenting an approach that utilizes omnidirectional videos to generate realistic, consistently annotated, short-term tracking scenarios with exactly parameterized motion patterns. We have created an evaluation system, constructed a fully annotated dataset of omnidirectional videos and the generators for typical motion patterns. We provide an in-depth analysis of major tracking paradigms which is complementary to the standard benchmarks and confirms the expressiveness of our evaluation approach

Design in Stone: Perspectives of Formal and Technological Innovation of Domes

This study focuses the structural and aesthetic potentiality of the Apulian apsidal vaults, regarding to the innovation of the design paradigm of the dome in stone. Apulian apsidal vaults are spherical or pseudo-spherical vaults, minor of an half-dome. They have the retraction of the keystone and a specific masonry texture. Thanks to these features, they are stable and constructively autonomous (despite the lack of the other portion of the dome). The study gets to: Redesign of an apsidal spherical vaults case of study in Basilica of St. Nicholas in Bari. Design of innovative stereotomic domes in stone, composed of two or more hemispheres auto-stable and equipped with two or more keystones. The paradigms developed are innovative compared to traditional ones, because: They apply stone stereotomy and three-dimensional infographic modeling to design methodology, opening the door to the realization of the single ashlars with CNC machines. They extend the use of the apsidal vaults to the domes, improving their mechanical performance and increasing the several forms that the project can gets

Large Pseudo-Counts and L2L_2-Norm Penalties Are Necessary for the Mean-Field Inference of Ising and Potts Models

Mean field (MF) approximation offers a simple, fast way to infer direct interactions between elements in a network of correlated variables, a common, computationally challenging problem with practical applications in fields ranging from physics and biology to the social sciences. However, MF methods achieve their best performance with strong regularization, well beyond Bayesian expectations, an empirical fact that is poorly understood. In this work, we study the influence of pseudo-count and $L_2$-norm regularization schemes on the quality of inferred Ising or Potts interaction networks from correlation data within the MF approximation. We argue, based on the analysis of small systems, that the optimal value of the regularization strength remains finite even if the sampling noise tends to zero, in order to correct for systematic biases introduced by the MF approximation. Our claim is corroborated by extensive numerical studies of diverse model systems and by the analytical study of the $m$-component spin model, for large but finite $m$. Additionally we find that pseudo-count regularization is robust against sampling noise, and often outperforms $L_2$-norm regularization, particularly when the underlying network of interactions is strongly heterogeneous. Much better performances are generally obtained for the Ising model than for the Potts model, for which only couplings incoming onto medium-frequency symbols are reliably inferred.Comment: 25 pages, 17 figure