Implicit 3D Orientation Learning for 6D Object Detection from RGB Images

We propose a real-time RGB-based pipeline for object detection and 6D pose estimation. Our novel 3D orientation estimation is based on a variant of the Denoising Autoencoder that is trained on simulated views of a 3D model using Domain Randomization. This so-called Augmented Autoencoder has several advantages over existing methods: It does not require real, pose-annotated training data, generalizes to various test sensors and inherently handles object and view symmetries. Instead of learning an explicit mapping from input images to object poses, it provides an implicit representation of object orientations defined by samples in a latent space. Our pipeline achieves state-of-the-art performance on the T-LESS dataset both in the RGB and RGB-D domain. We also evaluate on the LineMOD dataset where we can compete with other synthetically trained approaches. We further increase performance by correcting 3D orientation estimates to account for perspective errors when the object deviates from the image center and show extended results.Comment: Code available at: https://github.com/DLR-RM/AugmentedAutoencode

Uncovering the (un-)occupied electronic structure of a buried hybrid interface

The energy level alignment at organic/inorganic (o/i) semiconductor interfaces is crucial for any light-emitting or -harvesting functionality. Essential is the access to both occupied and unoccupied electronic states directly at the interface, which is often deeply buried underneath thick organic films and challenging to characterize. We use several complementary experimental techniques to determine the electronic structure of p-quinquephenyl pyridine (5P-Py) adsorbed on ZnO(10-10). The parent anchoring group, pyridine, significantly lowers the work function by up to 2.9 eV and causes an occupied in-gap state (IGS) directly below the Fermi level $E_\text{F}$. Adsorption of upright-standing 5P-Py also leads to a strong work function reduction of up to 2.1 eV and to a similar IGS. The latter is then used as an initial state for the transient population of three normally unoccupied molecular levels through optical excitation and, due to its localization right at the o/i interface, provides interfacial sensitivity, even for thick 5P-Py films. We observe two final states above the vacuum level and one bound state at around 2 eV above $E_\text{F}$, which we attribute to the 5P-Py LUMO. By the separate study of anchoring group and organic dye combined with the exploitation of the occupied IGS for selective interfacial photoexcitation this work provides a new pathway for characterizing the electronic structure at buried o/i interfaces

Effect of anisotropy on the ground-state magnetic ordering of the spin-one quantum J1XXZJ_{1}^{XXZ}--J2XXZJ_{2}^{XXZ} model on the square lattice

We study the zero-temperature phase diagram of the $J_{1}^{XXZ}$--$J_{2}^{XXZ}$ Heisenberg model for spin-1 particles on an infinite square lattice interacting via nearest-neighbour ($J_1 \equiv 1$) and next-nearest-neighbour ($J_2 > 0$) bonds. Both bonds have the same $XXZ$-type anisotropy in spin space. The effects on the quasiclassical N\'{e}el-ordered and collinear stripe-ordered states of varying the anisotropy parameter $\Delta$ is investigated using the coupled cluster method carried out to high orders. By contrast with the spin-1/2 case studied previously, we predict no intermediate disordered phase between the N\'{e}el and collinear stripe phases, for any value of the frustration $J_2/J_1$, for either the $z$-aligned ($\Delta > 1$) or $xy$-planar-aligned ($0 \leq \Delta < 1$) states. The quantum phase transition is determined to be first-order for all values of $J_2/J_1$ and $\Delta$. The position of the phase boundary $J_{2}^{c}(\Delta)$ is determined accurately. It is observed to deviate most from its classical position $J_2^c = {1/2}$ (for all values of $\Delta > 0$) at the Heisenberg isotropic point ($\Delta = 1$), where $J_{2}^{c}(1) = 0.55 \pm 0.01$. By contrast, at the XY isotropic point ($\Delta = 0$), we find $J_{2}^{c}(0) = 0.50 \pm 0.01$. In the Ising limit ($\Delta \to \infty$) $J_2^c \to 0.5$ as expected.Comment: 20 pages, 5 figure

Direct k-space mapping of the electronic structure in an oxide-oxide interface

The interface between LaAlO3 and SrTiO3 hosts a two-dimensional electron system of itinerant carriers, although both oxides are band insulators. Interface ferromagnetism coexisting with superconductivity has been found and attributed to local moments. Experimentally, it has been established that Ti 3d electrons are confined to the interface. Using soft x-ray angle-resolved resonant photoelectron spectroscopy we have directly mapped the interface states in k-space. Our data demonstrate a charge dichotomy. A mobile fraction contributes to Fermi surface sheets, whereas a localized portion at higher binding energies is tentatively attributed to electrons trapped by O-vacancies in the SrTiO3. While photovoltage effects in the polar LaAlO3 layers cannot be excluded, the apparent absence of surface-related Fermi surface sheets could also be fully reconciled in a recently proposed electronic reconstruction picture where the built-in potential in the LaAlO3 is compensated by surface O-vacancies serving also as charge reservoir.Comment: 8 pages, 6 figures, incl. Supplemental Informatio

Saturation field of frustrated chain cuprates: broad regions of predominant interchain coupling

An efficient and precise thermodynamic method to extract the interchain coupling (IC) of spatially anisotropic 2D or 3D spin-1/2 systems from their empirical saturation field H_s (T=0) is proposed. Using density-matrix renormalization group, hard-core boson, and spin-wave theory we study how H_s is affected by an antiferromagnetic (AFM) IC between frustrated chains described in the J_1-J_2-spin model with ferromagnetic 1st and AFM 2nd neighbor in-chain exchange. A complex 3D-phase diagram has been found. For Li2CuO2 and Y2Ca2Cu5O10, we show that H_s is solely determined by the IC and predict H_s approx 61 T for the latter.Using H_s approx 55 T from our high-field pulsed measurements one reads out a weak IC for Li2CuO2 close to that from neutron scattering.Comment: 4 pages, 6 figures, slightly revised version including a slightly changed title and abstract, one new figure and an EPAPS-supplementatary part have been adde

Lattice Anharmonicity in Defect-Free Pd Nanowhiskers

We have investigated anharmonic behavior of Pd by applying systematic nanoscale tensile testing to near defect-free nanowhiskers offering a large range of elastic strain. We measured size-dependent deviations from bulk elastic behavior in nanowhiskers with diameters as small as ∼30  nm. In addition to size-dependent variations in Young’s modulus in the small strain limit, we measured nonlinear elasticity at strains above ∼1%. Both phenomena are attributed to higher-order elasticity in the bulklike core upon being biased from its equilibrium configuration due to the role of surface stresses in small volumes. Quantification of the size-dependent second- and third-order elastic moduli allows for calculation of intrinsic material nonlinearity parameters, e.g., δ. Comparison of the size-independent values of δ in our nanowhiskers with studies on bulk fcc metals lends further insight into the role of length scales on both elastic and plastic mechanical behavior

Far-field e-beam detection of hybrid cavity-plasmonic modes in gold micro-holes

Manipulation of light-beams with subwavelenth metallic devices has motivated intensive studies, following the discovery of extraordinary transmission of electromagnetic waves through sub-wavelength apertures in thin noble-metal films. The propagation of light in these holes can be investigated at greately improved spatial resolution by means of focused electron-beams. Here we demonstrate direct e-beam excitation of radiative cavity modes well below the surface plasmon (SP) frequency, of isolated rectangular holes in gold films, illuminating the hotly debated phenomenon of the extraordinary optical transmission through subwavelength holes. The exceptionally long range e-beam interaction with the metal through the vacuum, involving electromagnetic excitations within the light cone, is allowed by momentum conservation breakdown along the e-beam axis. Two types of lowlying excited modes are revealed: radiative cavity modes which are nearly unaffected by SPs, and SP polariton modes with waveguide character in the near field region of the slit walls, which in spite of the strong hybridization preserve the waveguide cutoff frequencies and symmetry characteristics.Comment: 16 pages, 4 figures, 1 tabl