A Spatio-Temporal Multi-Scale Binary Descriptor

Binary descriptors are widely used for multi-view matching and robotic navigation. However, their matching performance decreases considerably under severe scale and viewpoint changes in non-planar scenes. To overcome this problem, we propose to encode the varying appearance of selected 3D scene points tracked by a moving camera with compact spatio-temporal descriptors. To this end, we first track interest points and capture their temporal variations at multiple scales. Then, we validate feature tracks through 3D reconstruction and compress the temporal sequence of descriptors by encoding the most frequent and stable binary values. Finally, we determine multi-scale correspondences across views with a matching strategy that handles severe scale differences. The proposed spatio-temporal multi-scale approach is generic and can be used with a variety of binary descriptors. We show the effectiveness of the joint multi-scale extraction and temporal reduction through comparisons of different temporal reduction strategies and the application to several binary descriptors

Towards safe human-to-robot handovers of unknown containers

Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties requires the use of scanned 3D object models or expensive equipment, such as motion capture systems and markers, or both. However, testing handover algorithms with robots may be dangerous for the human and, when the object is an open container with liquids, for the robot. In this paper, we propose a real-to-simulation framework to develop safe human-to-robot handovers with estimations of the physical properties of unknown cups or drinking glasses and estimations of the human hands from videos of a human manipulating the container. We complete the handover in simulation, and we estimate a region that is not occluded by the hand of the human holding the container. We also quantify the safeness of the human and object in simulation. We validate the framework using public recordings of containers manipulated before a handover and show the safeness of the handover when using noisy estimates from a range of perceptual algorithms

New Spatially Resolved Observations of the T Cha Transition Disk and Constraints on the Previously Claimed Substellar Companion

We present multi-epoch non-redundant masking observations of the T Cha transition disk, taken at the VLT and Magellan in H, Ks, and L' bands. T Cha is one of a small number of transition disks that host companion candidates discovered by high-resolution imaging techniques, with a putative companion at a position angle of 78 degrees, separation of 62 mas, and contrast at L' of 5.1 mag. We find comparable binary parameters in our re-reduction of the initial detection images, and similar parameters in the 2011 L', 2013 NaCo L', and 2013 NaCo Ks data sets. We find a close-in companion signal in the 2012 NaCo L' dataset that cannot be explained by orbital motion, and a non-detection in the 2013 MagAO/Clio2 L' data. However, Monte-carlo simulations show that the best fits to the 2012 NaCo and 2013 MagAO/Clio2 followup data may be consistent with noise. There is also a significant probability of false non-detections in both of these data sets. We discuss physical scenarios that could cause the best fits, and argue that previous companion and scattering explanations are inconsistent with the results of the much larger dataset presented here.Comment: 25 pages, 22 figures, accepted for publication in Ap

The absolute age of the globular cluster M15 using near-infrared adaptive optics images from PISCES/LBT

We present deep near-infrared (NIR) J, Ks photometry of the old, metal-poor Galactic globular cluster M\,15 obtained with images collected with the LUCI1 and PISCES cameras available at the Large Binocular Telescope (LBT). We show how the use of First Light Adaptive Optics system coupled with the (FLAO) PISCES camera allows us to improve the limiting magnitude by ~2 mag in Ks. By analyzing archival HST data, we demonstrate that the quality of the LBT/PISCES color magnitude diagram is fully comparable with analogous space-based data. The smaller field of view is balanced by the shorter exposure time required to reach a similar photometric limit. We investigated the absolute age of M\,15 by means of two methods: i) by determining the age from the position of the main sequence turn-off; and ii) by the magnitude difference between the MSTO and the well-defined knee detected along the faint portion of the MS. We derive consistent values of the absolute age of M15, that is 12.9+-2.6 Gyr and 13.3+-1.1 Gyr, respectively.Comment: 13 pages, 8 figures, ApJ accepte

The CORSMAL benchmark for the prediction of the properties of containers

13 pages, 6 tables, 7 figures, Pre-print submitted to IEEE AccessAuthors' post-print accepted for publication in IEEE Access, see https://doi.org/10.1109/ACCESS.2022.3166906 . 14 pages, 6 tables, 7 figuresThe contactless estimation of the weight of a container and the amount of its content manipulated by a person are key pre-requisites for safe human-to-robot handovers. However, opaqueness and transparencies of the container and the content, and variability of materials, shapes, and sizes, make this estimation difficult. In this paper, we present a range of methods and an open framework to benchmark acoustic and visual perception for the estimation of the capacity of a container, and the type, mass, and amount of its content. The framework includes a dataset, specific tasks and performance measures. We conduct an in-depth comparative analysis of methods that used this framework and audio-only or vision-only baselines designed from related works. Based on this analysis, we can conclude that audio-only and audio-visual classifiers are suitable for the estimation of the type and amount of the content using different types of convolutional neural networks, combined with either recurrent neural networks or a majority voting strategy, whereas computer vision methods are suitable to determine the capacity of the container using regression and geometric approaches. Classifying the content type and level using only audio achieves a weighted average F1-score up to 81% and 97%, respectively. Estimating the container capacity with vision-only approaches and estimating the filling mass with audio-visual multi-stage approaches reach up to 65% weighted average capacity and mass scores. These results show that there is still room for improvement on the design of new methods. These new methods can be ranked and compared on the individual leaderboards provided by our open framework

LBT observations of the HR 8799 planetary system: First detection of HR8799e in H band

We have performed H and Ks band observations of the planetary system around HR 8799 using the new AO system at the Large Binocular Telescope and the PISCES Camera. The excellent instrument performance (Strehl ratios up to 80% in H band) enabled detection the inner planet HR8799e in the H band for the first time. The H and Ks magnitudes of HR8799e are similar to those of planets c and d, with planet e slightly brighter. Therefore, HR8799e is likely slightly more massive than c and d. We also explored possible orbital configurations and their orbital stability. We confirm that the orbits of planets b, c and e are consistent with being circular and coplanar; planet d should have either an orbital eccentricity of about 0.1 or be non-coplanar with respect to b and c. Planet e can not be in circular and coplanar orbit in a 4:2:1 mean motion resonances with c and d, while coplanar and circular orbits are allowed for a 5:2 resonance. The analysis of dynamical stability shows that the system is highly unstable or chaotic when planetary masses of about 5 MJup for b and 7 MJup for the other planets are adopted. Significant regions of dynamical stability for timescales of tens of Myr are found when adopting planetary masses of about 3.5, 5, 5, and 5 Mjup for HR 8799 b, c, d, and e respectively. These masses are below the current estimates based on the stellar age (30 Myr) and theoretical models of substellar objects.Comment: 13 pages, 10 figures, A&A, accepte