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arXiv 2025年

作者： Zhang, Kecheng Liu, Ya-Feng Wang, Zhongbin Yuan, Weijie Keskin, Musa Furkan Wymeersch, Henk Xia, Shuqiang School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China State Key Laboratory of Scientific and Engineering Computing Institute of Computational Mathematics and Scientific/Engineering Computing Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China Department of Electrical Engineering Chalmers University of Technology Gothenburg41296 Sweden ZTE Corporation The State Key Laboratory of Mobile Network and Mobile Multimedia Technology Shenzhen518055 China

Integrated sensing and communication (ISAC) has been considered a key feature of next-generation wireless networks. This paper investigates the joint design of the radar receive filter and dual-functional transmit waveform for the multiple-input multiple-output (MIMO) ISAC system. While optimizing the mean square error (MSE) of the radar receive spatial response and maximizing the achievable rate at the communication receiver, besides the constraints of full-power radar receiving filter and unimodular transmit sequence, we control the maximum range sidelobe level, which is often overlooked in existing ISAC waveform design literature, for better radar imaging performance. To solve the formulated optimization problem with convex and nonconvex constraints, we propose an inexact augmented Lagrangian method (ALM) algorithm. For each subproblem in the proposed inexact ALM algorithm, we custom-design a block successive upper-bound minimization (BSUM) scheme with closed-form solutions for all blocks of variable to enhance the computational efficiency. Convergence analysis shows that the proposed algorithm is guaranteed to provide a stationary and feasible solution. Extensive simulations are performed to investigate the impact of different system parameters on communication and radar imaging performance. Comparison with the existing works shows the superiority of the proposed algorithm. © 2025, CC BY-NC-SA.

关键词： Mean square error

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Generative 3D hand tracking with spatially constrained pose sampling 28

Generative 3D hand tracking with spatially constrained pose ...

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28th British Machine vision Conference, BMVC 2017

作者： Roditakis, Konstantinos Makris, Alexandros Argyros, Antonis A. Computational Vision and Robotics Laboratory Institute of Computer Science FORTH Greece Computer Science Department University of Crete Greece

ISBN: (纸本)190172560X

We present a method for 3D hand tracking that exploits spatial constraints in the form of end effector (fingertip) locations. The method follows a generative, hypothesize-and-test approach and uses a hierarchical particle filter to track the hand. In contrast to state of the art methods that consider spatial constraints in a soft manner, the proposed approach enforces constraints during the hand pose hypothesis generation phase by sampling in the Reachable Distance Space (RDS). This sampling produces hypotheses that respect both the hands’ dynamics and the end effector locations. The data likelihood term is calculated by measuring the discrepancy between the rendered 3D model and the available observations. Experimental results on challenging, ground truth-annotated sequences containing severe hand occlusions demonstrate that the proposed approach outperforms the state of the art in hand tracking accuracy. © 2017. The copyright of this document resides with its authors.

关键词： End effectors

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Temporally-coherent novel video synthesis using texture-based priors

Temporally-coherent novel video synthesis using texture-base...

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作者： Shahrokni, Ali Woodford, Oliver Reid, Ian Robotics Research Laboratory University of Oxford Oxford United Kingdom Computational Vision Group University of Reading Reading United Kingdom

In this paper we propose a method to construct a virtual sequence for a camera moving through a static environment, given an input sequence from a different camera trajectory. Existing image-based rendering techniques can generate photorealistic images given a set of input views, though the output images almost unavoidably contain small regions where the colour has been incorrectly chosen. In a single image these artifacts are often hard to spot, but become more obvious when viewing a real image with its virtual stereo pair, and even more so when a sequence of novel views is generated, since the artifacts are rarely temporally consistent. To address this problem of consistency, we propose a new spatio-temporal approach to novel video synthesis. Our method exploits epipolar geometry to impose constraints on temporal coherence of the rendered views. The pixels in the output video sequence are modelled as nodes of a 3-D graph. We define an MRF on the graph which encodes photoconsistency of pixels as well as texture priors in both space and time. Unlike methods based on scene geometry, which yield highly connected graphs, our approach results in a graph whose degree is independent of scene structure. The MRF energy is therefore tractable and we solve it for the whole sequence using a state-of-theart message passing optimisation algorithm. We demonstrate the effectiveness of our approach in reducing temporal artifacts. © 2009 Information Processing Society of Japan.

关键词： Pixels

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Evolutionary Quasi-random Search for Hand Articulations Tracking

Evolutionary Quasi-random Search for Hand Articulations Trac...

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IEEE Conference on Computer vision and Pattern Recognition

作者： Iason Oikonomidis Manolis I. A. Lourakis Antonis A. Argyros Computational Vision and Robotics Laboratory Institute of Computer Science

ISBN: (纸本)9781479951192

We present a new method for tracking the 3D position, global orientation and full articulation of human hands. Following recent advances in model-based, hypothesize-and-test methods, the high-dimensional parameter space of hand configurations is explored with a novel evolutionary optimization technique specifically tailored to the problem. The proposed method capitalizes on the fact that samples from quasi-random sequences such as the Sobol have low discrepancy and exhibit a more uniform coverage of the sampled space compared to random samples obtained from the uniform distribution. The method has been tested for the problems of tracking the articulation of a single hand (27D parameter space) and two hands (54D space). Extensive experiments have been carried out with synthetic and real data, in comparison with state of the art methods. The quantitative evaluation shows that for cases of limited computational resources, the new approach achieves a speed-up of four (single hand tracking) and eight (two hands tracking) without compromising tracking accuracy. Interestingly, the proposed method is preferable compared to the state of the art either in the case of limited computational resources or in the case of more complex (i.e., higher dimensional) problems, thus improving the applicability of the method in a number of application domains.

关键词： computational modeling Optimization Kinematics Tracking Joints Accuracy Linear programming

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Complexity based investigation in collaborative assembly scenarios via non intrusive techniques 4

Complexity based investigation in collaborative assembly sce...

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4th International Conference on Industry 4.0 and Smart Manufacturing, ISM 2022

作者： Panagou, Sotirios Sileo, Monica Papoutsakis, Konstantinos Fruggiero, Fabio Qammaz, Ammar Argyros, Antonis School of Engineering University of Basilicata Potenza85100 Italy Computational Vision and Robotics Laboratory Institute of Computer Science Foundation for Research and Technology - Hellas Heraklion70013 Greece

Human and robot collaboration in assembly tasks is an integral part in modern manufactories. Robots provide advantages in both process and productivity with their repeatability and usability in different tasks, while human operators provide flexibility and can act as safeguards. However, process complexity increases which can lower the overall quality. Increased complexity can negatively influence decision making due to cognitive load on human operators, which can lead to lower quality, be it product, process or human work. Moreover, it can lead to safety risks, human-system error and accidents. In this work, we present the preliminary results on an experiment performed with student-participants, based on an assembly task. The experiment was set up to emulate an industrial assembly, and data collection was performed through qualitative and non-intrusive quantitative methods. Questionnaires were used to assess perceptual task complexity and cognitive load, while a stereo camera provided recordings for after-task analysis on process errors and human work quality based on a 3D skeleton-based human pose estimation and tracking method. The aim of the study is to investigate causes of errors and implications on quality. Future direction of the work is discussed. © 2022 The Authors. Published by ELSEVIER B.V.

关键词： Decision making

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A robust method to predict temporal aspects of actions by observation

A robust method to predict temporal aspects of actions by ob...

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IEEE International Conference on robotics and Automation

作者： Emmanouil Hourdakis Panos Trahanias Computational Vision and Robotics laboratory of the Foundation for Research and Technology - Hellas Computer Science in the University of Crete Computational Vision and Robotics laboratory of the Foundation for Research and Technology - Hellas

The ability to predict the duration of an activity can enable a robot to plan its behaviors ahead, interact seamlessly with other humans, by coordinating its actions, and allocate effort and resources to tasks that are time-constrained or critical. Despite its usefulness, models that examine the temporal properties of an activity remain relatively unexplored. In the current paper we present, to the best of our knowledge, the first method that can estimate temporal properties of an activity by observation. We evaluate it on three use-cases (i) wiping a table, (ii) chopping vegetables and (iii) cleaning the floor, using ground truth data from real demonstrations, and show that it can make predictions with high accuracy and little training. In addition, we investigate different methods to approximate the progress of each task, and demonstrate how a model can generalize, by reusing part of it in different activities.

关键词： Task analysis Frequency modulation Motion segmentation Predictive models Process control

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Combining central and peripheral vision for reactive robot navigation

Combining central and peripheral vision for reactive robot n...

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Conference on Computer vision and Pattern Recognition (CVPR)

作者： A.A. Argyros F. Bergholm Computer Vision and Robotics Laboratory ICS/FORTH Crete Greece Computational Vision and Active Perception Laboratory Stockholm Sweden

In this paper we present a new method for vision-based, reactive robot navigation that enables a robot to move in the middle of the free space by exploiting both central and peripheral vision. The robot employs a forward-looking camera for central vision and two side-looking cameras for sensing the periphery of its visual field. The developed method combines the information acquired by this trinocular vision system and produces low-level motor commands that keep the robot in the middle of the free space. The approach follows the purposive vision paradigm in the sense that vision is not studied in isolation but in the context of the behaviors that the system is engaged as well as the environment and the robot's motor capabilities. It is demonstrated that by taking into account these issues, vision processing can be drastically simplified still giving rise to quite complex behaviors. The proposed method does not make strict assumptions about the environment, requires very low level information to be extracted from the images, produces a robust robot behavior and is computationally efficient. Results obtained by bath simulations and from a prototype on-line implementation demonstrate the effectiveness of the method.

关键词： Robot vision systems Robot sensing systems Orbital robotics Cameras Navigation Machine vision Data mining Robustness computational modeling Virtual prototyping

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CompactKdt: Compact signatures for accurate large scale object recognition

CompactKdt: Compact signatures for accurate large scale obje...

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IEEE Workshop on Applications of Computer vision (WACV)

作者： Mohamed Aly Mario Munich Pietro Perona Computational Vision Laboratory Caltech USA Evolution Robotics Inc. USA

We present a novel algorithm, Compact Kd-Trees (CompactKdt), that achieves state-of-the-art performance in searching large scale object image collections. The algorithm uses an order of magnitude less storage and computations by making use of both the full local features (e.g. SIFT) and their compact binary signatures to build and search the K-Tree. We compare classical PCA dimensionality reduction to three methods for generating compact binary representations for the features: Spectral Hashing, Locality Sensitive Hashing, and Locality Sensitive Binary Codes. CompactKdt achieves significant performance gain over using the binary signatures alone, and comparable performance to using the full features alone. Finally, our experiments show significantly better performance than the state-of-the-art Bag of Words (BoW) methods with equivalent or less storage and computational cost.

关键词： Probes Databases Principal component analysis Training Vectors Frequency modulation Feature extraction

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Biomimetic Centering for Undulatory Robots

Biomimetic Centering for Undulatory Robots

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： M. Sfakiotakis D.P. Tsakiris A. Vlaikidis Computational Vision and Robotics Laboratory Institute of Computer Science FORTH Heraklion Greece

Substantial work exists in the undulatory robotics literature on the mechanical design, modeling, gait generation and implementation of robotic prototypes. However, there appears to have been relatively limited work on the use of exteroceptive sensors in control schemes leading to more complex reactive undulatory behaviors. This paper considers a biologically-inspired sensor-based centering behavior for undulatory robots, originally developed for nonholonomic mobile robots. Adaptation to the significantly more complex dynamics of undulatory locomotors highlights a number of issues related to the use of sensors (possibly distributed over the elongated body of the mechanism) for the generation of reactive behaviors, to biomimetic neuromuscular control and to formation control of multi-undulatory swarms. These issues are explored via computational tools specifically geared towards undulatory locomotion in robotics and biology

关键词： Biomimetics Robot sensing systems Biosensors Mobile robots Biological system modeling Prototypes Mechanical sensors Neuromuscular Biology computing computational biology

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A biologically inspired approach for the control of the hand

A biologically inspired approach for the control of the hand

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Congress on Evolutionary Computation

作者： Emmanouil Hourdakis Michail Maniadakis Panos Trahanias Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Department of Computer Science University of Crete Greece Postdoctoral researcher with the Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Head of the Computational Vision and Robotics Laboratory Foundation for Research and Technology Hellas Heraklion Greece Professor with the Department of Computer Science University of Crete Greece

The control of the hand in primate species is characterized by a high dimensionality, due to the large number of joints in the fingers. In this study we present how its manipulation can be simplified without compromising its usage, through a constraint methodology that is inspired from recent neurobiological findings. We further develop a computational model, consisting of several brain areas related to hand control, using a co-evolutionary architecture. Due to its neurobiological basis the methodology gives rise to a number of emergent properties that have been shown to occur in primate species during reach-to-grasp tasks.

关键词： Biological control systems Brain modeling Computer science Computer architecture Biological system modeling computational modeling Neurons Biological neural networks Computer vision Robot kinematics

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