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Multidimensional image morphing-fast image-based rendering of open 3D and VR environments

虚拟现实与智能硬件(中英文) 2025年第2期7卷 155-172页

作者： Simon SEIBT Bastian KUTH Bartosz von Rymon LIPINSKI Thomas CHANG Marc Erich LATOSCHIK Game Tech Laboratory Faculty of Computer ScienceNuremberg Institute of TechnologyNuremberg 90489Germany Department of Electrical Engineering and Computer Science Coburg University of Applied Sciences and ArtsCoburg 96450Germany Human-Computer Interaction Group Institute of Computer ScienceUniversity of WuerzburgWuerzburg 97074Germany

Background In recent years,the demand for interactive photorealistic three-dimensional(3D)environments has increased in various fields,including architecture,engineering,and ***,achieving a balance between the quality and efficiency of high-performance 3D applications and virtual reality(VR)remains *** This study addresses this issue by revisiting and extending view interpolation for image-based rendering(IBR),which enables the exploration of spacious open environments in 3D and ***,we introduce multimorphing,a novel rendering method based on the spatial data structure of 2D image patches,called the image *** this approach,novel views can be rendered with up to six degrees of freedom using only a sparse set of *** rendering process does not require 3D reconstruction of the geometry or per-pixel depth information,and all relevant data for the output are extracted from the local morphing cells of the image *** detection of parallax image regions during preprocessing reduces rendering artifacts by extrapolating image patches from adjacent cells in *** addition,a GPU-based solution was presented to resolve exposure inconsistencies within a dataset,enabling seamless transitions of brightness when moving between areas with varying light *** Experiments on multiple real-world and synthetic scenes demonstrate that the presented method achieves high"VR-compatible"frame rates,even on mid-range and legacy hardware,*** achieving adequate visual quality even for sparse datasets,it outperforms other IBR and current neural rendering *** Using the correspondence-based decomposition of input images into morphing cells of 2D image patches,multidimensional image morphing provides high-performance novel view generation,supporting open 3D and VR ***,the handling of morphing artifacts in the parallax image regions remains a topic for future resea

关键词： computer graphics 3D real-time rendering computer vision Image morphing Virtual reality

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JoTyMo: Joint Type and Movement Detection from RGB Images of before and after Interacting with Articulated Objects 11

JoTyMo: Joint Type and Movement Detection from RGB Images of...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Forootan, Ehsan Ghasemi, Hamed Masouleh, Mehdi Tale Kalhor, Ahmad Moshiri, Behzad University of Tehran Human and Robot Interaction Laboratory Electrical and Computer Engineering Department Iran

ISBN: (纸本)9798350308105

This paper presents a CNN-based network architecture aimed to classify and detect joint types within Articulated objects, specifically the Push-P joints, P-joints, R-joints and objects lacking joints. The movement modeling of the detected objects is explored by processing pre and post interaction RGB images within the SAPIEN PartNet-Mobility dataset. In order to achieve this, an architecture is proposed to leverage consecutive CNN encoders based on the VGG architecture, in order to classify joints based on pre and post-interaction images. Additionally, in order to detect the effect-point and movement vector, a convolutional encoder is applied for each joint type. Moreover, extensive evaluation is made to showcase the results, achieving 96% accuracy in joint classification and 94% accuracy in regression on the considered dataset. Elaborate details regarding network architectures, training procedures, and testing methodologies are available at source code repository. © 2023 IEEE.

关键词： Network architecture

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Autonomous Unmanned Aerial Vehicle Indoor Navigation Based on Deep Learning Approaches 11

Autonomous Unmanned Aerial Vehicle Indoor Navigation Based o...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Ghasemi, Hamed Balazadeh, Elnaz Malekpour, Shayan Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Tehran Iran University of Tehran Human and Robot Interaction Laboratory Tehran Iran University of Tehran School of Electrical and Computer Engineering Department of Electrical and Computer Engineering Tehran Iran

ISBN: (纸本)9798350308105

This article presents two approaches based on deep learning for achieving autonomous navigation and subsequently, conducts an in-depth comparative analysis to elaborate their respective performance. Both methods leverage neural networks to facilitate navigation. The first approach employs a deep convolutional neural network to identify suitable areas for forward movement, while the second method utilizes the drone's front camera to capture images, which are then processed by a generative network to generate corresponding depth images. Importantly, both approaches rely solely on an RGB camera, resulting in cost savings for the robot and reduced energy consumption. The training data used for classifying collision-free and appropriate paths were gathered from simulated environments closely resembling real indoor settings. The proposed model calculates the probability associated with each segment of the input image, enabling the selection of the most viable area for drone flight. Incorporating generative networks as a depth estimation module enhances flight accuracy, making navigation in uncharted environments more straightforward. The accuracy of depth estimation was evaluated using standard criteria, achieving an accuracy rate of 84%. This result underscores the effectiveness of the proposed method. © 2023 IEEE.

关键词： Drones

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2D Skeleton-Based Keypoint Generation Method for Grasping Objects with Roughly Uniform Height Variation 11

2D Skeleton-Based Keypoint Generation Method for Grasping Ob...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Sabzejou, Ali Masouleh, Mehdi Tale Kalhor, Ahmad University of Tehran Human and Robot Interaction Laboratory School of Electrical and Computer Engineering Department Iran

ISBN: (纸本)9798350308105

Robotic grasping poses a fundamental challenge in robotics, particularly when dealing with unknown objects. This skill has always been a focal point in robotics research due to its fundamental importance and inherent complexity. Recent advances utilize state-of-The-Art learning techniques, including deep learning and deep reinforcement learning, presenting their unique set of challenges. Training these models requires extensive data and computational resources, with the generalization to unknown objects presenting a significant obstacle for robots. This paper presents a comprehensive approach to unknown object robotic grasping, with a specific focus on top-down grasping actions. The process encompasses image preprocessing, the application of the Straight Skeleton (StSkel) method, and the systematic generation of grasp keypoints when applied to a selection of objects from the Dex-Net dataset. During the evaluation, the analysis incorporated crucial metrics, including the number of detected grasp keypoints for each object, the count of successfully generated grasp pairs, the overall success rate, and the success rate when considering the top 5 ranked grasp pairs. One of the notable strengths of this approach lies in its adaptability to a wide array of objects, ranging from simple shapes to complex ones. The proposed approach in this paper paves the way for automatically labeling grasping datasets, providing a valuable asset for developing auto-generating Deep-RL models. The StSkel method effectively captures essential structural information, making it suitable for real-world applications involving diverse objects. The experimental outcomes affirm the robustness and adaptability of the approach, as it most often achieved a high success rate in generating viable pairs of grasping points for most tested objects. Even complex objects yield impressive results, demonstrating the method's potential for real-world applications in grasping unknown objects. © 2023 IEEE.

关键词： Robotics

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A 2D Geometry Based Grasping Pose Generation Algorithm for a Two-Finger Robot Hand 31

A 2D Geometry Based Grasping Pose Generation Algorithm for a...

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31st International Conference on Electrical engineering, ICEE 2023

作者： Akbari, Arash Akbari, Arman Masouleh, Mehdi Tale University of Tehran Department of Computer Science Tehran Iran School of Electrical and Computer Engineering Human and Robot Interaction Laboratory Tehran Iran

ISBN: (纸本)9798350312560

Robot grasping is of paramount importance in industrial and service robotics. In recent years, various data-driven algorithms have been proposed to solve the problem of grasp detection and a part of them are based on reinforcement learning (RL) approaches. In a variety of proposed algorithms, random key points are being employed which will make the learning process inefficient and time-consuming. In this paper, a geometry-based algorithm is presented which can find grasp poses based on the geometry of the unknown object and propose the ones which may lead to successful grasping. For the grasp contacts computation part, the presented algorithm produces a finite number of key points based on the 2D shape of the object from a specific point of view. Afterward, it will narrow down the candidate points and output a finite number of successful grasp poses based on three grasp quality metrics for various unknown objects. Three approaches are proposed in order to achieve center points which can describe different parts of a 2D shape. Then, the obtained points are used as the center of circles which are tangent to the 2D shape contour. Also, a new grasp quality metric is proposed. The time of the grasp and the amount of object disorientation after grasping are considered as a metric to evaluate the successfulness of the grasp. Simulation results demonstrate that the proposed algorithm for unknown object grasping can find a finite number of successful grasp poses for different seen or unseen objects without using any random point © 2023 IEEE.

关键词： Geometry

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SEED-VII: A Multimodal Dataset of Six Basic Emotions with Continuous Labels for Emotion Recognition

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IEEE Transactions on Affective Computing 2024年第2期16卷 969-985页

作者： Jiang, Wei-Bang Liu, Xuan-Hao Zheng, Wei-Long Lu, Bao-Liang Shanghai Jiao Tong University Center for Brain-Like Computing and Machine Intelligence Department of Computer Science and Engineering Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Brain Science and Technology Research Center Shanghai200240 China

Recognizing emotions from physiological signals is a topic that has garnered widespread interest, and research continues to develop novel techniques for perceiving emotions. However, the emergence of deep learning has highlighted the need for comprehensive and high-quality emotional datasets that enable the accurate decoding of human emotions. To systematically explore human emotions, we develop a multimodal dataset consisting of six basic (happiness, sadness, fear, disgust, surprise, and anger) emotions and the neutral emotion, named SEED-VII. This multimodal dataset includes electroencephalography (EEG) and eye movement signals. The seven emotions in SEED-VII are elicited by 80 different videos and fully investigated with continuous labels that indicate the intensity levels of the corresponding emotions. Additionally, we propose a novel Multimodal Adaptive Emotion Transformer (MAET), that can flexibly process both unimodal and multimodal inputs. Adversarial training is utilized in the MAET to mitigate subject discrepancies, which enhances domain generalization. Our extensive experiments, encompassing both subject-dependent and cross-subject conditions, demonstrate the superior performance of the MAET in terms of handling various inputs. Continuous labels are used to filter the data with high emotional intensity, and this strategy is proven to be effective for attaining improved emotion recognition performance. Furthermore, complementary properties between the EEG signals and eye movements and stable neural patterns of the seven emotions are observed. © 2010-2012 IEEE.

关键词： Eye movements

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Tonic and Event-Related Phasic Transcutaneous Auricular Vagus Nerve Stimulation Alters Pupil Responses in the Change-Detection Task

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Neuromodulation 2025年第4期28卷 652-662页

作者： Chen, Jingxin Ke, Yufeng Ni, Guangjian Liu, Shuang Ming, Dong Academy of Medical Engineering and Translational Medicine Tianjin International Joint Research Centre for Neural Engineering Tianjin Key Laboratory of Brain Science and Neural Engineering Tianjin University Tianjin China Department of Biomedical Engineering College of Precision Instrument and Optoelectronics Engineering Tianjin University Tianjin China Haihe Laboratory of Brain-computer Interaction and Human-machine Integration Tianjin China

Background: Transcutaneous auricular vagus nerve stimulation (taVNS) has emerged as a potential modulator of cognitive behavior that activates the locus coeruleus-noradrenaline (LC-NA) system. Previous studies explored both phasic and tonic taVNS by investigating their impact on LC-NA markers such as pupil dilation and heart rate variability (HRV). Objective: Inconsistencies persist in the identification of reliable markers for assessing the effects of taVNS on noradrenergic activity. Furthermore, it remains unclear whether the effects of taVNS extend beyond pure vagal nerve responses, particularly in specific cognitive domains such as working memory. In the present study, we investigated the effects of taVNS on working memory capacity and LC-NA markers using a change-detection task. Materials and Methods: Twenty-two healthy, right-handed university students participated in a sham-controlled, randomized cross-over experiment with four sessions. We applied two types of phasic and event-related stimulation (Pre-event and Event-synchronous), tonic stimulation (Pre-task), and sham stimulation across different sessions. Pupil size and electrocardiogram data were recorded during the tasks. Results: taVNS did not significantly modulate behavioral performance on the change-detection task, specifically working memory capacity. However, both tonic and event-related phasic taVNS significantly influenced the pupillary response during the task. In addition, the Pre-task condition of the taVNS affected the low-frequency parameter of HRV. Conclusions: Our findings suggest that tonic and event-related phasic taVNS may modulate noradrenergic activity, as evidenced by pupil responses and HRV changes during the change-detection task. This study provides new evidence regarding the impact of taVNS on cognitive tasks, thus supporting the development of noninvasive neuromodulation interventions. © 2025 International Neuromodulation Society

关键词： Heart rate variability (HRV) LC-NA pupil response pupillometry taVNS

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State Definition in Deep Reinforcement Learning: A Smoothness Index Approach 11

State Definition in Deep Reinforcement Learning: A Smoothnes...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Dehdasthian, Soroosh Kalhor, Ahmad Masouleh, Mehdi Tale University of Tehran Human and Robot Intraction Laboratory School of Electrical and Computer Engineering Department Iran

ISBN: (纸本)9798350308105

In the pursuit of developing autonomous agents capable of learning optimal behaviors, reinforcement learning has emerged as a foundational frame-work. This paper introduces a novel approach for state definition in deep reinforcement learning systems, with a focus on solving pixel-based control scenarios. The proposed frame-work harnesses the capabilities of Convolutional Variational Auto-Encoders to extract compact and meaningful latent representations from high-dimensional pixel observations. These representations serve as the foundation for constructing an efficient state space for reinforcement learning agents. To further enhance the state construction process, the concept of the Smoothness Index is introduced. Smoothness index acts as a criterion for feature selection within the latent space, facilitating the identification of the most relevant and informative states. Demonstrating the effectiveness of iterative smoothness index-based forward selection, this process notably compresses the observation space while retaining essential information. This compression enables the creation of more efficient reinforcement learning agents. The procedure involves collecting and preprocessing observation data given by the OpenAI Gym car racing environment, encoding observations using a convolutional variational auto-encoder, and iteratively selecting features based on smoothness index. Subsequently, the Proximal Policy Optimization algorithm is employed as a policy-based controller to evaluate the effectiveness of the proposed frame-work. Results indicate that this approach yields a remarkably compact state space that either maintains or enhances reinforcement learning agent performance. This innovative frame-work paves the way for the development of more efficient and adaptive reinforcement learning agents in real-world image-based applications. © 2023 IEEE.

关键词： Reinforcement learning

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Experimental Study on Automatically Assembling Custom Catering Packages With a 3-DOF Delta Robot Using Deep Learning Methods

Experimental Study on Automatically Assembling Custom Cateri...

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Iranian Conference on Electrical engineering (ICEE)

作者： Reihaneh Yourdkhani Arash Tavoosian Navid Asadi Khomami Mehdi Tale Masouleh Electrical and Computer Engineering Department Human and Robot Interaction Laboratory University of Tehran Mechanical Engineering Department University of Tehran

ISBN: (数字)9798350376340

ISBN: (纸本)9798350376357

This paper introduces a pioneering experimental study on the automated packing of a catering package using a two-fingered gripper affixed to a 3-degree-of-freedom Delta parallel robot. A distinctive contribution lies in the application of a deep learning approach to tackle this challenge. A custom dataset, comprising 1,500 images, is meticulously curated for this endeavor, representing a noteworthy initiative as the first dataset focusing on Persian-manufactured products. The study employs the YOLOV5 model for object detection, followed by segmentation using the FastSAM model. Subsequently, rotation angle calculation is facilitated with segmentation masks, and a rotated rectangle encapsulating the object is generated. This rectangle forms the basis for calculating two grasp points using a novel geometrical approach involving eigenvectors. An extensive experimental study validates the proposed model, where all pertinent information is seamlessly transmitted to the 3-DOF Delta parallel robot. The proposed algorithm ensures real-time detection, calibration, and the fully autonomous packing process of a catering package, boasting an impressive over 80% success rate in automatic grasping. This study marks a significant stride in advancing the capabilities of robotic systems for practical applications in packaging automation.

关键词： Deep learning YOLO Parallel robots Image segmentation 3-DOF Focusing Grasping

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Real-Time Imitation of human Head Motions, Blinks and Emotions by Nao Robot: A Closed-Loop Approach 11

Real-Time Imitation of Human Head Motions, Blinks and Emotio...

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Rayati, Keyhan Feizi, Amirhossein Beigy, Alireza Shahverdi, Pourya Masouleh, Mehdi Tale Kalhor, Ahmad Louie, Wing-Yue Geoffrey University of Tehran Human and Robot Interaction Lab Electrical and Computer Engineering Tehran Iran Shahrood University of Technology Department of Electrical Engineering Shahrood Iran Oakland University Intelligent Robotics Laboratory Michigan United States

ISBN: (纸本)9798350308105

This paper introduces a novel approach for enabling real-time imitation of human head motion by a Nao robot, with a primary focus on elevating human-robot interactions. By using the robust capabilities of the MediaPipe as a computer vision library and the DeepFace as an emotion recognition library, this research endeavors to capture the subtleties of human head motion, including blink actions and emotional expressions, and seamlessly incorporate these indicators into the robot's responses. The result is a comprehensive framework which facilitates precise head imitation within human-robot interactions, utilizing a closed-loop approach that involves gathering real-time feedback from the robot's imitation performance. This feedback loop ensures a high degree of accuracy in modeling head motion, as evidenced by an impressive R2 score of 96.3 for pitch and 98.9 for yaw. Notably, the proposed approach holds promise in improving communication for children with autism, offering them a valuable tool for more effective interaction. In essence, proposed work explores the integration of real-time head imitation and real-time emotion recognition to enhance human-robot interactions, with potential benefits for individuals with unique communication needs. © 2023 IEEE.

关键词： Emotion Recognition

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