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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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MRI Breast tissue segmentation using nnU-Net for biomechanical modeling

arXiv

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arXiv 2024年

作者： Pooyan, Melika Awwad, Hadeel García, Eloy Martí, Robert Institute of Computer Vision and Robotics University of Girona Spain

Integrating 2D mammography with 3D magnetic resonance imaging (MRI) is crucial for improving breast cancer diagnosis and treatment planning. However, this integration is challenging due to differences in imaging modalities and the need for precise tissue segmentation and alignment. This paper addresses these challenges by enhancing biomechanical breast models in two main aspects: improving tissue identification using nnU-Net segmentation models and evaluating finite element (FE) biomechanical solvers, specifically comparing NiftySim and FEBio. We performed a detailed six-class segmentation of breast MRI data using the nnU-Net architecture, achieving Dice Coefficients of 0.94 for fat, 0.88 for glandular tissue, and 0.87 for pectoral muscle. The overall foreground segmentation reached a mean Dice Coefficient of 0.83 through an ensemble of 2D and 3D U-Net configurations, providing a solid foundation for 3D reconstruction and biomechanical modeling. The segmented data was then used to generate detailed 3D meshes and develop biomechanical models using NiftySim and FEBio, which simulate breast tissue's physical behaviors under compression. Our results include a comparison between NiftySim and FEBio, providing insights into the accuracy and reliability of these simulations in studying breast tissue responses under compression. The findings of this study have the potential to improve the integration of 2D and 3D imaging modalities, thereby enhancing diagnostic accuracy and treatment planning for breast cancer. © 2024, CC BY-SA.

关键词： Magnetic resonance imaging

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Mobile beacon control algorithm that ensures observability in single range navigation

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IFAC-PapersOnLine 2016年第23期49卷 48-53页

作者： Mandi, Filip Mikovi, Nikola Palomeras, Narcís Carreras, Marc Vallicrosa, Guillem University of Zagreb Faculty of Electrical Engineering and Computing LABUST - Laboratory for Underwater Systems and Technologies Unska 3 Zagreb Croatia Computer Vision and Robotics Institute Universitat de Girona Parc Cientfic i Tecnolgic UdG Girona17003 Spain

Mobile beacon vehicles are used as navigational aid for autonomous underwater vehicles when performing navigation using single range measurements. They remove the constraints imposed on the underwater vehicle trajectory by executing trajectory that provides persistent range measurements. In this paper, control algorithm for beacon vehicle which ensures observability of the underwater vehicle's navigation filter is presented. It is characterized by small communication overhead, low computational complexity and it is deployable on both fully actuated and underactuated vehicles. The algorithm was tested in real-life environment and the acquired experimental results show that despite the presence of uncertainties and communication delays, the algorithm accomplishes its task. © 2016

关键词： Marine navigation Autonomous underwater vehicles Kalman filters Navigation Observability Autonomous Vehicles Communication delays Communication overheads Low computational complexity Marine systems Navigation filters Underactuated vehicles Underwater vehicles

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Quantum Annealing for the Mechanics of Robot Inspectors on Electrical Transmission Lines' Conductors

Quantum Annealing for the Mechanics of Robot Inspectors on E...

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2024 International Conference on Control, robotics and Informatics, ICCRI 2024

作者： Salloum, Hadi Bahrami, Mohammad Reza Matevosian, Artem Gamershmidt, Sofia Jnadi, Ali Mazzara, Manuel Innopolis University Faculty of Computer Science and Engineering Innopolis Russia Innopolis University Cyber-physical systems lab Innopolis Russia Institute of Robotics and Computer Vision Innopolis University Innopolis Russia

ISBN: (纸本)9798350380309

This paper explores the integration of quantum computing, specifically quantum annealing, into robotics for inspecting electrical transmission lines. By using quantum annealing's computational power, we address the dynamics of robot inspectors on transmission line conductors, enhancing the computational efficiency of managing the movements of robot inspectors on transmission line conductors. The use of these robots is crucial for performing efficient and safe inspections. We discuss the mathematical foundations of quantum annealing, transforming differential equations governing robot dynamics into Ising model Hamiltonians suitable for quantum annealing devices. Through experiments using D-Wave's 'Advantage' quantum annealer, we demonstrate the viability of quantum annealing in solving complex robotics problems, paving the way for advanced applications in the field. © 2024 IEEE.

关键词： Ising model

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Towards Single Point Incremental Forming Accuracy: An Approach for the Springback Effect Compensation 19

Towards Single Point Incremental Forming Accuracy: An Approa...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Shaker, Walid K. Klimchik, Alexandr Institute of Robotics and Computer Vision Innopolis University Republic of Tatarstan 420500 Russia School of Computer Science University of Lincoln LincolnLN6 7TS United Kingdom

ISBN: (纸本)9798350320695

The springback effect is a common occurrence in incremental forming, where the formed workpiece elastically deforms and slightly shifts from the desired shape after the tool is released. This phenomenon causes an error between the target and obtained shape, leading to reduced geometric accuracy. It is is a significant challenge in incremental forming and it is a reason why the process has lower accuracy compared to conventional forming methods. This paper presents an off-line springback effect compensation model aiming to generate an optimized toolpath that accounts for the material springback effect. The model is based on an off-line numerical simulation conducted on Abaqus/CAE software. The results demonstrated that the proposed model can effectively reduce the error between the desired and obtained shape by 31.8% for aluminum, 63.2% for copper, and 63.1 % for magnesium. © 2023 IEEE.

关键词： ABAQUS

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Efficient 3D hand tracking in articulation subspaces for the manipulation of virtual objects 16

Efficient 3D hand tracking in articulation subspaces for the...

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33rd computer Graphics International Conference, CGI 2016

作者： Park, Gabyong Argyros, Antonis Woo, Woontack KAIST GSCT UVR Lab. Daejeon Korea Republic of Computational Vision and Robotics Lab. Institute of Computer Science FORTH University of Crete Greece

ISBN: (纸本)9781450341233

We propose an efficient method for model-based 3D tracking of hand articulations observed from an egocentric viewpoint that aims at supporting the manipulation of virtual objects. Previous modelbased approaches optimize non-convex objective functions defined in the 26 Degrees of Freedom (DoFs) space of pobible hand articulations. In our work, we decompose this space into six articulation subspaces (6 DoFs for the palm and 4 DoFs for each finger). We also label each finger with a Gaubian model that is propagated between succebive image frames. As confirmed by a number of experiments, this divide-and-conquer approach tracks hand articulations more accurately than existing model-based approaches. At the same time, real time performance is achieved without the need of GPGPU procebing. Additional experiments show that the proposed approach is preferable for supporting the accurate manipulation of virtual objects in VR/AR scenarios. © 2016 ACM.

关键词： Degrees of freedom (mechanics)

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A biologically motivated approach to early visual computations: orientation selection, texture, and optical flow 4th

A biologically motivated approach to early visual computatio...

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4th International Conference on Pattern Recognition, 1988

作者： Zucker, Steven W. Computer Vision and Robotics Laboratory McGill Research Centre for Intelligent Machines McGill University MontréalQC Canada The Canadian Institute for Advanced Research Canada

ISBN: (纸本)9783540190363

The problem of curve detection decomposes naturally into two stages: (i) inferring the (discrete) trace and tangent to the curve;and (ii) finding integrals through the resultant tangent field. Orientation selection is the term used by physiologists for the first of these stages;i.e., for the process of extracting the tangents to piecewise smooth curves from a two-dimensional image. We present an analysis of the orientation selection process from a computational perspective that is strongly influenced by various biological constraints. As such, it provides both a solid foundation for curve detection algorithms within computer vision systems and illustrates the insights that can be gained by analyzing biological vision systems. Formal extensions to the algorithm can also be posed that provide further insight into texture and optical flow. © 1988, Springer-Verlag.

关键词： Optical flows

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Augmented Feature Representation with Parallel Convolution for Cross-domain Facial Expression Recognition 16th

Augmented Feature Representation with Parallel Convolution ...

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16th Chinese Conference on Biometric Recognition, CCBR 2022

作者： Yang, Fan Xie, Weicheng Zhong, Tao Hu, Jingyu Shen, Linlin Computer Vision Institute School of Computer Science and Software Engineering Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China

ISBN: (纸本)9783031202322

Facial expression recognition (FER) has made significant progress in the past decade, but the inconsistency of distribution between different datasets greatly limits the generalization performance of a learned model on unseen datasets. Recent works resort to aligning feature distributions between domains to improve the cross-domain recognition performance. However, current algorithms use one output each layer for the feature representation, which can not well represent the complex correlation among multi-scale features. To this end, this work proposes a parallel convolution to augment the representation ability of each layer, and introduces an orthogonal regularization to make each convolution represent independent semantic. With the assistance of a self-attention mechanism, the proposed algorithm can generate multiple combinations of multi-scale features to allow the network to better capture the correlation among the outputs of different layers. The proposed algorithm achieves state-of-the-art (SOTA) performances in terms of the average generalization performance on the task of cross-database (CD)-FER. Meanwhile, when AFED or RAF-DB is used for the training, and other four databases, i.e. JAFFE, SFEW, FER2013 and EXPW are used for testing, the proposed algorithm outperforms the baselines by the margins of 5.93% and 2.24% in terms of the average accuracy. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolution

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S+T: An algorithm for distributed multirobot task allocation based on services for improving robot cooperation

S+T: An algorithm for distributed multirobot task allocation...

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2008 IEEE International Conference on robotics and Automation, ICRA 2008

作者： Viguria, Antidio Maza, Ivan Ollero, Anibal School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA 30332 United States Robotics Vision and Control Group University of Seville 41092 Seville Spain

ISBN: (纸本)9781424416479

In this paper, we present a distributed market-based algorithm called S+T, which solves the multi-robot task allocation (MRTA) problem in applications that require the cooperation among the robots to accomplish all the tasks. If a robot cannot execute a task by itself, it asks for help and, if possible, another robot will provide the required service. In the paper, tasks consisting in transmitting data in real-time that could require communication relay services are considered. On the other hand, the parameters of the algorithm can be adapted to give priority to either the execution time or the energy consumption in the mission. The potential generation of deadlocks associated to the relation between tasks and services is studied, and as an original result, a distributed algorithm that prevent them is proposed. The algorithm has been tested in simulations that illustrate the main features of the S+T algorithm. ©2008 IEEE.

关键词： Energy utilization

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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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