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A generalized framework for opening doors and drawers in kitchen environments

A generalized framework for opening doors and drawers in kit...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Thomas Rühr Jürgen Sturm Dejan Pangercic Michael Beetz Daniel Cremers Intelligent Autonomous Systems group Computer Science Department Technische Universität München Germany Computer Vision and Pattern Recognition group Computer Science Department Technische Universität München Germany

In this paper, we present a generalized framework for robustly operating previously unknown cabinets in kitchen environments. Our framework consists of the following four components: (1) a module for detecting both Lambertian and non-Lambertian (i.e. specular) handles, (2) a module for opening and closing novel cabinets using impedance control and for learning their kinematic models, (3) a module for storing and retrieving information about these objects in the map, and (4) a module for reliably operating cabinets of which the kinematic model is known. The presented work is the result of a collaboration of three PR2 beta sites. We rigorously evaluated our approach on 29 cabinets in five real kitchens located at our institutions. These kitchens contained 13 drawers, 12 doors, 2 refrigerators and 2 dishwashers. We evaluated the overall performance of detecting the handle of a novel cabinet, operating it and storing its model in a semantic map. We found that our approach was successful in 51.9% of all 104 trials. With this work, we contribute a well-tested building block of open-source software for future robotic service applications.

关键词： Robot sensing systems Kinematics Robot kinematics Grippers Solid modeling Trajectory

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Locating high-density clusters with noisy queries

Locating high-density clusters with noisy queries

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International Conference on pattern recognition

作者： Chen Cao Shifeng Chen Changqing Zou Jianzhuang Liu Shenzhen Key Laboratory for Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Information Engineering Chinese University of Hong Kong China

ISBN: (纸本)9781467322164

Semi-supervised learning (SSL) relies on a few labeled samples to explore data's intrinsic structure through pairwise smooth transduction. The performance of SSL mainly depends on two folds: (1) the accuracy of labeled queries, (2) the integrity of manifolds in data distribution. Both of these qualities would be poor in real applications as data often consist of several irrelevant clusters and discrete noise. In this paper we propose a novel framework to simultaneously remove discrete noise and locate the high-density clusters. Experiments demonstrate that our algorithm is quite effective to solve several problems such as non-feedback image re-ranking and image co-segmentation.

关键词： Noise Noise measurement Clustering algorithms Databases Vectors Manifolds Semisupervised learning

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Lexicon Reduction Technique for Bangla Handwritten Word recognition

Lexicon Reduction Technique for Bangla Handwritten Word Reco...

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IAPR International Workshop on Document Analysis Systems, DAS

作者： Tapan Kumar Bhowmik Utpal Roy Swapan K. Parui Faculty of Mathematics and Natural Sciences University of Groningam Netherlands Department of Computer and System Sciences Visva Bharati University Santiniketan India Computer Vision and Pattern Recognition Unit Indian Statistical Institute Kolkata India

In this paper we introduce a stroke based lexicon reduction technique in order to reduce the search space for recognition of handwritten words. The principle of this technique involves mainly two aspects of a word image to constitute a feature vector: one is word-length and the other is shape of the word. The length of the word image is represented by the number of specific vertical strokes present in the word image and, on the other hand, the shape of a word image is realized with the combination of both horizontal and vertical strokes. The experiment has been carried out with a database of 35,700 off-line handwritten Bangla word images. Though our proposed lexicon reduction technique is developed for recognition of Bangla handwritten words, its generalization property can easily be exploited for recognition of handwriting in other scripts also.

关键词： Handwriting recognition Hidden Markov models Shape Vectors Feature extraction Conferences

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A new dataset of Persian handwritten documents and its segmentation

A new dataset of Persian handwritten documents and its segme...

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2011 7th Iranian Conference on Machine vision and Image Processing, MVIP 2011

作者： Alaei, Alireza Nagabhushan, P. Pal, Umapada Department of Studies in Computer Science University of Mysore Mysore 570006 India Computer Vision and Pattern Recognition Unit Indian Statistical Institute Kolkata-108 India

ISBN: (纸本)9781457715358

In document image analysis and especially in handwritten document image recognition, standard datasets play vital roles for evaluating performances of algorithms and comparing results obtained by different groups of researchers. In this paper, an unconstrained Persian handwritten text dataset (PHTD) is introduced. The PHTD contains 140 handwritten documents of three different categories written by 40 individuals. Total number of text-lines and words/subwords in the dataset are 1787 and 27073, respectively. In most of the PHTD documents either an overlapping or a touching text-lines is present. The average number of text-lines in documents of the PHTD is 13. Two types of ground truths based on pixels information and content information are generated for the dataset. Providing these two types of ground truths for the PHTD, it can be utilized in many areas of document image processing such as sentence recognition/understanding, text-line segmentation, word segmentation, word recognition, and character segmentation. To provide a framework for other researches, recent text-line segmentation results on this dataset are also reported. © 2011 IEEE.

关键词： Image segmentation

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Automatic motion-guided video stylization and personalization 11

Automatic motion-guided video stylization and personalizatio...

引用

19th ACM International Conference on Multimedia ACM Multimedia 2011, MM'11

作者： Cao, Chen Chen, Shifeng Zhang, Wei Tang, Xiaoou Shenzhen Key Laboratory for Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Information Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781450306164

Video stylization transfers a source video into an artistic version while maintaining temporal coherence between adjacent frames. In this paper, we formulate the unsupervised example-based video stylization with Markov random field model. In our algorithm, we implement an improved optical flow algorithm to maintain temporal coherence while improve the accuracy of estimation along motion boundaries. We also extend our algorithm to the application of video personalization, in which human faces keep clear and distinguishable. A series of techniques are fused in video personalization, including face detection and alignment, motion flow, skin detection, and illumination blending. Given a source video and a style template image, our algorithm produces the stylized and/or personalized video(s) automatically. Experimental results demonstrate that our algorithm performs excellently in both video stylization and personalization. Copyright 2011 ACM.

关键词： Face recognition

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Edge-preserving single image super-resolution 11

Edge-preserving single image super-resolution

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19th ACM International Conference on Multimedia ACM Multimedia 2011, MM'11

作者： Zhou, Qiang Chen, Shifeng Liu, Jianzhuang Tang, Xiaoou Shenzhen Key Laboratory for Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Information Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781450306164

This paper proposes a novel approach to single image super-resolution. First, an image up-sampling scheme is proposed which takes the advantages of both bilateral filtering and mean shift image segmentation. Then we use a shock filter to enhance strong edges in the initial up-sampling result and obtain an intermediate high-resolution image. Finally, we enforce a reconstruction constraint on the high-resolution image so that fine details can be inferred by back projection. Since strong edges in the intermediate result are enhanced, ringing artifacts can be suppressed in the back projection step. We compare our algorithm with several state-of-the-art image super-resolution algorithms. Qualitative and quantitative experimental results demonstrate that our approach performs the best. Copyright 2011 ACM.

关键词： Image segmentation

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Off-line signature identification using background and foreground information

Off-line signature identification using background and foreg...

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2011 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2011

作者： Pal, Srikanta Alireza, Alaei Pal, Umapada Blumenstein, Michael School of Information and Communication Technology Griffith University Gold Coast QLD Australia Department of Studies in Computer Science University of Mysore Mysore 570 006 India Computer Vision and Pattern Recognition Unit Indian Statistical Institute Kolkata India

ISBN: (纸本)9780769545882

Biometric systems play an important role in the field of information security as they are extremely required for user authentication. Automatic signature recognition and verification is one of the biometric techniques, which is currently receiving renewed interest and is only one of several techniques used to verify the identities of individuals. Signatures provide a secure means for confirmation and authorization in legal documents. So nowadays, signature identification and verification becomes an essential component in automating the rapid processing of documents containing embedded signatures. In this paper, a technique for a bi-script off-line signature identification system is proposed. In the proposed signature identification system, the signatures of English and Bengali (Bangla) are considered for the identification process. Different features such as under sampled bitmaps, modified chain-code direction features and gradient features computed from both background and foreground components are employed for this purpose. Support Vector Machines (SVMs) and Nearest Neighbour (NN) techniques are considered as classifiers for signature identification in the proposed system. A database of 1554 English signatures and 1092 Bengali signatures are used to generate the experimental results. Various results based on different features are calculated and analysed. The highest accuracies of 99.41%, 98.45%;and 97.75% are obtained based on the modified chain-code direction, under-sampled bitmaps and gradient features respectively using 1800 (1100 English+700 Bengali) samples for training and 846 (454 English+392 Bengali) samples for testing. © 2011 IEEE.

关键词： Biometrics

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Automatic object segmentation from large scale 3D urban point clouds through manifold embedded mode seeking 11

Automatic object segmentation from large scale 3D urban poin...

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19th ACM International Conference on Multimedia ACM Multimedia 2011, MM'11

作者： Yu, Zhiding Xu, Chunjing Liu, Jianzhuang Au, Oscar C. Tang, Xiaoou Shenzhen Key Laboratory for Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Department of Information Engineering Chinese University of Hong Kong Hong Kong

ISBN: (纸本)9781450306164

This paper presents a system that can automatically segment objects in large scale 3D point clouds obtained from urban ranging images. The system consists of three steps: The first one involves a ground detection process that can detect relatively complex terrain and separate it from other objects. The second step superpixelizes the remaining objects to speed up the segmentation process. In the final step, a manifold embedded mode seeking method is adopted to segment the point clouds. Even though the segmentation of urban objects is a challenging problem in terms of accuracy and problem scale, our system can efficiently generate very good segmentation results. The proposed manifold learning effectively improves the segmentation performance due to the fact that continuous artificial objects often have manifold-like structures. Copyright 2011 ACM.

关键词： Image segmentation

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3D object retrieval with semantic attributes 11

3D object retrieval with semantic attributes

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19th ACM International Conference on Multimedia ACM Multimedia 2011, MM'11

作者： Gong, Boqing Liu, Jianzhuang Wang, Xiaogang Tang, Xiaoou Department of Information Engineering Chinese University of Hong Kong Hong Kong Department of Electronic Engineering Chinese University of Hong Kong Hong Kong Shenzhen Key Laboratory for Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781450306164

Humans are capable of describing objects using attributes, such as "the object looks circular and is man-made". Motivated by these high-level descriptions, we build a user-friendly 3D object retrieval system, where the user can browse the database and search for targeted objects using semantic attributes. The main advantage of our system is that it does not require the user to find or sketch a 3D object as the query for 3D object retrieval. Besides, to the best of our knowledge, our system has obtained the best retrieval performance on three popular benchmarks. Copyright 2011 ACM.

关键词： Semantics

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A New Dataset of Persian Handwritten Documents and Its Segmentation

A New Dataset of Persian Handwritten Documents and Its Segme...

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Iranian Machine vision and Image Processing (MVIP)

作者： Alireza Alaei P. Nagabhushan Umapada Pal Department of Studies in Computer Science University of Mysore Mysore India Computer Vision and Pattern Recognition Unit Indian Statistical Institute Kolkata India

关键词： Image segmentation Handwriting recognition Databases Character recognition Image recognition Text recognition

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