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IEEE-RAS International Conference on humanoid Robots

作者： Shifei Duan Francesco De Pace Felipe Padula Sanches Haodan Jiang Minas Liarokapis Department of Mechanical and Mechatronics Engineering New Dexterity research group The University of Auckland New Zealand VR&AR Research Unit Institute of Visual Computing and Human-Centered Technology TU Wien Austria

ISBN: (数字)9798350373578

ISBN: (纸本)9798350373585

Robotic arms demonstrate superior speed and precision when performing tasks in challenging environments. However, creating fully autonomous robots remains challenging, particularly for tasks that demand the kind of subtle perception and complex decision-making that humans use naturally. This paper investigates the integration of Virtual Reality (VR) with robotic telemanipulation, aiming to boost cooperation between humans and robots in the execution of peg-in-hole assembly tasks. The introduced semi-autonomous framework utilizes visual object detection technology to identify the types and 6D poses of objects, offering affordances to the user. The robot autonomously plans its movement toward the designated goal location before switching to the real-time telemanipulation scheme. This allows the user to either approve the pre-determined task execution plan or take over the robot control and make necessary adjustments. Following a comparative user study between the proposed framework and a pure telemanipulation system, the effectiveness of this approach is evaluated and demonstrated.

关键词： visualization Robot control Decision making humanoid robots Virtual reality Switches Object detection Manipulators Real-time systems Assembly

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A tool for semi-automatic ground truth annotation of traffic videos

A tool for semi-automatic ground truth annotation of traffic...

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2020 Autonomous Vehicles and Machines Conference, AVM 2020

作者： Groh, Florian Schörkhuber, Dominik Gelautz, Margrit Institute of Visual Computing and Human Centered Technology TU Wien Vienna Austria

We have developed a semi-automatic annotation tool - "CVL Annotator"- for bounding box ground truth generation in videos. Our research is particularly motivated by the need for reference annotations of challenging nighttime traffic scenes with highly dynamic lighting conditions due to reflections, headlights and halos from oncoming traffic. Our tool incorporates a suite of different state-of-the-art tracking algorithms in order to minimize the amount of human input necessary to generate high-quality ground truth data. We focus our user interface on the premise of minimizing user interaction and visualizing all information relevant to the user at a glance. We perform a preliminary user study to measure the amount of time and clicks necessary to produce ground truth annotations of video traffic scenes and evaluate the accuracy of the final annotation results. © 2020, Society for Imaging Science and technology.

关键词： User interfaces

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PrimitivePose: 3D Bounding Box Prediction of Unseen Objects via Synthetic Geometric Primitives

PrimitivePose: 3D Bounding Box Prediction of Unseen Objects ...

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IEEE International Conference on Robotic computing (IRC)

作者： Andreas Kriegler Csaba Beleznai Markus Murschitz Kai Göbel Margrit Gelautz Vision Automation and Control AIT Austrian Institute of Technology Vienna Austria Visual Computing and Human-Centered Technology TU Wien Vienna Austria

ISBN: (纸本)9781665472616

This paper studies the challenging problem of 3D pose and size estimation for multi-object scene configurations from stereo views. Most existing methods rely on CAD models and are therefore limited to a predefined set of known object categories. This closed-set constraint limits the range of applications for robots interacting in dynamic environments where previously unseen objects may appear. To address this problem we propose an oriented 3D bounding box detection method that does not require 3D models or semantic information of the objects and is learned entirely from the category-specific domain, relying on purely geometric cues. These geometric cues are objectness and compactness, as represented in the synthetic domain by generating a diverse set of stereo image pairs featuring pose annotated geometric primitives. We then use stereo matching and derive three representations for 3D image content: disparity maps, surface normal images and a novel representation of disparity-scaled surface normal images. The proposed model, PrimitivePose, is trained as a single-stage multi-task neural network using any one of those representations as input and 3D oriented bounding boxes, object centroids and object sizes as output. We evaluate PrimitivePose for 3D bounding box prediction on difficult unseen objects in a tabletop environment and compare it to the popular PoseCNN model-a video showcasing our results can be found at: https://***/2pccumvt.

关键词： Solid modeling Three-dimensional displays Annotations Computational modeling Semantics Streaming media Rendering (computer graphics)

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RSVP for VPSA: A Meta Design Study on Rapid Suggestive visualization Prototyping for visual Parameter Space Analysis

arXiv

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arXiv 2024年

作者： Klaffenboeck, Manfred Gleicher, Michael Sorger, Johannes Wimmer, Michael Möller, Torsten The Institute of Visual Computing and Human Centered Technology TU Wien Austria The Complexity Science Hub Vienna Austria The Department of Computer Sciences The University of Wisconsin - Madison United States The Faculty of Computer Science The University of Vienna The Research Network Data Science Uni Wien Austria

visual Parameter Space Analysis (VPSA) enables domain scientists to explore input-output relationships of computational models. Existing VPSA applications often feature multi-view visualizations designed by visualization experts for a specific scenario, making it hard for domain scientists to adapt them to their problems without professional help. We present RSVP, the Rapid Suggestive visualization Prototyping system encoding VPSA knowledge to enable domain scientists to prototype custom visualization dashboards tailored to their specific needs. The system implements a task-oriented, multi-view visualization recommendation strategy over a visualization design space optimized for VPSA to guide users in meeting their analytical demands. We derived the VPSA knowledge implemented in the system by conducting an extensive meta design study over the body of work on VPSA. We show how this process can be used to perform a data and task abstraction, extract a common visualization design space, and derive a task-oriented VisRec strategy. User studies indicate that the system is user-friendly and can uncover novel insights. © 2024, CC BY.

关键词： visualization

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2D Points Curve Reconstruction Survey and Benchmark

2D Points Curve Reconstruction Survey and Benchmark

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43rd Annual Conference on European Association for Computer Graphics, EUROGRAPHICS 2022

作者： Ohrhallinger, S. Peethambaran, J. Parakkat, A.D. Dey, T.K. Muthuganapathy, R. Institute of Visual Computing and Human-Centered Technology TU Wien Austria Department of Math and Computing Science Saint Mary's University Halifax Canada Department of Computer Science and Engineering Indian Institute of Technology Guwahati India Department of Computer Science Purdue University IN United States Department of Engineering Design Indian Institute of Technology Madras India

ISBN: (纸本)9783038681724

Curve reconstruction from unstructured points in a plane is a fundamental problem with many applications that has generated research interest for decades. Involved aspects like handling open, sharp, multiple and non-manifold outlines, run-time and provability as well as potential extension to 3D for surface reconstruction have led to many different algorithms. We survey the literature on 2D curve reconstruction and then present an open-sourced benchmark for the experimental study. Our unprecedented evaluation of a selected set of planar curve reconstruction algorithms aims to give an overview of both quantitative analysis and qualitative aspects for helping users to select the right algorithm for specific problems in the field. Our benchmark framework is available online to permit reproducing the results and easy integration of new algorithms. © 2022 The Author(s) Eurographics Proceedings © 2022 The Eurographics Association.

关键词： Surveys

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CUDA and Applications to Task-based Programming

CUDA and Applications to Task-based Programming

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42nd Annual Conference on European Association for Computer Graphics, EUROGRAPHICS 2021

作者： Kenzel, M. Kerbl, B. Winter, M. Steinberger, M. Saarland University Computer Graphics Lab Germany TU Wien Institute of Visual Computing and Human-Centered Technology Austria Graz University of Technology Institute of Computer Graphics and Vision Austria

ISBN: (纸本)9783038681359

Since its inception, the CUDA programming model has been continuously evolving. Because the CUDA toolkit aims to consistently expose cutting-edge capabilities for general-purpose compute jobs to its users, the added features in each new version reflect the rapid changes that we observe in GPU architectures. Over the years, the changes in hardware, growing scope of built-in functions and libraries, as well as an advancing C++ standard compliance have expanded the design choices when coding for CUDA, and significantly altered the directives to achieve peak performance. In this tutorial, we give a thorough introduction to the CUDA toolkit, demonstrate how a contemporary application can benefit from recently introduced features and how they can be applied to task-based GPU scheduling in particular. For instance, we will provide detailed examples of use cases for independent thread scheduling, cooperative groups, and the CUDA standard library, libcu++, which are certain to become an integral part of clean coding for CUDA in the near future. © 2021 The Author(s).

关键词： Scheduling

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Vulkan All the Way: Transitioning to a Modern Low-Level Graphics Api in Academia

SSRN

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SSRN 2022年

作者： Unterguggenberger, Johannes Kerbl, Bernhard Wimmer, Michael TU Wien Institute of Visual Computing and Human-Centered Technology Favoritenstr. 9-11 / E193-02 Vienna1040 Austria

For over two decades, the OpenGL API provided users with the means for implementing versatile, feature-rich, and portable real-time graphics applications. Consequently, it has been widely adopted by practitioners and educators alike and is deeply ingrained in many curricula that teach real-time graphics for higher education. Over the years, the architecture of graphics processing units (GPUs) incrementally diverged from OpenGL’s conceptual design. The more recently introduced Vulkan API provides a more modern, fine-grained approach for interfacing with the GPU, which allows a high level of controllability and, thereby, deep insights into the inner workings of modern GPUs. This property makes the Vulkan API especially well suitable for teaching graphics programming in university education, where fundamental knowledge shall be conveyed. Hence, it stands to reason that educators who have their students’ best interests at heart should provide them with corresponding lecture material. However, Vulkan is notoriously verbose and rather challenging for first-time users, thus transitioning to this new API bears a considerable risk of failing to achieve expected teaching goals. In this paper, we document our experiences after teaching Vulkan in both introductory and advanced graphics courses side-by-side with conventional OpenGL. A collection of surveys enables us to draw conclusions about perceived workload, difficulty, and students’ acceptance of either approach. In doing so, we identify suitable conditions and recommendations for teaching Vulkan to both undergraduate and graduate students. © 2022, The Authors. All rights reserved.

关键词： Graphics processing unit

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Overscan Detection in Digitized Analog Films by Precise Sprocket Hole Segmentation 15th

Overscan Detection in Digitized Analog Films by Precise Spro...

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15th International Symposium on visual computing, ISVC 2020

作者： Helm, Daniel Kampel, Martin Institute of Visual Computing and Human-Centered Technology Computer Vision Lab TU Wien Vienna Austria

ISBN: (纸本)9783030645557

Automatic video analysis is explored in order to understand and interpret real-world scenes automatically. For digitized historical analog films, this process is influenced by the video quality, video composition or scan artifacts called overscanning. The main aim of this paper is to find the Sprocket Holes (SH) in digitized analog film frames in order to drop unwanted overscan areas and extract the correct scaled final frame content which includes the most significant frame information. The outcome of this investigation proposes a precise overscan detection pipeline which combines the advantages of supervised segmentation networks such as DeepLabV3 with an unsupervised Gaussian Mixture Model for fine-grained segmentation based on histogram features. Furthermore, this exploration demonstrates the strength of using low-level backbone features in combination with low-cost CNN architectures like SqueezeNet in terms of inference runtime and segmentation performance. Moreover, a pipeline for creating photo-realistic frame samples to build a self-generated dataset is introduced and used in the training and validation phase. This dataset consists of 15000 image-mask pairs including synthetically created and deformed SHs with respect to the exact film reel layout geometry. Finally, the approach is evaluated by using real-world historical film frames including original SHs and deformations such as scratches, cracks or wet splices. The proposed approach reaches a Mean Intersection over Union (mIoU) score of 0.9509 (@threshold: 0.5) as well as a Dice Coefficient of 0.974 (@threshold: 0.5) and outperforms state-of-the-art solutions. Finally, we provide full access to our source code as well as the self-generated dataset in order to promote further research on digitized analog film analysis and fine-grained object segmentation. © 2020, Springer Nature Switzerland AG.

关键词： Sprockets

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EFFICIENT LOADING and visualIZATION of MASSIVE FEAtuRE-RICH POINT CLOUDS without HIERARCHICAL ACCELERATION STRUCtuRES 24

EFFICIENT LOADING and VISUALIZATION of MASSIVE FEATURE-RICH ...

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2020 24th ISPRS Congress - Technical Commission II

作者： Otepka, J. Mandlburger, G. Schütz, M. Pfeifer, N. Wimmer, M. TU Wien Department of Geodesy and Geoinformation Vienna Austria TU Wien Institute of Visual Computing and Human-Centered Technology Vienna Austria

Nowadays, point clouds are the standard product when capturing reality independent of scale and measurement technique. Especially, Dense Image Matching (DIM) and Laser Scanning (LS) are state of the art capturing methods for a great variety of applications producing detailed point clouds up to billions of points. In-depth analysis of such huge point clouds typically requires sophisticated spatial indexing structures to support potentially long-lasting automated non-interactive processing tasks like feature extraction, semantic labelling, surface generation, and the like. Nevertheless, a visual inspection of the point data is often necessary to obtain an impression of the scene, roughly check for completeness, quality, and outlier rates of the captured data in advance. Also intermediate processing results, containing additional per-point computed attributes, may require visual analyses to draw conclusions or to parameterize further processing. Over the last decades a variety of commercial, free, and open source viewers have been developed that can visualise huge point clouds and colorize them based on available attributes. However, they have either a poor loading and navigation performance, visualize only a subset of the points, or require the creation of spatial indexing structures in advance. In this paper, we evaluate a progressive method that is capable of rendering any point cloud that fits in GPU memory in real time without the need of time consuming hierarchical acceleration structure generation. In combination with our multi-threaded LAS and LAZ loaders, we achieve load performance of up to 20 million points per second, display points already while loading, support flexible switching between different attributes, and rendering up to one billion points with visually appealing navigation behaviour. Furthermore, loading times of different data sets for different open source and commercial software packages are analysed. © 2020 International Archives of the Photo

关键词： Indexing (of information)

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Temporal Alignment of human Motion Data: A Geometric Point of View

arXiv

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arXiv 2023年

作者： tumpach, Alice Barbora Kán, Peter Institut CNRS Pauli Oskar-Morgenstern-Platz 1 Vienna1090 Austria University of Lille Cité scientifique Villeneuve d'Ascq59650 France Institute of Visual Computing and Human-Centered Technology TU Wien Vienna Austria

Temporal alignment is an inherent task in most applications dealing with videos: action recognition, motion transfer, virtual trainers, rehabilitation, etc. In this paper we dive into the understanding of this task from a geometric point of view: in particular, we show that the basic properties that are expected from a temporal alignment procedure imply that the set of aligned motions to a template form a slice to a principal fiber bundle for the group of temporal reparameterizations. A temporal alignment procedure provides a reparameterization invariant projection onto this particular slice. This geometric presentation allows to elaborate a consistency check for testing the accuracy of any temporal alignment procedure. We give examples of alignment procedures from the literature applied to motions of tennis players. Most of them use dynamic programming to compute the best correspondence between two motions relative to a given cost function. This step is computationally expensive (of complexity O(NM) where N and M are the numbers of frames). Moreover most methods use features that are invariant by translations and rotations in R3, whereas most actions are only invariant by translation along and rotation around the vertical axis, where the vertical axis is aligned with the gravitational field. The discarded information contained in the vertical direction is crucial for accurate synchronization of motions. We propose to incorporate keyframe correspondences into the dynamic programming algorithm based on coarse information extracted from the vertical variations, in our case from the elevation of the arm holding the racket. The temporal alignment procedures produced are not only more accurate, but also computationally more efficient. Copyright © 2023, The Authors. All rights reserved.

关键词： Cost functions

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