The document discusses a vision for co-robot applications where robots can work collaboratively with humans. It outlines challenges for perception tasks as robots move from controlled settings to unstructured environments. Specifically, challenges include handling objects with and without textures, dealing with background clutter, object discontinuities, and meeting real-time constraints. Approaches discussed include using 2D visual information from monocular cameras and 3D information from RGB-D cameras for object pose estimation and tracking.
Machine Learning - Introduction to Convolutional Neural NetworksAndrew Ferlitsch
Abstract: This PDSG workshop introduces basic concepts of convolutional neural networks. Concepts covered are image pixels, image preprocessing, feature detectors, feature maps, convolution, ReLU, pooling and flattening.
Level: Fundamental
Requirements: No prior programming or statistics knowledge required. Some knowledge of neural networks is recommended.
Multiple region of interest tracking of non rigid objects using demon's algor...csandit
In this paper we propose an algorithm for tracking multiple ROI (region of interest) undergoing
non-rigid transformations. Demon's algorithm based on the idea of Maxwell's demon, has been
applied here to estimate the displacement field for tracking of multiple ROI. This algorithm
works on pixel intensities of the sequence of images thus making it suitable for tracking
objects/regions undergoing non-rigid transformations. We have incorporated a pyramid-based
approach for demon's algorithm computations of displacement field, which leads to significant
reduction in the convergence speed and improvement in the accuracy. This algorithm is applied
for tracking non-rigid objects in laproscopy videos which would aid surgeons in Minimal
Invasive Surgery (MIS).
MULTIPLE REGION OF INTEREST TRACKING OF NON-RIGID OBJECTS USING DEMON'S ALGOR...cscpconf
In this paper we propose an algorithm for tracking multiple ROI (region of interest) undergoing non-rigid transformations. Demon's algorithm based on the idea of Maxwell's demon, has been applied here to estimate the displacement field for tracking of multiple ROI. This algorithm works on pixel intensities of the sequence of images thus making it suitable for tracking objects/regions undergoing non-rigid transformations. We have incorporated a pyramid-based approach for demon's algorithm computations of displacement field, which leads to significant reduction in the convergence speed and improvement in the accuracy. This algorithm is applied for tracking non-rigid objects in laproscopy videos which would aid surgeons in Minimal Invasive Surgery (MIS).
Summary:
There are three parts in this presentation.
A. Why do we need Convolutional Neural Network
- Problems we face today
- Solutions for problems
B. LeNet Overview
- The origin of LeNet
- The result after using LeNet model
C. LeNet Techniques
- LeNet structure
- Function of every layer
In the following Github Link, there is a repository that I rebuilt LeNet without any deep learning package. Hope this can make you more understand the basic of Convolutional Neural Network.
Github Link : https://github.com/HiCraigChen/LeNet
LinkedIn : https://www.linkedin.com/in/YungKueiChen
The first part of this dissertation focuses on an analysis of the spatial context in semantic image segmentation. First, we review how spatial context has been tackled in the literature by local features and spatial aggregation techniques. From a discussion about whether the context is beneficial or not for object recognition, we extend a Figure-Border-Ground segmentation for local feature aggregation with ground truth annotations to a more realistic scenario where object proposals techniques are used instead. Whereas the Figure and Ground regions represent the object and the surround respectively, the Border is a region around the object contour, which is found to be the region with the richest contextual information for object recognition. Furthermore, we propose a new contour-based spatial aggregation technique of the local features within the object region by a division of the region into four subregions. Both contributions have been tested on a semantic segmentation benchmark with a combination of free and non-free context local features that allows the models automatically learn whether the context is beneficial or not for each semantic category.
The second part of this dissertation addresses the semantic segmentation for a set of closely-related images from an uncalibrated multiview scenario. State-of-the-art semantic segmentation algorithms fail on correctly segmenting the objects from some viewpoints when the techniques are independently applied to each viewpoint image. The lack of large annotations available for multiview segmentation do not allow to obtain a proper model that is robust to viewpoint changes. In this second part, we exploit the spatial correlation that exists between the dierent viewpoints images to obtain a more robust semantic segmentation. First, we review the state-of-the-art co-clustering, co-segmentation and video segmentation techniques that aim to segment the set of images in a generic way, i.e. without considering semantics. Then, a new architecture that considers motion information and provides a multiresolution segmentation is proposed for the co-clustering framework and outperforms state-of-the-art techniques for generic multiview segmentation. Finally, the proposed multiview segmentation is combined with the semantic segmentation results giving a method for automatic resolution selection and a coherent semantic multiview segmentation.
http://imatge-upc.github.io/telecombcn-2016-dlcv/
Deep learning technologies are at the core of the current revolution in artificial intelligence for multimedia data analysis. The convergence of big annotated data and affordable GPU hardware has allowed the training of neural networks for data analysis tasks which had been addressed until now with hand-crafted features. Architectures such as convolutional neural networks, recurrent neural networks and Q-nets for reinforcement learning have shaped a brand new scenario in signal processing. This course will cover the basic principles and applications of deep learning to computer vision problems, such as image classification, object detection or text captioning.
Image classification is perhaps the most important part of digital image analysis. In this paper, we compare the most widely used model CNN Convolutional Neural Network , and MLP Multilayer Perceptron . We aim to show how both models differ and how both models approach towards the final goal, which is image classification. Souvik Banerjee | Dr. A Rengarajan "Hand-Written Digit Classification" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-5 | Issue-4 , June 2021, URL: https://www.ijtsrd.compapers/ijtsrd42444.pdf Paper URL: https://www.ijtsrd.comcomputer-science/artificial-intelligence/42444/handwritten-digit-classification/souvik-banerjee
Haptic assistance for robotic surgical simulationsaulnml
The implementation of guidance in robotic microsurgery is challenging since object detection and activity recognition are required. On the other hand, virtual reality simulation providing full information of the virtual object allows easy implementation of guidance algorithms. In this work, we implemented haptic assistance inside a virtual environment for posture correction during execution of peg transfer task, and the result showed a decrease in the task completion time.
Machine Learning - Introduction to Convolutional Neural NetworksAndrew Ferlitsch
Abstract: This PDSG workshop introduces basic concepts of convolutional neural networks. Concepts covered are image pixels, image preprocessing, feature detectors, feature maps, convolution, ReLU, pooling and flattening.
Level: Fundamental
Requirements: No prior programming or statistics knowledge required. Some knowledge of neural networks is recommended.
Multiple region of interest tracking of non rigid objects using demon's algor...csandit
In this paper we propose an algorithm for tracking multiple ROI (region of interest) undergoing
non-rigid transformations. Demon's algorithm based on the idea of Maxwell's demon, has been
applied here to estimate the displacement field for tracking of multiple ROI. This algorithm
works on pixel intensities of the sequence of images thus making it suitable for tracking
objects/regions undergoing non-rigid transformations. We have incorporated a pyramid-based
approach for demon's algorithm computations of displacement field, which leads to significant
reduction in the convergence speed and improvement in the accuracy. This algorithm is applied
for tracking non-rigid objects in laproscopy videos which would aid surgeons in Minimal
Invasive Surgery (MIS).
MULTIPLE REGION OF INTEREST TRACKING OF NON-RIGID OBJECTS USING DEMON'S ALGOR...cscpconf
In this paper we propose an algorithm for tracking multiple ROI (region of interest) undergoing non-rigid transformations. Demon's algorithm based on the idea of Maxwell's demon, has been applied here to estimate the displacement field for tracking of multiple ROI. This algorithm works on pixel intensities of the sequence of images thus making it suitable for tracking objects/regions undergoing non-rigid transformations. We have incorporated a pyramid-based approach for demon's algorithm computations of displacement field, which leads to significant reduction in the convergence speed and improvement in the accuracy. This algorithm is applied for tracking non-rigid objects in laproscopy videos which would aid surgeons in Minimal Invasive Surgery (MIS).
Summary:
There are three parts in this presentation.
A. Why do we need Convolutional Neural Network
- Problems we face today
- Solutions for problems
B. LeNet Overview
- The origin of LeNet
- The result after using LeNet model
C. LeNet Techniques
- LeNet structure
- Function of every layer
In the following Github Link, there is a repository that I rebuilt LeNet without any deep learning package. Hope this can make you more understand the basic of Convolutional Neural Network.
Github Link : https://github.com/HiCraigChen/LeNet
LinkedIn : https://www.linkedin.com/in/YungKueiChen
The first part of this dissertation focuses on an analysis of the spatial context in semantic image segmentation. First, we review how spatial context has been tackled in the literature by local features and spatial aggregation techniques. From a discussion about whether the context is beneficial or not for object recognition, we extend a Figure-Border-Ground segmentation for local feature aggregation with ground truth annotations to a more realistic scenario where object proposals techniques are used instead. Whereas the Figure and Ground regions represent the object and the surround respectively, the Border is a region around the object contour, which is found to be the region with the richest contextual information for object recognition. Furthermore, we propose a new contour-based spatial aggregation technique of the local features within the object region by a division of the region into four subregions. Both contributions have been tested on a semantic segmentation benchmark with a combination of free and non-free context local features that allows the models automatically learn whether the context is beneficial or not for each semantic category.
The second part of this dissertation addresses the semantic segmentation for a set of closely-related images from an uncalibrated multiview scenario. State-of-the-art semantic segmentation algorithms fail on correctly segmenting the objects from some viewpoints when the techniques are independently applied to each viewpoint image. The lack of large annotations available for multiview segmentation do not allow to obtain a proper model that is robust to viewpoint changes. In this second part, we exploit the spatial correlation that exists between the dierent viewpoints images to obtain a more robust semantic segmentation. First, we review the state-of-the-art co-clustering, co-segmentation and video segmentation techniques that aim to segment the set of images in a generic way, i.e. without considering semantics. Then, a new architecture that considers motion information and provides a multiresolution segmentation is proposed for the co-clustering framework and outperforms state-of-the-art techniques for generic multiview segmentation. Finally, the proposed multiview segmentation is combined with the semantic segmentation results giving a method for automatic resolution selection and a coherent semantic multiview segmentation.
http://imatge-upc.github.io/telecombcn-2016-dlcv/
Deep learning technologies are at the core of the current revolution in artificial intelligence for multimedia data analysis. The convergence of big annotated data and affordable GPU hardware has allowed the training of neural networks for data analysis tasks which had been addressed until now with hand-crafted features. Architectures such as convolutional neural networks, recurrent neural networks and Q-nets for reinforcement learning have shaped a brand new scenario in signal processing. This course will cover the basic principles and applications of deep learning to computer vision problems, such as image classification, object detection or text captioning.
Image classification is perhaps the most important part of digital image analysis. In this paper, we compare the most widely used model CNN Convolutional Neural Network , and MLP Multilayer Perceptron . We aim to show how both models differ and how both models approach towards the final goal, which is image classification. Souvik Banerjee | Dr. A Rengarajan "Hand-Written Digit Classification" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-5 | Issue-4 , June 2021, URL: https://www.ijtsrd.compapers/ijtsrd42444.pdf Paper URL: https://www.ijtsrd.comcomputer-science/artificial-intelligence/42444/handwritten-digit-classification/souvik-banerjee
Haptic assistance for robotic surgical simulationsaulnml
The implementation of guidance in robotic microsurgery is challenging since object detection and activity recognition are required. On the other hand, virtual reality simulation providing full information of the virtual object allows easy implementation of guidance algorithms. In this work, we implemented haptic assistance inside a virtual environment for posture correction during execution of peg transfer task, and the result showed a decrease in the task completion time.
How to switch from analog or ISDN to VoIP - webinar 2016, EnglishAskozia
The migration from analog or ISDN phone systems to Voice-over-IP can lead to significant changes in business communications. In this webinar, we discuss the future of IP communications and how businesses can successfully perform the migration to Voice-over-IP.
3D Reconstruction from Multiple uncalibrated 2D Images of an ObjectAnkur Tyagi
3D reconstruction is the process of capturing the shape and appearance of real objects. In this project we are using passive methods which only use sensors to measure the radiance reflected or emitted by the objects surface to infer its 3D structure.
Real-time Moving Object Detection using SURFiosrjce
IOSR Journal of Computer Engineering (IOSR-JCE) is a double blind peer reviewed International Journal that provides rapid publication (within a month) of articles in all areas of computer engineering and its applications. The journal welcomes publications of high quality papers on theoretical developments and practical applications in computer technology. Original research papers, state-of-the-art reviews, and high quality technical notes are invited for publications.
Wearable Accelerometer Optimal Positions for Human Motion Recognition(LifeTec...sugiuralab
Wearable Accelerometer Optimal Positions for Human Motion Recognition. The 2020 IEEE 2nd Global Conference on Life Sciences and Technologies (LifeTech 2020), March 10-11, 2020
We presents a technique for moving objects extraction. There are several different approaches for moving object extraction, clustering is one of object extraction method with a stronger teorical foundation used in many applications. And need high performance in many extraction process of moving object. We compare K-Means and Self-Organizing Map method for extraction moving objects, for performance measurement of moving object extraction by applying MSE and PSNR. According to experimental result that the MSE value of K-Means is smaller than Self-Organizing Map. It is also that PSNR of K-Means is higher than Self-Organizing Map algorithm. The result proves that K-Means is a promising method to cluster pixels in moving objects extraction.
Gesture Recognition using Principle Component Analysis & Viola-Jones AlgorithmIJMER
Gesture recognition pertains to recognizing meaningful expressions of motion by a human,
involving the hands, arms, face, head, and/or body. It is of utmost importance in designing an intelligent
and efficient human–computer interface. The applications of gesture recognition are manifold, ranging
from sign language through medical rehabilitation to virtual reality. In this paper, we provide a survey on
gesture recognition with particular emphasis on hand gestures and facial expressions. Applications
involving wavelet transform and principal component analysis for face and hand gesture recognition on
digital images
Human action recognition with kinect using a joint motion descriptorSoma Boubou
- We proposed a novel descriptor for motion of skeleton joints.
- Proposed descriptor proved to outperform the state-of-the-art descriptors such as HON4D and the one proposed by Chen et al 2013.
- Our proposed approached proved to be effective for periodic actions (e.g., Waving, Walking, Jogging, Side-Boxing, etc).
- Grouping was effective for actions with unique joints trajectories (e.g., Tennis serving, Side kicking , etc).
- Grouping joints into eight groups is always effective with actions of MSR3D dataset.
Implementation of Object Tracking for Real Time VideoIDES Editor
Real-time tracking of object boundaries is an
important task in many vision applications. Here we propose
an approach to implement the level set method. This approach
does not need to solve any partial differential equations (PDFs),
thus reducing the computation dramatically compared with
optimized narrow band techniques proposed before. With our
approach, real-time level-set based video tracking can be
achieved.
Technical presentation of the gesture based NUI I developed for the Aigaio smart conference room in IIT Demokritos
Demo In Greek:
https://www.youtube.com/watch?v=5C_p7MHKA4g
The Art Pastor's Guide to Sabbath | Steve ThomasonSteve Thomason
What is the purpose of the Sabbath Law in the Torah. It is interesting to compare how the context of the law shifts from Exodus to Deuteronomy. Who gets to rest, and why?
Operation “Blue Star” is the only event in the history of Independent India where the state went into war with its own people. Even after about 40 years it is not clear if it was culmination of states anger over people of the region, a political game of power or start of dictatorial chapter in the democratic setup.
The people of Punjab felt alienated from main stream due to denial of their just demands during a long democratic struggle since independence. As it happen all over the word, it led to militant struggle with great loss of lives of military, police and civilian personnel. Killing of Indira Gandhi and massacre of innocent Sikhs in Delhi and other India cities was also associated with this movement.
How to Make a Field invisible in Odoo 17Celine George
It is possible to hide or invisible some fields in odoo. Commonly using “invisible” attribute in the field definition to invisible the fields. This slide will show how to make a field invisible in odoo 17.
Students, digital devices and success - Andreas Schleicher - 27 May 2024..pptxEduSkills OECD
Andreas Schleicher presents at the OECD webinar ‘Digital devices in schools: detrimental distraction or secret to success?’ on 27 May 2024. The presentation was based on findings from PISA 2022 results and the webinar helped launch the PISA in Focus ‘Managing screen time: How to protect and equip students against distraction’ https://www.oecd-ilibrary.org/education/managing-screen-time_7c225af4-en and the OECD Education Policy Perspective ‘Students, digital devices and success’ can be found here - https://oe.cd/il/5yV
Unit 8 - Information and Communication Technology (Paper I).pdfThiyagu K
This slides describes the basic concepts of ICT, basics of Email, Emerging Technology and Digital Initiatives in Education. This presentations aligns with the UGC Paper I syllabus.
The French Revolution, which began in 1789, was a period of radical social and political upheaval in France. It marked the decline of absolute monarchies, the rise of secular and democratic republics, and the eventual rise of Napoleon Bonaparte. This revolutionary period is crucial in understanding the transition from feudalism to modernity in Europe.
For more information, visit-www.vavaclasses.com
2024.06.01 Introducing a competency framework for languag learning materials ...Sandy Millin
http://sandymillin.wordpress.com/iateflwebinar2024
Published classroom materials form the basis of syllabuses, drive teacher professional development, and have a potentially huge influence on learners, teachers and education systems. All teachers also create their own materials, whether a few sentences on a blackboard, a highly-structured fully-realised online course, or anything in between. Despite this, the knowledge and skills needed to create effective language learning materials are rarely part of teacher training, and are mostly learnt by trial and error.
Knowledge and skills frameworks, generally called competency frameworks, for ELT teachers, trainers and managers have existed for a few years now. However, until I created one for my MA dissertation, there wasn’t one drawing together what we need to know and do to be able to effectively produce language learning materials.
This webinar will introduce you to my framework, highlighting the key competencies I identified from my research. It will also show how anybody involved in language teaching (any language, not just English!), teacher training, managing schools or developing language learning materials can benefit from using the framework.
This is a presentation by Dada Robert in a Your Skill Boost masterclass organised by the Excellence Foundation for South Sudan (EFSS) on Saturday, the 25th and Sunday, the 26th of May 2024.
He discussed the concept of quality improvement, emphasizing its applicability to various aspects of life, including personal, project, and program improvements. He defined quality as doing the right thing at the right time in the right way to achieve the best possible results and discussed the concept of the "gap" between what we know and what we do, and how this gap represents the areas we need to improve. He explained the scientific approach to quality improvement, which involves systematic performance analysis, testing and learning, and implementing change ideas. He also highlighted the importance of client focus and a team approach to quality improvement.
The Indian economy is classified into different sectors to simplify the analysis and understanding of economic activities. For Class 10, it's essential to grasp the sectors of the Indian economy, understand their characteristics, and recognize their importance. This guide will provide detailed notes on the Sectors of the Indian Economy Class 10, using specific long-tail keywords to enhance comprehension.
For more information, visit-www.vavaclasses.com
Henrik Christensen - Vision for Co-robot Applications
1. Vision for Co-Robot Applications
• Henrik I Christensen
KUKA Chair of Robotics
Robotics @ Georgia Tech
Atlanta, Georgia
Henrik.Christensen@gatech.edu
9. Challenges
1. Object with and withoutTextures
2. Background Clutter
3. Object Discontinuities
4. Real-time Constraints
10. Challenge 1: Texture
• ...
•Textured objects
•Photometric: color, keypoints, edges or textures from surfaces
•Textureless objects
•Geometric: point coordinates, surface normals, depth discontinuities
Handling both textured and textureless objects
Employ both photometric and geometric features
11. Challenge 2: Clutter
•False measurements
•False pose estimates
•Stuck in local minima
•No table-top assumption
Controlled environments Unstructured environments
Difficulties = Degree of Clutter
Multiple pose hypotheses frameworks: particle filtering for
pose tracking and voting process for pose estimation
12.
13. Challenge 3: Discontinuities
• ...
•Ideal vs Reality
•Occluded by other objects, human, or robots
•Object goes out of the camera’s field of view
•Blurred in images
•Re-initialization problem
BlurOut of FOVOcclusions
A re-initialization scheme by combining pose estimation and tracking
14. Challenge 4: Real-time
•Constrained by timing limitations
•Scarcely see real-time state-of-the-art
Exploiting the power of parallel computation on GPU
15. Approaches
• 2DVisual Information (Monocular Camera)
– Combining Keypoint and Edge Features
– HandlingTextureless Objects
• 3DVisual Information (RGB-D Camera)
– Voting-based Pose Estimation using Pair Features
– Object PoseTracking
photometric geometric
16. Overview
Georgia Institute of Technology
Atlanta, GA 30332, USA
{cchoi,hic}@cc.gatech.edu
h for 3D real-time
ctly applicable to
res for the initial
n initial estimate
hese two comple-
bust tracking so-
ncludes: 1) While
e used simplified
ned models, our
model. To achieve
are automatically
sually invisible in
en they constitute
a fully automatic
t of the previous
ose initialization
mes drift because
tors the tracking
tracking results
rate our system’s
Image
Acquisition
Model
Rendering
Edge
Detection
Pose
Update
with IRLS
Error
Calculation
CAD Model
Keyframes
Keypoint
Matching
Pose
Estimation
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Fig. 1: Overall system flow. We use a monocular camera. The
initial pose of the object is estimated by using the SURF keypoint
matching in the Global Pose Estimation (GPE). Using the initial
pose, the Local Pose Estimation (LPE) consecutively estimates
poses of the object utilizing RAPiD style tracking. keyframes
and CAD model are employed as models by the GPE and LPE,
respectively. The model are generated offline.16
18. Particle Filter
• Posterior p.d.f. as a set of weighted particles
• non-linear, non-Gaussian, multi-modal
• widely adopted in robotics, computer vision, etc
19. AR Dynamics
• Instead of Gaussian random walk models
• Linear prediction based on previous states
• Propagate particles more effectively
we
mics
ngs,
cles
ires
tro-
ure-
nted
zed
II-
d in
are
e of
nge
AR state dynamics is a good alternative since it is flexible,
yet simple to implement. In (1), the term A(X, t) determines
the state dynamics. A trivial case, A(X, t) = 0, is a random
walk model. [13] modeled this via the first-order AR process
on the Aff(2) as:
Xt = Xt 1 · exp(At 1 + dWt
⌅
t), (3)
At 1 = a log(X 1
t 2Xt 1) (4)
where a is the AR process parameter. Since the SE(3) is a
compact connected Lie group, the AR process model also
holds on the SE(3) group [21].
C. Particle Initialization using keypoint Correspondences
Most of the particle filter-based trackers assume that initial
states are given. In practice, initial particles are crucial to
ensure convergence to a true state. Several trackers [15], [14]
search for the true state from scratch, but it is desirable to
initialize particle states by using other information. Using
20. Re-initialization
• Effective number of particle size,
objects. In these cases, the tracker is required to re-in
the tracking. In general sequential Monte Carlo metho
effective particle size Neff has been introduced as a s
measure of degeneracy [27]. Since it is hard to evaluate
exactly, an alternative estimate [Neff is defined [27]:
[Neff =
1
N
i=1(˜(i))2
Often it has been used as a measure to execute the resam
procedure. But, in our tracker we resample particles
frame, and hence we use [Neff as a measure to
initialization. When the number of effective particles is
a fixed threshold Nthres, the re-initialization proced
performed. The overall algorithm is shown in Algorit
III. EXPERIMENTAL RESULTS
In this section, we validate our proposed particle
based tracker via various experiments. First, we co
the performance of our approach with the previous
0 200 400 600 800 1000 1200 1400
0
50
100
Frame number
N
eff
0 200 400 600 800 1000 1200 1400
0
50
100
Frame number
Neff
Effective number of particle size
21. Experiments
Single vs. Multiple pose hypotheses with vs. without AR state dynamics Reinitialization exp.
2D Monocular > Combining Keypoint and Edge Features [IJRR’12]