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2011


Home {3D} body scans from noisy image and range data
Home 3D body scans from noisy image and range data

Weiss, A., Hirshberg, D., Black, M.

In Int. Conf. on Computer Vision (ICCV), pages: 1951-1958, IEEE, Barcelona, November 2011 (inproceedings)

Abstract
The 3D shape of the human body is useful for applications in fitness, games and apparel. Accurate body scanners, however, are expensive, limiting the availability of 3D body models. We present a method for human shape reconstruction from noisy monocular image and range data using a single inexpensive commodity sensor. The approach combines low-resolution image silhouettes with coarse range data to estimate a parametric model of the body. Accurate 3D shape estimates are obtained by combining multiple monocular views of a person moving in front of the sensor. To cope with varying body pose, we use a SCAPE body model which factors 3D body shape and pose variations. This enables the estimation of a single consistent shape while allowing pose to vary. Additionally, we describe a novel method to minimize the distance between the projected 3D body contour and the image silhouette that uses analytic derivatives of the objective function. We propose a simple method to estimate standard body measurements from the recovered SCAPE model and show that the accuracy of our method is competitive with commercial body scanning systems costing orders of magnitude more.

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pdf YouTube poster Project Page Project Page [BibTex]

2011


pdf YouTube poster Project Page Project Page [BibTex]


Evaluating the Automated Alignment of {3D} Human Body Scans
Evaluating the Automated Alignment of 3D Human Body Scans

Hirshberg, D. A., Loper, M., Rachlin, E., Tsoli, A., Weiss, A., Corner, B., Black, M. J.

In 2nd International Conference on 3D Body Scanning Technologies, pages: 76-86, (Editors: D’Apuzzo, Nicola), Hometrica Consulting, Lugano, Switzerland, October 2011 (inproceedings)

Abstract
The statistical analysis of large corpora of human body scans requires that these scans be in alignment, either for a small set of key landmarks or densely for all the vertices in the scan. Existing techniques tend to rely on hand-placed landmarks or algorithms that extract landmarks from scans. The former is time consuming and subjective while the latter is error prone. Here we show that a model-based approach can align meshes automatically, producing alignment accuracy similar to that of previous methods that rely on many landmarks. Specifically, we align a low-resolution, artist-created template body mesh to many high-resolution laser scans. Our alignment procedure employs a robust iterative closest point method with a regularization that promotes smooth and locally rigid deformation of the template mesh. We evaluate our approach on 50 female body models from the CAESAR dataset that vary significantly in body shape. To make the method fully automatic, we define simple feature detectors for the head and ankles, which provide initial landmark locations. We find that, if body poses are fairly similar, as in CAESAR, the fully automated method provides dense alignments that enable statistical analysis and anthropometric measurement.

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pdf slides DOI Project Page [BibTex]

pdf slides DOI Project Page [BibTex]


Recovering Intrinsic Images with a Global Sparsity Prior on Reflectance
Recovering Intrinsic Images with a Global Sparsity Prior on Reflectance

Gehler, P., Rother, C., Kiefel, M., Zhang, L., Schölkopf, B.

In Advances in Neural Information Processing Systems 24, pages: 765-773, (Editors: Shawe-Taylor, John and Zemel, Richard S. and Bartlett, Peter L. and Pereira, Fernando C. N. and Weinberger, Kilian Q.), Curran Associates, Inc., Red Hook, NY, USA, Twenty-Fifth Annual Conference on Neural Information Processing Systems (NIPS), 2011 (inproceedings)

Abstract
We address the challenging task of decoupling material properties from lighting properties given a single image. In the last two decades virtually all works have concentrated on exploiting edge information to address this problem. We take a different route by introducing a new prior on reflectance, that models reflectance values as being drawn from a sparse set of basis colors. This results in a Random Field model with global, latent variables (basis colors) and pixel-accurate output reflectance values. We show that without edge information high-quality results can be achieved, that are on par with methods exploiting this source of information. Finally, we are able to improve on state-of-the-art results by integrating edge information into our model. We believe that our new approach is an excellent starting point for future developments in this field.

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website + code pdf poster Project Page Project Page [BibTex]

website + code pdf poster Project Page Project Page [BibTex]


Combining wireless neural recording and video capture for the analysis of natural gait
Combining wireless neural recording and video capture for the analysis of natural gait

Foster, J., Freifeld, O., Nuyujukian, P., Ryu, S., Black, M. J., Shenoy, K.

In Proc. 5th Int. IEEE EMBS Conf. on Neural Engineering, pages: 613-616, IEEE, 2011 (inproceedings)

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pdf Project Page [BibTex]

pdf Project Page [BibTex]


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Design and analysis of a magnetically actuated and compliant capsule endoscopic robot

Yim, S., Sitti, M.

In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages: 4810-4815, 2011 (inproceedings)

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[BibTex]

[BibTex]


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Micro-scale propulsion using multiple flexible artificial flagella

Singleton, J., Diller, E., Andersen, T., Regnier, S., Sitti, M.

In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages: 1687-1692, 2011 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Control of multiple heterogeneous magnetic micro-robots on non-specialized surfaces

Diller, E., Floyd, S., Pawashe, C., Sitti, M.

In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages: 115-120, 2011 (inproceedings)

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[BibTex]

[BibTex]


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Tip based robotic precision micro/nanomanipulation systems

Onal, C., Sumer, B., Ozcan, O., Nain, A., Sitti, M.

In SPIE Defense, Security, and Sensing, pages: 80580M-80580M, 2011 (inproceedings)

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[BibTex]

[BibTex]


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Design of a miniature integrated multi-modal jumping and gliding robot

Woodward, M. A., Sitti, M.

In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages: 556-561, 2011 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Free flight simulations and pitch and roll control experiments of a sub-gram flapping-flight micro aerial vehicle

Hines, L. L., Arabagi, V., Sitti, M.

In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages: 1-7, 2011 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Chemotactic behavior and dynamics of bacteria propelled microbeads

Kim, Dongwook, Liu, Albert, Stitti, Metin

In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages: 1674-1679, 2011 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


Shape and pose-invariant correspondences using probabilistic geodesic surface embedding
Shape and pose-invariant correspondences using probabilistic geodesic surface embedding

Tsoli, A., Black, M. J.

In 33rd Annual Symposium of the German Association for Pattern Recognition (DAGM), 6835, pages: 256-265, Lecture Notes in Computer Science, (Editors: Mester, Rudolf and Felsberg, Michael), Springer, 2011 (inproceedings)

Abstract
Correspondence between non-rigid deformable 3D objects provides a foundation for object matching and retrieval, recognition, and 3D alignment. Establishing 3D correspondence is challenging when there are non-rigid deformations or articulations between instances of a class. We present a method for automatically finding such correspondences that deals with significant variations in pose, shape and resolution between pairs of objects.We represent objects as triangular meshes and consider normalized geodesic distances as representing their intrinsic characteristics. Geodesic distances are invariant to pose variations and nearly invariant to shape variations when properly normalized. The proposed method registers two objects by optimizing a joint probabilistic model over a subset of vertex pairs between the objects. The model enforces preservation of geodesic distances between corresponding vertex pairs and inference is performed using loopy belief propagation in a hierarchical scheme. Additionally our method prefers solutions in which local shape information is consistent at matching vertices. We quantitatively evaluate our method and show that is is more accurate than a state of the art method.

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pdf talk Project Page [BibTex]

pdf talk Project Page [BibTex]


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Under-actuated tank-like climbing robot with various transitioning capabilities

Seo, T., Sitti, M.

In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages: 777-782, 2011 (inproceedings)

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[BibTex]

[BibTex]


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Rotating magnetic micro-robots for versatile non-contact fluidic manipulation of micro-objects

Diller, E., Ye, Z., Sitti, M.

In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages: 1291-1296, 2011 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Assembly and disassembly of magnetic mobile micro-robots towards deterministic 2-D reconfigurable micro-systems

Pawashe, C., Diller, E., Floyd, S., Sitti, M.

In Robotics and Automation (ICRA), 2011 IEEE International Conference on, pages: 261-266, 2011 (inproceedings)

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[BibTex]

[BibTex]


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Stochastic dynamics of bacteria propelled spherical micro-robots

Arabagi, V., Behkam, B., Sitti, M.

In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, pages: 3937-3942, 2011 (inproceedings)

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[BibTex]

[BibTex]

2006


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Let It Roll – Emerging Sensorimotor Coordination in a Spherical Robot

Der, R., Martius, G., Hesse, F.

In Proc, Artificial Life X, pages: 192-198, Intl. Society for Artificial Life, MIT Press, August 2006 (inproceedings)

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[BibTex]

2006


[BibTex]


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From Motor Babbling to Purposive Actions: Emerging Self-exploration in a Dynamical Systems Approach to Early Robot Development

Der, R., Martius, G.

In Proc. From Animals to Animats 9, SAB 2006, 4095, pages: 406-421, LNCS, Springer, 2006 (inproceedings)

Abstract
Self-organization and the phenomenon of emergence play an essential role in living systems and form a challenge to artificial life systems. This is not only because systems become more lifelike, but also since self-organization may help in reducing the design efforts in creating complex behavior systems. The present paper studies self-exploration based on a general approach to the self-organization of behavior, which has been developed and tested in various examples in recent years. This is a step towards autonomous early robot development. We consider agents under the close sensorimotor coupling paradigm with a certain cognitive ability realized by an internal forward model. Starting from tabula rasa initial conditions we overcome the bootstrapping problem and show emerging self-exploration. Apart from that, we analyze the effect of limited actions, which lead to deprivation of the world model. We show that our paradigm explicitly avoids this by producing purposive actions in a natural way. Examples are given using a simulated simple wheeled robot and a spherical robot driven by shifting internal masses.

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[BibTex]

[BibTex]


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Miniature endoscopic capsule robot using biomimetic micro-patterned adhesives

Karagozler, M. E., Cheung, E., Kwon, J., Sitti, M.

In Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on, pages: 105-111, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Toward micro wall-climbing robots using biomimetic fibrillar adhesives

Greuter, M., Shah, G., Caprari, G., Tâche, F., Siegwart, R., Sitti, M.

In Proceedings of the 3rd International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE 2005), pages: 39-46, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Geckobot: A gecko inspired climbing robot using elastomer adhesives

Unver, O., Uneri, A., Aydemir, A., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 2329-2335, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Towards hybrid swimming microrobots: bacteria assisted propulsion of polystyrene beads

Behkam, B., Sitti, M.

In Engineering in Medicine and Biology Society, 2006. EMBS’06. 28th Annual International Conference of the IEEE, pages: 2421-2424, 2006 (inproceedings)

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Project Page [BibTex]

Project Page [BibTex]


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Soft microcontact printing with force control using microrobotic assembly based templates

Tafazzoli, A., Sitti, M.

In Advanced Motion Control, 2006. 9th IEEE International Workshop on, pages: 500-505, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Modeling of the supporting legs for designing biomimetic water strider robots

Song, Y. S., Suhr, S. H., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 2303-2310, 2006 (inproceedings)

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[BibTex]

[BibTex]


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A novel water running robot inspired by basilisk lizards

Floyd, S., Keegan, T., Palmisano, J., Sitti, M.

In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages: 5430-5436, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Force-controlled microcontact printing using microassembled particle templates

Tafazzoli, A., Pawashe, C., Sitti, M.

In Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on, pages: 263-268, 2006 (inproceedings)

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[BibTex]

[BibTex]


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Waalbot: An agile small-scale wall climbing robot utilizing pressure sensitive adhesives

Murphy, M. P., Tso, W., Tanzini, M., Sitti, M.

In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages: 3411-3416, 2006 (inproceedings)

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[BibTex]

[BibTex]

2000


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Wing transmission for a micromechanical flying insect

Fearing, R. S., Chiang, K. H., Dickinson, M. H., Pick, D., Sitti, M., Yan, J.

In Robotics and Automation, 2000. Proceedings. ICRA’00. IEEE International Conference on, 2, pages: 1509-1516, 2000 (inproceedings)

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[BibTex]

2000


[BibTex]

1999


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Tele-touch feedback of surfaces at the micro/nano scale: Modeling and experiments

Sitti, M., Horighuchi, S., Hashimoto, H.

In Intelligent Robots and Systems, 1999. IROS’99. Proceedings. 1999 IEEE/RSJ International Conference on, 2, pages: 882-888, 1999 (inproceedings)

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[BibTex]

1999


[BibTex]


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Challenge to micro/nanomanipulation using atomic force microscope

Hashimoto, H., Sitti, M.

In Micromechatronics and Human Science, 1999. MHS’99. Proceedings of 1999 International Symposium on, pages: 35-42, 1999 (inproceedings)

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[BibTex]

[BibTex]


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Visualization interface for AFM-based nano-manipulation

Horiguchi, S., Sitti, M., Hashimoto, H.

In Industrial Electronics, 1999. ISIE’99. Proceedings of the IEEE International Symposium on, 1, pages: 310-315, 1999 (inproceedings)

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[BibTex]

[BibTex]


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Tele-nanorobotics 2-d manipulation of micro/nanoparticles using afm

Sitti, M., Horiguchi, S., Hashimoto, H.

In Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on, pages: 786-786, 1999 (inproceedings)

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[BibTex]

[BibTex]


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Two-dimensional fine particle positioning using a piezoresistive cantilever as a micro/nano-manipulator

Sitti, M., Hashimoto, H.

In Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 4, pages: 2729-2735, 1999 (inproceedings)

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[BibTex]

[BibTex]