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2010


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Lack of Discriminatory Function for Endoscopy Skills on a Computer-based Simulator

Kim, S., Spencer, G., Makar, G., Ahmad, N., Jaffe, D., Ginsberg, G., Kuchenbecker, K. J., Kochman, M.

Surgical Endoscopy, 24(12):3008-3015, December 2010 (article)

hi

[BibTex]

2010


[BibTex]


Visibility Maps for Improving Seam Carving
Visibility Maps for Improving Seam Carving

Mansfield, A., Gehler, P., Van Gool, L., Rother, C.

In Media Retargeting Workshop, European Conference on Computer Vision (ECCV), september 2010 (inproceedings)

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webpage pdf slides supplementary code [BibTex]

webpage pdf slides supplementary code [BibTex]


A {2D} human body model dressed in eigen clothing
A 2D human body model dressed in eigen clothing

Guan, P., Freifeld, O., Black, M. J.

In European Conf. on Computer Vision, (ECCV), pages: 285-298, Springer-Verlag, September 2010 (inproceedings)

Abstract
Detection, tracking, segmentation and pose estimation of people in monocular images are widely studied. Two-dimensional models of the human body are extensively used, however, they are typically fairly crude, representing the body either as a rough outline or in terms of articulated geometric primitives. We describe a new 2D model of the human body contour that combines an underlying naked body with a low-dimensional clothing model. The naked body is represented as a Contour Person that can take on a wide variety of poses and body shapes. Clothing is represented as a deformation from the underlying body contour. This deformation is learned from training examples using principal component analysis to produce eigen clothing. We find that the statistics of clothing deformations are skewed and we model the a priori probability of these deformations using a Beta distribution. The resulting generative model captures realistic human forms in monocular images and is used to infer 2D body shape and pose under clothing. We also use the coefficients of the eigen clothing to recognize different categories of clothing on dressed people. The method is evaluated quantitatively on synthetic and real images and achieves better accuracy than previous methods for estimating body shape under clothing.

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pdf data poster Project Page [BibTex]

pdf data poster Project Page [BibTex]


Analyzing and Evaluating Markerless Motion Tracking Using Inertial Sensors
Analyzing and Evaluating Markerless Motion Tracking Using Inertial Sensors

Baak, A., Helten, T., Müller, M., Pons-Moll, G., Rosenhahn, B., Seidel, H.

In European Conference on Computer Vision (ECCV Workshops), September 2010 (inproceedings)

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pdf [BibTex]

pdf [BibTex]


Trainable, Vision-Based Automated Home Cage Behavioral Phenotyping
Trainable, Vision-Based Automated Home Cage Behavioral Phenotyping

Jhuang, H., Garrote, E., Edelman, N., Poggio, T., Steele, A., Serre, T.

In Measuring Behavior, August 2010 (inproceedings)

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pdf [BibTex]

pdf [BibTex]


Decoding complete reach and grasp actions from local primary motor cortex populations
Decoding complete reach and grasp actions from local primary motor cortex populations

(Featured in Nature’s Research Highlights (Nature, Vol 466, 29 July 2010))

Vargas-Irwin, C. E., Shakhnarovich, G., Yadollahpour, P., Mislow, J., Black, M. J., Donoghue, J. P.

J. of Neuroscience, 39(29):9659-9669, July 2010 (article)

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pdf pdf from publisher Movie 1 Movie 2 Project Page [BibTex]

pdf pdf from publisher Movie 1 Movie 2 Project Page [BibTex]


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VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery

Kuchenbecker, K. J., Gewirtz, J., McMahan, W., Standish, D., Martin, P., Bohren, J., Mendoza, P. J., Lee, D. I.

In Haptics: Generating and Perceiving Tangible Sensations, Proc. EuroHaptics, Part I, 6191, pages: 189-196, Lecture Notes in Computer Science, Springer, Amsterdam, Netherlands, July 2010, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


Multisensor-Fusion for 3D Full-Body Human Motion Capture
Multisensor-Fusion for 3D Full-Body Human Motion Capture

Pons-Moll, G., Baak, A., Helten, T., Müller, M., Seidel, H., Rosenhahn, B.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June 2010 (inproceedings)

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project page pdf [BibTex]

project page pdf [BibTex]


Contour people: A parameterized model of {2D} articulated human shape
Contour people: A parameterized model of 2D articulated human shape

Freifeld, O., Weiss, A., Zuffi, S., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition, (CVPR), pages: 639-646, IEEE, June 2010 (inproceedings)

Abstract
We define a new “contour person” model of the human body that has the expressive power of a detailed 3D model and the computational benefits of a simple 2D part-based model. The contour person (CP) model is learned from a 3D SCAPE model of the human body that captures natural shape and pose variations; the projected contours of this model, along with their segmentation into parts forms the training set. The CP model factors deformations of the body into three components: shape variation, viewpoint change and part rotation. This latter model also incorporates a learned non-rigid deformation model. The result is a 2D articulated model that is compact to represent, simple to compute with and more expressive than previous models. We demonstrate the value of such a model in 2D pose estimation and segmentation. Given an initial pose from a standard pictorial-structures method, we refine the pose and shape using an objective function that segments the scene into foreground and background regions. The result is a parametric, human-specific, image segmentation.

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pdf slides video of CVPR talk Project Page [BibTex]

pdf slides video of CVPR talk Project Page [BibTex]


Secrets of optical flow estimation and their principles
Secrets of optical flow estimation and their principles

(2020 Longuet-Higgins Prize)

Sun, D., Roth, S., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 2432-2439, IEEE, June 2010 (inproceedings)

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pdf Matlab code code copryright notice [BibTex]

pdf Matlab code code copryright notice [BibTex]


Coded exposure imaging for projective motion deblurring
Coded exposure imaging for projective motion deblurring

Tai, Y., Kong, N., Lin, S., Shin, S. Y.

In Proc. IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages: 2408-2415, June 2010 (inproceedings)

Abstract
We propose a method for deblurring of spatially variant object motion. A principal challenge of this problem is how to estimate the point spread function (PSF) of the spatially variant blur. Based on the projective motion blur model of, we present a blur estimation technique that jointly utilizes a coded exposure camera and simple user interactions to recover the PSF. With this spatially variant PSF, objects that exhibit projective motion can be effectively de-blurred. We validate this method with several challenging image examples.

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Publisher site [BibTex]

Publisher site [BibTex]


Tracking people interacting with objects
Tracking people interacting with objects

Kjellstrom, H., Kragic, D., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition, CVPR, pages: 747-754, June 2010 (inproceedings)

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pdf Video [BibTex]

pdf Video [BibTex]


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Identifying the Role of Proprioception in Upper-Limb Prosthesis Control: Studies on Targeted Motion

Blank, A., Okamura, A. M., Kuchenbecker, K. J.

ACM Transactions on Applied Perception, 7(3):1-23, June 2010 (article)

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[BibTex]

[BibTex]


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Automatic Filter Design for Synthesis of Haptic Textures from Recorded Acceleration Data

Romano, J. M., Yoshioka, T., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 1815-1821, Anchorage, Alaska, USA, May 2010, Oral presentation given by Romano (inproceedings)

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[BibTex]

[BibTex]


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Control of a High Fidelity Ungrounded Torque Feedback Device: The iTorqU 2.1

Winfree, K. N., Romano, J. M., Gewirtz, J., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 1347-1352, Anchorage, Alaska, May 2010, Oral presentation given by Winfree (inproceedings)

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[BibTex]

[BibTex]


Guest editorial: State of the art in image- and video-based human pose and motion estimation
Guest editorial: State of the art in image- and video-based human pose and motion estimation

Sigal, L., Black, M. J.

International Journal of Computer Vision, 87(1):1-3, March 2010 (article)

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pdf from publisher [BibTex]

pdf from publisher [BibTex]


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High Frequency Acceleration Feedback Significantly Increases the Realism of Haptically Rendered Textured Surfaces

McMahan, W., Romano, J. M., Rahuman, A. M. A., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 141-148, Waltham, Massachusetts, March 2010, Oral presentation given by McMahan (inproceedings)

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[BibTex]

[BibTex]


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Spatially distributed tactile feedback for kinesthetic motion guidance

Kapur, P., Jensen, M., Buxbaum, L. J., Jax, S. A., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 519-526, Waltham, Massachusetts, USA, March 2010, Poster presentation given by Kapur. {F}inalist for Best Poster Award (inproceedings)

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[BibTex]

[BibTex]


{HumanEva}: Synchronized video and motion capture dataset and baseline algorithm for evaluation of articulated human motion
HumanEva: Synchronized video and motion capture dataset and baseline algorithm for evaluation of articulated human motion

Sigal, L., Balan, A., Black, M. J.

International Journal of Computer Vision, 87(1):4-27, Springer Netherlands, March 2010 (article)

Abstract
While research on articulated human motion and pose estimation has progressed rapidly in the last few years, there has been no systematic quantitative evaluation of competing methods to establish the current state of the art. We present data obtained using a hardware system that is able to capture synchronized video and ground-truth 3D motion. The resulting HumanEva datasets contain multiple subjects performing a set of predefined actions with a number of repetitions. On the order of 40,000 frames of synchronized motion capture and multi-view video (resulting in over one quarter million image frames in total) were collected at 60 Hz with an additional 37,000 time instants of pure motion capture data. A standard set of error measures is defined for evaluating both 2D and 3D pose estimation and tracking algorithms. We also describe a baseline algorithm for 3D articulated tracking that uses a relatively standard Bayesian framework with optimization in the form of Sequential Importance Resampling and Annealed Particle Filtering. In the context of this baseline algorithm we explore a variety of likelihood functions, prior models of human motion and the effects of algorithm parameters. Our experiments suggest that image observation models and motion priors play important roles in performance, and that in a multi-view laboratory environment, where initialization is available, Bayesian filtering tends to perform well. The datasets and the software are made available to the research community. This infrastructure will support the development of new articulated motion and pose estimation algorithms, will provide a baseline for the evaluation and comparison of new methods, and will help establish the current state of the art in human pose estimation and tracking.

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pdf pdf from publisher [BibTex]

pdf pdf from publisher [BibTex]


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Dimensional Reduction of High-Frequency Accelerations for Haptic Rendering

Landin, N., Romano, J. M., McMahan, W., Kuchenbecker, K. J.

In Haptics: Generating and Perceiving Tangible Sensations: Part II (Proceedings of EuroHaptics), 6192, pages: 79-86, Lecture Notes in Computer Science, Springer, Amsterdam, Netherlands, 2010, Poster presentation given by Landin (inproceedings)

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[BibTex]

[BibTex]


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Modellbasierte Echtzeit-Bewegungsschätzung in der Fluoreszenzendoskopie

Stehle, T., Wulff, J., Behrens, A., Gross, S., Aach, T.

In Bildverarbeitung für die Medizin, 574, pages: 435-439, CEUR Workshop Proceedings, Bildverarbeitung für die Medizin, 2010 (inproceedings)

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pdf [BibTex]

pdf [BibTex]


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VerroTouch: A Vibrotactile Feedback System for Minimally Invasive Robotic Surgery

Kuchenbecker, K. J., Gewirtz, J., McMahan, W., Standish, D., Bohren, J., Martin, P., Wedmid, A., Mendoza, P. J., Lee, D. I.

In Proc. 28th World Congress of Endourology, 2010, PS8-14. Poster presentation given by Wedmid (inproceedings)

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[BibTex]

[BibTex]


{Robust one-shot 3D scanning using loopy belief propagation}
Robust one-shot 3D scanning using loopy belief propagation

Ulusoy, A., Calakli, F., Taubin, G.

In Computer Vision and Pattern Recognition Workshops (CVPRW), 2010 IEEE Computer Society Conference on, pages: 15-22, IEEE, 2010 (inproceedings)

Abstract
A structured-light technique can greatly simplify the problem of shape recovery from images. There are currently two main research challenges in design of such techniques. One is handling complicated scenes involving texture, occlusions, shadows, sharp discontinuities, and in some cases even dynamic change; and the other is speeding up the acquisition process by requiring small number of images and computationally less demanding algorithms. This paper presents a “one-shot” variant of such techniques to tackle the aforementioned challenges. It works by projecting a static grid pattern onto the scene and identifying the correspondence between grid stripes and the camera image. The correspondence problem is formulated using a novel graphical model and solved efficiently using loopy belief propagation. Unlike prior approaches, the proposed approach uses non-deterministic geometric constraints, thereby can handle spurious connections of stripe images. The effectiveness of the proposed approach is verified on a variety of complicated real scenes.

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pdf link (url) DOI [BibTex]

pdf link (url) DOI [BibTex]


Scene Carving: Scene Consistent Image Retargeting
Scene Carving: Scene Consistent Image Retargeting

Mansfield, A., Gehler, P., Van Gool, L., Rother, C.

In European Conference on Computer Vision (ECCV), 2010 (inproceedings)

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webpage+code pdf supplementary poster [BibTex]

webpage+code pdf supplementary poster [BibTex]


Epione: An Innovative Pain Management System Using Facial Expression Analysis, Biofeedback and Augmented Reality-Based Distraction
Epione: An Innovative Pain Management System Using Facial Expression Analysis, Biofeedback and Augmented Reality-Based Distraction

Georgoulis, S., Eleftheriadis, S., Tzionas, D., Vrenas, K., Petrantonakis, P., Hadjileontiadis, L. J.

In Proceedings of the 2010 International Conference on Intelligent Networking and Collaborative Systems, pages: 259-266, INCOS ’10, IEEE Computer Society, Washington, DC, USA, 2010 (inproceedings)

Abstract
An innovative pain management system, namely Epione, is presented here. Epione deals with three main types of pain, i.e., acute pain, chronic pain, and phantom limb pain. In particular, by using facial expression analysis, Epione forms a dynamic pain meter, which then triggers biofeedback and augmented reality-based destruction scenarios, in an effort to maximize patient's pain relief. This unique combination sets Epione not only a novel pain management approach, but also a means that provides an understanding and integration of the needs of the whole community involved i.e., patients and physicians, in a joint attempt to facilitate easing of their suffering, provide efficient monitoring and contribute to a better quality of life.

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Paper Project Page DOI [BibTex]

Paper Project Page DOI [BibTex]


Phantom Limb Pain Management Using Facial Expression Analysis, Biofeedback and Augmented Reality Interfacing
Phantom Limb Pain Management Using Facial Expression Analysis, Biofeedback and Augmented Reality Interfacing

Tzionas, D., Vrenas, K., Eleftheriadis, S., Georgoulis, S., Petrantonakis, P. C., Hadjileontiadis, L. J.

In Proceedings of the 3rd International Conferenceon Software Development for EnhancingAccessibility and Fighting Info-Exclusion, pages: 23-30, DSAI ’10, UTAD - Universidade de Trás-os-Montes e Alto Douro, 2010 (inproceedings)

Abstract
Post-amputation sensation often translates to the feeling of severe pain in the missing limb, referred to as phantom limb pain (PLP). A clear and rational treatment regimen is difficult to establish, as long as the underlying pathophysiology is not fully known. In this work, an innovative PLP management system is presented, as a module of an holistic computer-mediated pain management environment, namely Epione. The proposed Epione-PLP scheme is structured upon advanced facial expression analysis, used to form a dynamic pain meter, which, in turn, is used to trigger biofeedback and augmented reality-based PLP distraction scenarios. The latter incorporate a model of the missing limb for its visualization, in an effort to provide to the amputee the feeling of its existence and control, and, thus, maximize his/her PLP relief. The novel Epione-PLP management approach integrates edge-technology within the context of personalized health and it could be used to facilitate easing of PLP patients' suffering, provide efficient progress monitoring and contribute to the increase in their quality of life.

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Paper Project Page link (url) [BibTex]

Paper Project Page link (url) [BibTex]


 Automated Home-Cage Behavioral Phenotyping of Mice
Automated Home-Cage Behavioral Phenotyping of Mice

Jhuang, H., Garrote, E., Mutch, J., Poggio, T., Steele, A., Serre, T.

Nature Communications, Nature Communications, 2010 (article)

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software, demo pdf [BibTex]

software, demo pdf [BibTex]


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An automated action initiation system reveals behavioral deficits in MyosinVa deficient mice

Pandian, S., Edelman, N., Jhuang, H., Serre, T., Poggio, T., Constantine-Paton, M.

Society for Neuroscience, 2010 (conference)

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pdf [BibTex]

pdf [BibTex]


Dense Marker-less Three Dimensional Motion Capture
Dense Marker-less Three Dimensional Motion Capture

Soren Hauberg, Bente Rona Jensen, Morten Engell-Norregaard, Kenny Erleben, Kim S. Pedersen

In Virtual Vistas; Eleventh International Symposium on the 3D Analysis of Human Movement, 2010 (inproceedings)

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Conference site [BibTex]

Conference site [BibTex]


Stick It! Articulated Tracking using Spatial Rigid Object Priors
Stick It! Articulated Tracking using Spatial Rigid Object Priors

Soren Hauberg, Kim S. Pedersen

In Computer Vision – ACCV 2010, 6494, pages: 758-769, Lecture Notes in Computer Science, (Editors: Kimmel, Ron and Klette, Reinhard and Sugimoto, Akihiro), Springer Berlin Heidelberg, 2010 (inproceedings)

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Publishers site Paper site Code PDF [BibTex]

Publishers site Paper site Code PDF [BibTex]


Gaussian-like Spatial Priors for Articulated Tracking
Gaussian-like Spatial Priors for Articulated Tracking

Soren Hauberg, Stefan Sommer, Kim S. Pedersen

In Computer Vision – ECCV 2010, 6311, pages: 425-437, Lecture Notes in Computer Science, (Editors: Daniilidis, Kostas and Maragos, Petros and Paragios, Nikos), Springer Berlin Heidelberg, 2010 (inproceedings)

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Publishers site Paper site Code PDF [BibTex]

Publishers site Paper site Code PDF [BibTex]


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Reach to grasp actions in rhesus macaques: Dimensionality reduction of hand, wrist, and upper arm motor subspaces using principal component analysis

Vargas-Irwin, C., Franquemont, L., Shakhnarovich, G., Yadollahpour, P., Black, M., Donoghue, J.

2010 Abstract Viewer and Itinerary Planner, Society for Neuroscience, 2010, Online (conference)

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[BibTex]

[BibTex]


Layered image motion with explicit occlusions, temporal consistency, and depth ordering
Layered image motion with explicit occlusions, temporal consistency, and depth ordering

Sun, D., Sudderth, E., Black, M. J.

In Advances in Neural Information Processing Systems 23 (NIPS), pages: 2226-2234, MIT Press, 2010 (inproceedings)

Abstract
Layered models are a powerful way of describing natural scenes containing smooth surfaces that may overlap and occlude each other. For image motion estimation, such models have a long history but have not achieved the wide use or accuracy of non-layered methods. We present a new probabilistic model of optical flow in layers that addresses many of the shortcomings of previous approaches. In particular, we define a probabilistic graphical model that explicitly captures: 1) occlusions and disocclusions; 2) depth ordering of the layers; 3) temporal consistency of the layer segmentation. Additionally the optical flow in each layer is modeled by a combination of a parametric model and a smooth deviation based on an MRF with a robust spatial prior; the resulting model allows roughness in layers. Finally, a key contribution is the formulation of the layers using an image dependent hidden field prior based on recent models for static scene segmentation. The method achieves state-of-the-art results on the Middlebury benchmark and produces meaningful scene segmentations as well as detected occlusion regions.

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main paper supplemental material paper and supplemental material in one pdf file Project Page [BibTex]


Manifold Valued Statistics, Exact Principal Geodesic Analysis and the Effect of Linear Approximations
Manifold Valued Statistics, Exact Principal Geodesic Analysis and the Effect of Linear Approximations

Stefan Sommer, Francois Lauze, Soren Hauberg, Mads Nielsen

In Computer Vision – ECCV 2010, 6316, pages: 43-56, (Editors: Daniilidis, Kostas and Maragos, Petros and Paragios, Nikos), Springer Berlin Heidelberg, 2010 (inproceedings)

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Publishers site PDF [BibTex]

Publishers site PDF [BibTex]


GPU Accelerated Likelihoods for Stereo-Based Articulated Tracking
GPU Accelerated Likelihoods for Stereo-Based Articulated Tracking

Rune Mollegaard Friborg, Soren Hauberg, Kenny Erleben

In The CVGPU workshop at European Conference on Computer Vision (ECCV) 2010, 2010 (inproceedings)

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PDF [BibTex]

PDF [BibTex]


Visual Object-Action Recognition: Inferring Object Affordances from Human Demonstration
Visual Object-Action Recognition: Inferring Object Affordances from Human Demonstration

Kjellström, H., Romero, J., Kragic, D.

Computer Vision and Image Understanding, pages: 81-90, 2010 (article)

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Pdf [BibTex]

Pdf [BibTex]


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Unsupervised learning of a low-dimensional non-linear representation of motor cortical neuronal ensemble activity using Spatio-Temporal Isomap

Kim, S., Tsoli, A., Jenkins, O., Simeral, J., Donoghue, J., Black, M.

2010 Abstract Viewer and Itinerary Planner, Society for Neuroscience, 2010, Online (conference)

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[BibTex]

[BibTex]


Vision-Based Automated Recognition of Mice Home-Cage Behaviors.
Vision-Based Automated Recognition of Mice Home-Cage Behaviors.

Jhuang, H., Garrote, E., Edelman, N., Poggio, T., Steele, A., Serre, T.

Workshop: Visual Observation and Analysis of Animal and Insect Behavior, in conjunction with International Conference on Pattern Recognition (ICPR) , 2010 (conference)

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pdf [BibTex]

pdf [BibTex]


Hands in action: real-time 3{D} reconstruction of hands in interaction with objects
Hands in action: real-time 3D reconstruction of hands in interaction with objects

Romero, J., Kjellström, H., Kragic, D.

In IEEE International Conference on Robotics and Automation (ICRA), pages: 458-463, 2010 (inproceedings)

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Pdf Project Page [BibTex]

Pdf Project Page [BibTex]


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Orientation and direction selectivity in the population code of the visual thalamus

Stanley, G., Jin, J., Wang, Y., Desbordes, G., Black, M., Alonso, J.

COSYNE, 2010 (conference)

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[BibTex]

[BibTex]


3{D} Knowledge-Based Segmentation Using Pose-Invariant Higher-Order  Graphs
3D Knowledge-Based Segmentation Using Pose-Invariant Higher-Order Graphs

Wang, C., Teboul, O., Michel, F., Essafi, S., Paragios, N.

In International Conference, Medical Image Computing and Computer Assisted Intervention (MICCAI), 2010 (inproceedings)

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pdf [BibTex]

pdf [BibTex]


Computational Mechanisms for the motion processing in visual area MT
Computational Mechanisms for the motion processing in visual area MT

Jhuang, H., Serre, T., Poggio, T.

Society for Neuroscience, 2010 (conference)

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pdf [BibTex]

pdf [BibTex]


Spatio-Temporal Modeling of Grasping Actions
Spatio-Temporal Modeling of Grasping Actions

Romero, J., Feix, T., Kjellström, H., Kragic, D.

In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pages: 2103-2108, 2010 (inproceedings)

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Pdf Project Page [BibTex]

Pdf Project Page [BibTex]


Estimating Shadows with the Bright Channel Cue
Estimating Shadows with the Bright Channel Cue

Panagopoulos, A., Wang, C., Samaras, D., Paragios, N.

In Color and Reflectance in Imaging and Computer Vision Workshop (CRICV) (in conjunction with ECCV 2010), 2010 (inproceedings)

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pdf [BibTex]

pdf [BibTex]


Dense non-rigid surface registration using high-order graph matching
Dense non-rigid surface registration using high-order graph matching

Zeng, Y., Wang, C., Wang, Y., Gu, X., Samaras, D., Paragios, N.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2010 (inproceedings)

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pdf [BibTex]

pdf [BibTex]

2008


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A GPU-Based Approach for Real-Time Haptic Rendering of 3D Fluids

Yang, M., Lu, J., Zhou, Z., Safonova, A., Kuchenbecker, K. J.

In Proc. SIGGRAPH Asia Conference, Singapore, December 2008, Oral presentation given by Yang (inproceedings)

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[BibTex]

2008


[BibTex]


Learning Optical Flow
Learning Optical Flow

Sun, D., Roth, S., Lewis, J., Black, M. J.

In European Conf. on Computer Vision, ECCV, 5304, pages: 83-97, LNCS, (Editors: Forsyth, D. and Torr, P. and Zisserman, A.), Springer-Verlag, October 2008 (inproceedings)

Abstract
Assumptions of brightness constancy and spatial smoothness underlie most optical flow estimation methods. In contrast to standard heuristic formulations, we learn a statistical model of both brightness constancy error and the spatial properties of optical flow using image sequences with associated ground truth flow fields. The result is a complete probabilistic model of optical flow. Specifically, the ground truth enables us to model how the assumption of brightness constancy is violated in naturalistic sequences, resulting in a probabilistic model of "brightness inconstancy". We also generalize previous high-order constancy assumptions, such as gradient constancy, by modeling the constancy of responses to various linear filters in a high-order random field framework. These filters are free variables that can be learned from training data. Additionally we study the spatial structure of the optical flow and how motion boundaries are related to image intensity boundaries. Spatial smoothness is modeled using a Steerable Random Field, where spatial derivatives of the optical flow are steered by the image brightness structure. These models provide a statistical motivation for previous methods and enable the learning of all parameters from training data. All proposed models are quantitatively compared on the Middlebury flow dataset.

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pdf Springerlink version [BibTex]

pdf Springerlink version [BibTex]


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Probabilistic Roadmap Method and Real Time Gait Changing Technique Implementation for Travel Time Optimization on a Designed Six-legged Robot

Ahmad, A., Dhang, N.

In pages: 1-5, 39th International Symposium on Robotics (ISR), October 2008 (inproceedings)

Abstract
This paper presents design and development of a six legged robot with a total of 12 degrees of freedom, two in each limb and then an implementation of 'obstacle and undulated terrain-based' probabilistic roadmap method for motion planning of this hexaped which is able to negotiate large undulations as obstacles. The novelty in this implementation is that, it doesnt require the complete view of the robot's configuration space at any given time during the traversal. It generates a map of the area that is in visibility range and finds the best suitable point in that field of view to make it as the next node of the algorithm. A particular category of undulations which are small enough are automatically 'run-over' as a part of the terrain and not considered as obstacles. The traversal between the nodes is optimized by taking the shortest path and the most optimum gait at that instance which the hexaped can assume. This is again a novel approach to have a real time gait changing technique to optimize the travel time. The hexaped limb can swing in the robot's X-Y plane and the lower link of the limb can move in robot's Z plane by an implementation of a four-bar mechanism. A GUI based server 'Yellow Ladybird' eventually which is the name of the hexaped, is made for real time monitoring and communicating to it the final destination co-ordinates.

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link (url) [BibTex]