This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A key feature of the self-supervised training process is a graph-matching algorithm that operates on the over-segmentation output of the point cloud that is reconstructed from each video. The graph matching, along with point cloud registration, is able to find reoccurring object patterns across videos and combine them into 3D object pseudo labels, even under occlusions or different viewing angles. Projected 2D object masks from 3D pseudo labels are used to train a pixel-wise feature extractor through contrastive learning. During online inference, a clustering method uses the learned features to cluster foreground pixels into object segments. Experiments highlight the method's effectiveness on both real and synthetic video datasets, which include cluttered scenes of tabletop objects. The proposed method outperforms existing unsupervised methods for object segmentation by a large margin.

This paper introduces Amazon Robotic Manipulation Benchmark (ARMBench), a large-scale, object-centric benchmark dataset for robotic manipulation in the context of a warehouse. Automation of operations in modern warehouses requires a robotic manipulator to deal with a wide variety of objects, unstructured storage, and dynamically changing inventory. Such settings pose challenges in perceiving the identity, physical characteristics, and state of objects during manipulation. Existing datasets for robotic manipulation consider a limited set of objects or utilize 3D models to generate synthetic scenes with limitation in capturing the variety of object properties, clutter, and interactions. We present a large-scale dataset collected in an Amazon warehouse using a robotic manipulator performing object singulation from containers with heterogeneous contents. ARMBench contains images, videos, and metadata that corresponds to 235K+ pick-and-place activities on 190K+ unique objects. The data is captured at different stages of manipulation, i.e., pre-pick, during transfer, and after placement. Benchmark tasks are proposed by virtue of high-quality annotations and baseline performance evaluation are presented on three visual perception challenges, namely 1) object segmentation in clutter, 2) object identification, and 3) defect detection. ARMBench can be accessed at http://armbench.com

Tensegrity robots, composed of rigid rods and flexible cables, exhibit high strength-to-weight ratios and significant deformations, which enable them to navigate unstructured terrains and survive harsh impacts. They are hard to control, however, due to high dimensionality, complex dynamics, and a coupled architecture. Physics-based simulation is a promising avenue for developing locomotion policies that can be transferred to real robots. Nevertheless, modeling tensegrity robots is a complex task due to a substantial sim2real gap. To address this issue, this paper describes a Real2Sim2Real (R2S2R) strategy for tensegrity robots. This strategy is based on a differentiable physics engine that can be trained given limited data from a real robot. These data include offline measurements of physical properties, such as mass and geometry for various robot components, and the observation of a trajectory using a random control policy. With the data from the real robot, the engine can be iteratively refined and used to discover locomotion policies that are directly transferable to the real robot. Beyond the R2S2R pipeline, key contributions of this work include computing non-zero gradients at contact points, a loss function for matching tensegrity locomotion gaits, and a trajectory segmentation technique that avoids conflicts in gradient evaluation during training. Multiple iterations of the R2S2R process are demonstrated and evaluated on a real 3-bar tensegrity robot.

This work proposes a robotic pipeline for picking and constrained placement of objects without geometric shape priors. Compared to recent efforts developed for similar tasks, where every object was assumed to be novel, the proposed system recognizes previously manipulated objects and per-forms online model reconstruction and reuse. Over a lifelong manipulation process, the system keeps learning features of objects it has interacted with and updates their reconstructed models. Whenever an instance of a previously manipulated object reappears, the system aims to first recognize it and then register its previously reconstructed model given the current observation. This step greatly reduces object shape uncertainty allowing the system to even reason for parts of objects, which are currently not observable. This also results in better manipulation efficiency as it reduces the need for active perception of the target object during manipulation. To get a reusable reconstructed model, the proposed pipeline adopts: i) TSDF for object representation, and ii) a variant of the standard particle filter algorithm for pose estimation and tracking of the partial object model. Furthermore, an effective way to construct and maintain a dataset of manipulated objects is presented. A sequence of real-world manipulation experiments is performed. They show how future manipulation tasks become more effective and efficient by reusing reconstructed models of previously manipulated objects, which were generated during their prior manipulation, instead of treating objects as novel every time.

Picking an item in the presence of other objects can be challenging as it involves occlusions and partial views. Given object models, one approach is to perform object pose estimation and use the most likely candidate pose per object to pick the target without collisions. This approach, however, ignores the uncertainty of the perception process both regarding the target's and the surrounding objects' poses. This work proposes first a perception process for 6D pose estimation, which returns a discrete distribution of object poses in a scene. Then, an open-loop planning pipeline is proposed to return safe and effective solutions for moving a robotic arm to pick, which (a) minimizes the probability of collision with the obstructing objects; and (b) maximizes the probability of reaching the target item. The planning framework models the challenge as a stochastic variant of the Minimum Constraint Removal (MCR) problem. The effectiveness of the methodology is verified given both simulated and real data in different scenarios. The experiments demonstrate the importance of considering the uncertainty of the perception process in terms of safe execution. The results also show that the methodology is more effective than conservative MCR approaches, which avoid all possible object poses regardless of the reported uncertainty.

Monitoring drinking water quality in the entire delivery network, mainly indicated by total chlorine (TC), is a critical component of overall water supply management. However, it is extremely difficult to collect sufficient TC data from the network at customer sites, which makes it sparse for comprehensive modelling. This paper details an approach that provides TC prediction within the entire Woronora delivery network in Sydney in the next 24 hours. First, the hydraulic system is employed to capture the topology of the delivery network, so that the water travel time can be estimated using predicted water demand. The travel time links the upstream (reservoir) data to the downstream (resident) data. Then, a two-step strategy is proposed as a semi-parametric method to determine the crucial factors and build Bayesian model for TC decay to predict TC with the travel time. Lastly, the uncertainties of both data and the model are analysed to define the boundaries of prediction for better decision making. Several operational stages are involved when the approach is being deployed, including prediction interpretation, interactive tool development for water quality mapping and visualisation, and proactive optimisation. This has established a successful initiative to improve the overall water supply management for the entire Woronora delivery network.

Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a potentially high-dimensional continuous space. A robot must perceive this continuous pose in order to manipulate the object to a desired pose. This problem of perception and manipulation of articulated objects remains a challenge due to its high dimensionality and multi-modal uncertainty. In this paper, we propose a factored approach to estimate the poses of articulated objects using an efficient non-parametric belief propagation algorithm. We consider inputs as geometrical models with articulation constraints, and observed 3D sensor data. The proposed framework produces object-part pose beliefs iteratively. The problem is formulated as a pairwise Markov Random Field (MRF) where each hidden node (continuous pose variable) models an observed object-part's pose and each edge denotes an articulation constraint between a pair of parts. We propose articulated pose estimation by a Pull Message Passing algorithm for Nonparametric Belief Propagation (PMPNBP) and evaluate its convergence properties over scenes with articulated objects.

Convolutional neural networks (CNNs) are of increasing widespread use in robotics, especially for object recognition. However, such CNNs still lack several critical properties necessary for robots to properly perceive and function autonomously in uncertain, and potentially adversarial, environments. In this paper, we investigate factors for accurate, reliable, and resource-efficient object and pose recognition suitable for robotic manipulation in adversarial clutter. Our exploration is in the context of a three-stage pipeline of discriminative CNN-based recognition, generative probabilistic estimation, and robot manipulation. This pipeline proposes using a SAmpling Network Density filter, or SAND filter, to recover from potentially erroneous decisions produced by a CNN through generative probabilistic inference. We present experimental results from SAND filter perception for robotic manipulation in tabletop scenes with both benign and adversarial clutter. These experiments vary CNN model complexity for object recognition and evaluate levels of inaccuracy that can be recovered by generative pose inference. This scenario is extended to consider adversarial environmental modifications with varied lighting, occlusions, and surface modifications.

Friend recommendation is an important recommender application in social media. Major social websites such as Twitter and Facebook are all capable of recommending friends to individuals. However, friend recommendation is a difficult task and most social websites use simple friend recommendation algorithms such as similarity and popularity, whose level of accuracy does do not satisfy the majority of users. In this paper we propose a two-stage procedure for more accurate friend recommendation: In the first stage, based on the relationship of different social networks, the Flickr tag network and contact network are aligned to generate a "possible friend list"; In the second stage, making the assumption that "a friend's friends also tend to be friends", co-clustering is applied to the tag and image information of the list to refine the recommendation result in the first stage. Experimental results show that the proposed method achieves good performance and every stage contributes to the recommendation.

Exploratory search is emerging as a new form of information-seeking activity in the research community, which generally combines browsing and searching content together to help users gain additional knowledge and form accurate queries, thereby assisting the users with their seeking and investigation activities. However, there have been few attempts at addressing integrated exploratory search solutions when image browsing is incorporated into the exploring loop. In this paper, we investigate the challenges of understanding users' search interests from the product images being browsed and inferring their actual search intentions. We propose a novel interactive image exploring system for allowing users to lightly switch between browse and search processes, and naturally complete visual-based exploratory search tasks in an effective and efficient way. This system enables users to specify their visual search interests in product images by circling any visual objects in web pages, and then the system automatically infers users' underlying intent by analyzing the browsing context and by analyzing the same or similar product images obtained by large-scale image search technology. Users can then utilize the recommended queries to complete intent-specific exploratory tasks. The proposed solution is one of the first attempts to understand users' interests for a visual-based exploratory product search task by integrating the browse and search activities. We have evaluated our system performance based on five million product images. The evaluation study demonstrates that the proposed system provides accurate intent-driven search results and fast response to exploratory search demands compared with the conventional image search methods, and also, provides users with robust results to satisfy their exploring experience.

Video summarization helps users obtain quick comprehension of video content. Recently, some studies have utilized local features to represent each video frame and formulate video summarization as a coverage problem of local features. However, the importance of individual local features has not been exploited. In this paper, we propose a novel Bag-of-Importance (BoI) model for static video summarization by identifying the frames with important local features as keyframes, which is one of the first studies formulating video summarization at local feature level, instead of at global feature level. That is, by representing each frame with local features, a video is characterized with a bag of local features weighted with individual importance scores and the frames with more important local features are more representative, where the representativeness of each frame is the aggregation of the weighted importance of the local features contained in the frame. In addition, we propose to learn a transformation from a raw local feature to a more powerful sparse nonlinear representation for deriving the importance score of each local feature, rather than directly utilize the hand-crafted visual features like most of the existing approaches. Specifically, we first employ locality-constrained linear coding (LCC) to project each local feature into a sparse transformed space. LCC is able to take advantage of the manifold geometric structure of the high dimensional feature space and form the manifold of the low dimensional transformed space with the coordinates of a set of anchor points. Then we calculate the l2 norm of each anchor point as the importance score of each local feature which is projected to the anchor point. Finally, the distribution of the importance scores of all the local features in a video is obtained as the BoI representation of the video. We further differentiate the importance of local features with a spatial weighting template by taking the perceptual difference among spatial regions of a frame into account. As a result, our proposed video summarization approach is able to exploit both the inter-frame and intra-frame properties of feature representations and identify keyframes capturing both the dominant content and discriminative details within a video. Experimental results on three video datasets across various genres demonstrate that the proposed approach clearly outperforms several state-of-the-art methods.

With the development of image search technology, users are no longer satisfied with searching for images using just metadata and textual descriptions. Instead, more search demands are focused on retrieving images based on similarities in their contents (textures, colors, shapes etc.). Nevertheless, one image may deliver rich or complex content and multiple interests. Sometimes users do not sufficiently define or describe their seeking demands for images even when general search interests appear, owing to a lack of specific knowledge to express their intents. A new form of information seeking activity, referred to as exploratory search, is emerging in the research community, which generally combines browsing and searching content together to help users gain additional knowledge and form accurate queries, thereby assisting the users with their seeking and investigation activities. However, there have been few attempts at addressing integrated exploratory search solutions when image browsing is incorporated into the exploring loop. In this work, we investigate the challenges of understanding users' search interests from the images being browsed and infer their actual search intentions. We develop a novel system to explore an effective and efficient way for allowing users to seamlessly switch between browse and search processes, and naturally complete visual-based exploratory search tasks. The system, called Browse-to-Search enables users to specify their visual search interests by circling any visual objects in the webpages being browsed, and then the system automatically forms the visual entities to represent users' underlying intent. One visual entity is not limited by the original image content, but also encapsulated by the textual-based browsing context and the associated heterogeneous attributes. We use large-scale image search technology to find the associated textual attributes from the repository. Users can then utilize the encapsulated visual entities to complete search tasks. The Browse-to-Search system is one of the first attempts to integrate browse and search activities for a visual-based exploratory search, which is characterized by four unique properties: (1) in session—searching is performed during browsing session and search results naturally accompany with browsing content; (2) in context—the pages being browsed provide text-based contextual cues for searching; (3) in focus—users can focus on the visual content of interest without worrying about the difficulties of query formulation, and visual entities will be automatically formed; and (4) intuitiveness—a touch and visual search-based user interface provides a natural user experience. We deploy the Browse-to-Search system on tablet devices and evaluate the system performance using millions of images. We demonstrate that it is effective and efficient in facilitating the user's exploratory search compared to the conventional image search methods and, more importantly, provides users with more robust results to satisfy their exploring experience.

Keyframe selection has been crucial for effective and efficient video content analysis. While most of the existing approaches represent individual frames with global features, we, for the first time, propose a keypoint-based framework to address the keyframe selection problem so that local features can be employed in selecting keyframes. In general, the selected keyframes should both be representative of video content and containing minimum redundancy. Therefore, we introduce two criteria, coverage and redundancy, based on keypoint matching in the selection process. Comprehensive experiments demonstrate that our approach outperforms the state of the art.

This demonstration presents a novel interactive online shopping application based on visual search technologies. When users want to buy something on a shopping site, they usually have the requirement of looking for related information from other web sites. Therefore users need to switch between the web page being browsed and other websites that provide search results. The proposed application enables users to naturally search products of interest when they browse a web page, and make their even causal purchase intent easily satisfied. The interactive shopping experience is characterized by: 1) in session---it allows users to specify the purchase intent in the browsing session, instead of leaving the current page and navigating to other websites; 2) in context---the browsed web page provides implicit context information which helps infer user purchase preferences; 3) in focus---users easily specify their search interest using gesture on touch devices and do not need to formulate queries in search box; 4) natural-gesture inputs and visual-based search provides users a natural shopping experience. The system is evaluated against a data set consisting of several millions commercial product images.

Mobile visual search has attracted extensive attention for its huge potential for numerous applications. Research on this topic has been focused on two schemes: sending query images, and sending compact descriptors extracted on mobile phones. The first scheme requires about 30-40KB data to transmit, while the second can reduce the bit rate by 10 times. In this paper, we propose a third scheme for extremely low bit rate mobile visual search, which sends compressed visual words consisting of vocabulary tree histogram and descriptor orientations rather than descriptors. This scheme can further reduce the bit rate with few extra computational costs on the client. Specifically, we store a vocabulary tree and extract visual descriptors on the mobile client. A light-weight pre-retrieval is performed to obtain the visited leaf nodes in the vocabulary tree. The orientation of each local descriptor and the tree histogram are then encoded to be transmitted to server. Our new scheme transmits less than 1KB data, which reduces the bit rate in the second scheme by 3 times, and obtains about 30% improvement in terms of search accuracy over the traditional Bag-of-Words baseline. The time cost is only 1.5 secs on the client and 240 msecs on the server.

Near-duplicate video shots provide critical visual link between videos and detecting such video shots efficiently and effectively is of paramount importance in many applications such as detecting copyright infringement. In this paper, we propose an improved near-duplicate video shot detection approach by adaptively selecting reference frames for more effective shot representation. The correlation between adjacent frames is measured with Pearson's Correlation Coefficient (PCC) so that a set of compact yet representative reference frames can be selected adaptively in terms of content variation within video shots. Interest points are further extracted from the selected frames to effectively represent shot contents for similarity matching. Comprehensive experimental results on TRECVID-2008 corpus demonstrate that our proposed approach outperforms the state-of-the-art method effectively.

In this paper, a novel blind channel estimation algorithm for a multiple input multiple output (MIMO) system is described. This algorithm is easier to implement than the previously reported blind estimation algorithms because the channel state information (CSI) is recovered without performing complex mathematical operations such as singular value decomposition (SVD) or eigenvalue decomposition (EVD). The ambiguity associated with the proposed blind estimation is reduced to the phase ambiguity. The proposed channel estimation algorithm is accompanied by new block coding scheme. Using this coding scheme, a block encoder is only required at the transmitter. The proposed scheme is spectral efficient, as it offers the full coding rate when the numbers of transmitting and receiving antennas are equal. The validity of the proposed channel estimation algorithm and coding scheme is verified via computer simulations.