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Point cloud is currently the most typical representation in describing the 3D world. However, recognizing objects as well as the poses from point clouds is still a great challenge due to the property of disordered 3D data arrangement. In this paper, a unified deep learning framework for 3D scene segmentation and 6D object pose estimation is proposed. In order to accurately segment foreground objects, a novel shape pattern aggregation module called PointDoN is proposed, which could learn meaningful deep geometric representations from both Difference of Normals (DoN) and the initial spatial coordinates of point cloud. Our PointDoN is flexible to be applied to any convolutional networks and shows improvements in the popular tasks of point cloud classification and semantic segmentation. Once the objects are segmented, the range of point clouds for each object in the entire scene could be specified, which enables us to further estimate the 6D pose for each object within local region of interest. To acquire good estimate, we propose a new 6D pose estimation approach that incorporates both 2D and 3D features generated from RGB images and point clouds, respectively. Specifically, 3D features are extracted via a CNN-based architecture where the input is XYZ map converted from the initial point cloud. Experiments showed that our method could achieve satisfactory results on the publicly available point cloud datasets in both tasks of segmentation and 6D pose estimation. [ABSTRACT FROM AUTHOR]

Detecting the marking characters of industrial metal parts remains challenging due to low visual contrast, uneven illumination, corroded surfaces, and cluttered background of metal part images. Affected by these factors, bounding boxes generated by most existing methods could not locate low-contrast text areas very well. In this paper, we propose a refined feature-attentive network (RFN) to solve the inaccurate localization problem. Specifically, we first design a parallel feature integration mechanism to construct an adaptive feature representation from multi-resolution features, which enhances the perception of multi-scale texts at each scale-specific level to generate a high-quality attention map. Then, an attentive proposal refinement module is developed by the attention map to rectify the location deviation of candidate boxes. Besides, a re-scoring mechanism is designed to select text boxes with the best rectified location. To promote the research towards industrial scene text detection, we contribute two industrial scene text datasets, including a total of 102156 images and 1948809 text instances with various character structures and metal parts. Extensive experiments on our dataset and four public datasets demonstrate that our proposed method achieves the state-of-the-art performance. Both code and dataset are available at: https://github.com/TongkunGuan/RFN. [ABSTRACT FROM AUTHOR]

• Systematic scheme for designing high-order S-curve trajectories. • Efficient algorithm to find time-optimal solutions with kinematic constraints. • Frequency shaping of trajectories for multimode vibration elimination. • Combination of adjustable robustness and high-frequency attenuation. • Effectiveness of the method is validated numerically and experimentally. The generation of optimal reference trajectories poses a challenging problem for industrial machines due to the trade-off between execution speed and vibration amplitude. This paper presents a novel method for systematically planning smooth and robust S-curve trajectories of arbitrary order adapted to vibratory behaviour for high-speed operations. In particular, the minimum time trajectory featuring good continuity under kinematic bounds is designed utilizing an improved procedure based on the existence prediction of trajectory segments. A complete analytical solution for trajectories of orders up to five is then derived. Moreover, through an analysis of the dynamic response characteristics, a parameter tuning strategy based on modal properties is established, enabling further shaping of the acceleration profiles to remove the energy content around the resonances with lower sensitivity to modelling errors. Due to the embedded filtering effect, the optimized trajectories combine specific vibration cancellation with high-frequency attenuation while providing flexibility to balance competing objectives. Comparative experiments conducted on a robot transferring flexible beams demonstrate the effectiveness and robustness of the proposed methodology in reducing residual vibration and settling time under system uncertainties. [ABSTRACT FROM AUTHOR]

Due to the limitations on the depth of field of high-resolution fluorescence microscope, it is difficult to obtain an image with all objects in focus. The existing image fusion methods suffer from blocking effects or out-of-focus fluorescence. The proposed multi-focus image fusion method based on local maximum luminosity, intensity variance and the information filling method can reconstruct the all-in-focus image. Moreover, the depth of tissue's surface can be estimated to reconstruct the 3D surface model. [ABSTRACT FROM AUTHOR]

Transfer neural networks have been successfully applied in many domain adaptation tasks. The initiative of most of the current transfer networks, essentially, is optimizing a single distance metric between the source domain and target domain, while few studies integrate multiple metrics for training transfer networks. In this paper, we propose an architecture of transfer neural network equipped with hybrid representations of domain discrepancy, which could incorporate the advantages of different types of metrics as well as compensate their imperfections. In our architecture, the Maximum Mean Discrepancy (MMD) and H -divergence based domain adaptations are combined for simultaneous distribution alignment and domain confusion. Through extensive experiments, we find that the proposed method is able to achieve compelling transfer performance across the datasets with domain discrepancy from small scale to large scale. Especially, the proposed method can be promisingly used to predict the viewpoint of 3D-printed workpiece even trained without labels of real images. The visualization of learned features and adapted distributions by our transfer network highlights that the proposed approach could effectively learn the similar features between two domains and deal with a wide range of transfer tasks. [ABSTRACT FROM AUTHOR]

Holistic scene understanding is a challenging problem in computer vision. Most recent researches in this field were focusing on the object detection, the semantic segmentation and the relationship detection tasks. The attribute can provide meaningful information for the object instance, thus the object instance can be expressed more detail in the scene understanding. However, most researches in this field have been limited to several special conditions. Such as, several researches were just focusing on the attribute of special object class, because their solutions were aimed at a limited-scenarios, their methods are hardly to generalize in other scenarios. We also find that most of the research for multi-attribute detection task were only regarding each attribute as binary class and simply use the multi-binary-classifier method for the attribute detection. But these strategies above not consider the relation between each pair of the attributes, they will fall into trouble in the "imperfect" attribute dataset (which is labeled with the missing and incomplete annotations), and they will have low performance in the long-tail attribute class (which has lower rank of annotation and more missing labels). In this paper, we focus on the multi-attribute detection for a variant of object classes and take the relation between attributes into consideration. We propose a GRU-based model to detect a variable-length attribute sequence with a customized loss compute method to solve the "imperfect" attribute dataset problem. Furthermore, we perform ablative studies to prove the effectiveness of each part of our method. Finally, we compare our model with several existed multi-attribute detection methods on VG (Visual Genome) and CUB200 bird datasets to prove the superior performance of the proposed model. [ABSTRACT FROM AUTHOR]

Due to the limitations of existing techniques, even the most advanced visual prostheses, using several hundred electrodes to transmit signals to the visual pathway, restrict sensory function and visual information. To identify the bottlenecks and guide prosthesis designing, psychophysics simulations of a visual prosthesis in normally sighted individuals are desirable. In this study, psychophysical experiments of discriminating objects with similar profiles were used to test the effects of phosphene array parameters (spatial resolution, gray scale, distortion, and dropout rate) on visual information using simulated prosthetic vision. The results showed that the increase in spatial resolution and number of gray levels and the decrease in phosphene distortion and dropout rate improved recognition performance, and the accuracy is 78.5% under the optimum condition (resolution: 32 × 32, gray level: 8, distortion: k = 0, dropout: 0%). In combined parameter tests, significant facial recognition accuracy was achieved for all the images with k = 0.1 distortion and 10% dropout. Compared with other experiments, we find that different objects do not show specific sensitivity to the changes of parameters and visual information is not nearly enough even under the optimum condition. The results suggests that higher spatial resolution and more gray levels are required for visual prosthetic devices and further research on image processing strategies to improve prosthetic vision is necessary, especially when the wearers have to accomplish more than simple visual tasks. [ABSTRACT FROM AUTHOR]