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2014


Omnidirectional 3D Reconstruction in Augmented Manhattan Worlds
Omnidirectional 3D Reconstruction in Augmented Manhattan Worlds

Schoenbein, M., Geiger, A.

International Conference on Intelligent Robots and Systems, pages: 716 - 723, IEEE, Chicago, IL, USA, IEEE/RSJ International Conference on Intelligent Robots and System, October 2014 (conference)

Abstract
This paper proposes a method for high-quality omnidirectional 3D reconstruction of augmented Manhattan worlds from catadioptric stereo video sequences. In contrast to existing works we do not rely on constructing virtual perspective views, but instead propose to optimize depth jointly in a unified omnidirectional space. Furthermore, we show that plane-based prior models can be applied even though planes in 3D do not project to planes in the omnidirectional domain. Towards this goal, we propose an omnidirectional slanted-plane Markov random field model which relies on plane hypotheses extracted using a novel voting scheme for 3D planes in omnidirectional space. To quantitatively evaluate our method we introduce a dataset which we have captured using our autonomous driving platform AnnieWAY which we equipped with two horizontally aligned catadioptric cameras and a Velodyne HDL-64E laser scanner for precise ground truth depth measurements. As evidenced by our experiments, the proposed method clearly benefits from the unified view and significantly outperforms existing stereo matching techniques both quantitatively and qualitatively. Furthermore, our method is able to reduce noise and the obtained depth maps can be represented very compactly by a small number of image segments and plane parameters.

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pdf DOI [BibTex]

2014


pdf DOI [BibTex]


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Automatic Skill Evaluation for a Needle Passing Task in Robotic Surgery

Leung, S., Kuchenbecker, K. J.

In Proc. IROS Workshop on the Role of Human Sensorimotor Control in Robotic Surgery, Chicago, Illinois, sep 2014, Poster presentation given by Kuchenbecker. Best Poster Award (inproceedings)

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[BibTex]

[BibTex]


Optimizing Average Precision using Weakly Supervised Data
Optimizing Average Precision using Weakly Supervised Data

Behl, A., Jawahar, C. V., Kumar, M. P.

IEEE Conf. on Computer Vision and Pattern Recognition (CVPR) 2014, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), June 2014 (conference)

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[BibTex]

[BibTex]


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A Data-driven Approach to Remote Tactile Interaction: From a BioTac Sensor to Any Fingertip Cutaneous Device

Pacchierotti, C., Prattichizzo, D., Kuchenbecker, K. J.

In Haptics: Neuroscience, Devices, Modeling, and Applications, Proc. EuroHaptics, Part I, 8618, pages: 418-424, Lecture Notes in Computer Science, Springer-Verlag, Berlin Heidelberg, June 2014, Poster presentation given by Pacchierotti in Versailles, France (inproceedings)

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[BibTex]

[BibTex]


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Evaluating the BioTac’s Ability to Detect and Characterize Lumps in Simulated Tissue

Hui, J. C. T., Kuchenbecker, K. J.

In Haptics: Neuroscience, Devices, Modeling, and Applications, Proc. EuroHaptics, Part II, 8619, pages: 295-302, Lecture Notes in Computer Science, Springer-Verlag, Berlin Heidelberg, June 2014, Poster presentation given by Hui in Versailles, France (inproceedings)

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[BibTex]

[BibTex]


Simultaneous Underwater Visibility Assessment, Enhancement and Improved Stereo
Simultaneous Underwater Visibility Assessment, Enhancement and Improved Stereo

Roser, M., Dunbabin, M., Geiger, A.

IEEE International Conference on Robotics and Automation, pages: 3840 - 3847 , Hong Kong, China, IEEE International Conference on Robotics and Automation, June 2014 (conference)

Abstract
Vision-based underwater navigation and obstacle avoidance demands robust computer vision algorithms, particularly for operation in turbid water with reduced visibility. This paper describes a novel method for the simultaneous underwater image quality assessment, visibility enhancement and disparity computation to increase stereo range resolution under dynamic, natural lighting and turbid conditions. The technique estimates the visibility properties from a sparse 3D map of the original degraded image using a physical underwater light attenuation model. Firstly, an iterated distance-adaptive image contrast enhancement enables a dense disparity computation and visibility estimation. Secondly, using a light attenuation model for ocean water, a color corrected stereo underwater image is obtained along with a visibility distance estimate. Experimental results in shallow, naturally lit, high-turbidity coastal environments show the proposed technique improves range estimation over the original images as well as image quality and color for habitat classification. Furthermore, the recursiveness and robustness of the technique allows real-time implementation onboard an Autonomous Underwater Vehicles for improved navigation and obstacle avoidance performance.

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pdf DOI [BibTex]

pdf DOI [BibTex]


Calibrating and Centering Quasi-Central Catadioptric Cameras
Calibrating and Centering Quasi-Central Catadioptric Cameras

Schoenbein, M., Strauss, T., Geiger, A.

IEEE International Conference on Robotics and Automation, pages: 4443 - 4450, Hong Kong, China, IEEE International Conference on Robotics and Automation, June 2014 (conference)

Abstract
Non-central catadioptric models are able to cope with irregular camera setups and inaccuracies in the manufacturing process but are computationally demanding and thus not suitable for robotic applications. On the other hand, calibrating a quasi-central (almost central) system with a central model introduces errors due to a wrong relationship between the viewing ray orientations and the pixels on the image sensor. In this paper, we propose a central approximation to quasi-central catadioptric camera systems that is both accurate and efficient. We observe that the distance to points in 3D is typically large compared to deviations from the single viewpoint. Thus, we first calibrate the system using a state-of-the-art non-central camera model. Next, we show that by remapping the observations we are able to match the orientation of the viewing rays of a much simpler single viewpoint model with the true ray orientations. While our approximation is general and applicable to all quasi-central camera systems, we focus on one of the most common cases in practice: hypercatadioptric cameras. We compare our model to a variety of baselines in synthetic and real localization and motion estimation experiments. We show that by using the proposed model we are able to achieve near non-central accuracy while obtaining speed-ups of more than three orders of magnitude compared to state-of-the-art non-central models.

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pdf DOI [BibTex]

pdf DOI [BibTex]


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Analyzing Human High-Fives to Create an Effective High-Fiving Robot

Fitter, N. T., Kuchenbecker, K. J.

In Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI), pages: 156-157, Bielefeld, Germany, March 2014, Poster presentation given by Fitter (inproceedings)

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[BibTex]

[BibTex]


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Dynamic Modeling and Control of Voice-Coil Actuators for High-Fidelity Display of Haptic Vibrations

McMahan, W., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 115-122, Houston, Texas, USA, February 2014, Oral presentation given by Kuchenbecker (inproceedings)

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[BibTex]

[BibTex]


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A Wearable Device for Controlling a Robot Gripper With Fingertip Contact, Pressure, Vibrotactile, and Grip Force Feedback

Pierce, R. M., Fedalei, E. A., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 19-25, Houston, Texas, USA, February 2014, Oral presentation given by Pierce (inproceedings)

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[BibTex]

[BibTex]


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Methods for Robotic Tool-Mediated Haptic Surface Recognition

Romano, J. M., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 49-56, Houston, Texas, USA, February 2014, Oral presentation given by Kuchenbecker. Finalist for Best Paper Award (inproceedings)

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[BibTex]

[BibTex]


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One Hundred Data-Driven Haptic Texture Models and Open-Source Methods for Rendering on 3D Objects

Culbertson, H., Delgado, J. J. L., Kuchenbecker, K. J.

In Proc. IEEE Haptics Symposium, pages: 319-325, Houston, Texas, USA, February 2014, Poster presentation given by Culbertson. Finalist for Best Poster Award (inproceedings)

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[BibTex]

[BibTex]


Learning to Rank using High-Order Information
Learning to Rank using High-Order Information

Dokania, P. K., Behl, A., Jawahar, C. V., Kumar, M. P.

International Conference on Computer Vision, 2014 (conference)

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[BibTex]

[BibTex]


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Cutaneous Feedback of Planar Fingertip Deformation and Vibration on a da Vinci Surgical Robot

Pacchierotti, C., Shirsat, P., Koehn, J. K., Prattichizzo, D., Kuchenbecker, K. J.

In Proc. IROS Workshop on the Role of Human Sensorimotor Control in Robotic Surgery, Chicago, Illinois, 2014, Poster presentation given by Koehn (inproceedings)

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[BibTex]

[BibTex]

2013


Understanding High-Level Semantics by Modeling Traffic Patterns
Understanding High-Level Semantics by Modeling Traffic Patterns

Zhang, H., Geiger, A., Urtasun, R.

In International Conference on Computer Vision, pages: 3056-3063, Sydney, Australia, December 2013 (inproceedings)

Abstract
In this paper, we are interested in understanding the semantics of outdoor scenes in the context of autonomous driving. Towards this goal, we propose a generative model of 3D urban scenes which is able to reason not only about the geometry and objects present in the scene, but also about the high-level semantics in the form of traffic patterns. We found that a small number of patterns is sufficient to model the vast majority of traffic scenes and show how these patterns can be learned. As evidenced by our experiments, this high-level reasoning significantly improves the overall scene estimation as well as the vehicle-to-lane association when compared to state-of-the-art approaches. All data and code will be made available upon publication.

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pdf [BibTex]

2013


pdf [BibTex]


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Virtual Robotization of the Human Body via Data-Driven Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. International Conference on Advances in Computer Entertainment Technology (ACE), 8253, pages: 109-122, Lecture Notes in Computer Science, Springer, Enschede, Netherlands, 2013, Oral presentation given by Kurihara. Best Paper Silver Award (inproceedings)

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[BibTex]

[BibTex]


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Virtual Robotization of the Human Body Using Vibration Recording, Modeling and Rendering

Kurihara, Y., Hachisu, T., Kuchenbecker, K. J., Kajimoto, H.

In Proc. Virtual Reality Society of Japan Annual Conference, Osaka, Japan, sep 2013, Paper written in Japanese. Presentation given by Kurihara (inproceedings)

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[BibTex]

[BibTex]


Lost! Leveraging the Crowd for Probabilistic Visual Self-Localization
Lost! Leveraging the Crowd for Probabilistic Visual Self-Localization

(CVPR13 Best Paper Runner-Up)

Brubaker, M. A., Geiger, A., Urtasun, R.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR 2013), pages: 3057-3064, IEEE, Portland, OR, June 2013 (inproceedings)

Abstract
In this paper we propose an affordable solution to self- localization, which utilizes visual odometry and road maps as the only inputs. To this end, we present a probabilis- tic model as well as an efficient approximate inference al- gorithm, which is able to utilize distributed computation to meet the real-time requirements of autonomous systems. Because of the probabilistic nature of the model we are able to cope with uncertainty due to noisy visual odometry and inherent ambiguities in the map ( e.g ., in a Manhattan world). By exploiting freely available, community devel- oped maps and visual odometry measurements, we are able to localize a vehicle up to 3m after only a few seconds of driving on maps which contain more than 2,150km of driv- able roads.

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pdf supplementary project page [BibTex]

pdf supplementary project page [BibTex]


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Virtual Alteration of Body Material by Reality-Based Periodic Vibrotactile Feedback

Kurihara, Y., Hachisu, T., Sato, M., Fukushima, S., Kuchenbecker, K. J., Kajimoto, H.

In Proc. JSME Robotics and Mechatronics Conference (ROBOMEC), Tsukuba, Japan, May 2013, Paper written in Japanese. Poster presentation given by {Kurihara} (inproceedings)

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[BibTex]

[BibTex]


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The Design and Field Observation of a Haptic Notification System for Oral Presentations

Tam, D., MacLean, K. E., McGrenere, J., Kuchenbecker, K. J.

In Proc. SIGCHI Conference on Human Factors in Computing Systems, pages: 1689-1698, Paris, France, May 2013, Oral presentation given by Tam (inproceedings)

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[BibTex]

[BibTex]


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Using Robotic Exploratory Procedures to Learn the Meaning of Haptic Adjectives

Chu, V., McMahon, I., Riano, L., McDonald, C. G., He, Q., Perez-Tejada, J. M., Arrigo, M., Fitter, N., Nappo, J., Darrell, T., Kuchenbecker, K. J.

In Proc. IEEE International Conference on Robotics and Automation, pages: 3048-3055, Karlsruhe, Germany, May 2013, Oral presentation given by Chu. Best Cognitive Robotics Paper Award (inproceedings)

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[BibTex]

[BibTex]


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Instrument contact vibrations are a construct-valid measure of technical skill in Fundamentals of Laparoscopic Surgery Training Tasks

Gomez, E. D., Aggarwal, R., McMahan, W., Koch, E., Hashimoto, D. A., Darzi, A., Murayama, K. M., Dumon, K. R., Williams, N. N., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Association for Surgical Education, Orlando, Florida, USA, 2013, Oral presentation given by Gomez (inproceedings)

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[BibTex]

[BibTex]


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Dynamic Simulation of Tool-Mediated Texture Interaction

McDonald, C. G., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 307-312, Daejeon, South Korea, April 2013, Oral presentation given by McDonald (inproceedings)

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[BibTex]

[BibTex]


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Generating Haptic Texture Models From Unconstrained Tool-Surface Interactions

Culbertson, H., Unwin, J., Goodman, B. E., Kuchenbecker, K. J.

In Proc. IEEE World Haptics Conference, pages: 295-300, Daejeon, South Korea, April 2013, Oral presentation given by Culbertson. Finalist for Best Paper Award (inproceedings)

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[BibTex]

[BibTex]


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A practical System for Recording Instrument Contacts and Collisions During Transoral Robotic Surgery

Gomez, E. D., Weinstein, G. S., O’Malley, J. B. W., McMahan, W., Chen, L., Kuchenbecker, K. J.

In Proc. Annual Meeting of the Triological Society, Orlando, Florida, USA, April 2013, Poster presentation given by Gomez (inproceedings)

hi

[BibTex]

[BibTex]


Self-tuning in Sliding Mode Control of High-Precision Motion Systems
Self-tuning in Sliding Mode Control of High-Precision Motion Systems

Heertjes, M. F., Vardar, Y.

In IFAC Proceedings Volumes, 46(5):13 - 19, 2013, 6th IFAC Symposium on Mechatronic Systems (inproceedings)

Abstract
In high-precision motion systems, set-point tracking often comes with the problem of overshoot, hence poor settling behavior. To avoid overshoot, PD control (thus without using an integrator) is preferred over PID control. However, PD control gives rise to steady-state error in view of the constant disturbances acting on the system. To deal with both overshoot and steady-state error, a sliding mode controller with saturated integrator is studied. For large servo signals the controller is switched to PD mode as to constrain the integrator buffer and therefore the overshoot. For small servo signals the controller switches to PID mode as to avoid steady-state error. The tuning of the switching parameters will be done automatically with the aim to optimize the settling behavior. The sliding mode controller will be tested on a high-precision motion system.

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heertjes_ifac2013 link (url) DOI [BibTex]

heertjes_ifac2013 link (url) DOI [BibTex]


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A Practical System For Recording Instrument Interactions During Live Robotic Surgery

McMahan, W., Gomez, E. D., Chen, L., Bark, K., Nappo, J. C., Koch, E. I., Lee, D. I., Dumon, K., Williams, N., Kuchenbecker, K. J.

In Proc. Medicine Meets Virtual Reality, 2013, Poster presentation given by McMahan (inproceedings)

hi

[BibTex]

[BibTex]