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A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set [article]

Clemens Eppner and Arsalan Mousavian and Dieter Fox
2019 arXiv   pre-print
Our evaluation is based on a fine-grained discretization of SE(3) and uses physics-based simulation to evaluate the quality and robustness of the corresponding parallel-jaw grasps.  ...  Specifically, we consider more than 1 billion grasps for each of the 21 objects from the YCB data set. This dense data set lets us evaluate existing sampling schemes w.r.t. their bias and efficiency.  ...  Conclusions We presented a dense data set of parallel-jaw grasps for 21 objects from the YCB data set.  ... 
arXiv:1912.05604v1 fatcat:o5b3svhwgbejvl2fssldw2okxq

GraspNet-1Billion: A Large-Scale Benchmark for General Object Grasping

Hao-Shu Fang, Chenxi Wang, Minghao Gou, Cewu Lu
2020 2020 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  
In this work, we contribute a largescale grasp pose detection dataset with a unified evaluation system. Our dataset contains 97,280 RGB-D image with over one billion grasp poses.  ...  Meanwhile, our evaluation system directly reports whether a grasping is successful by analytic computation, which is able to evaluate any kind of grasp poses without exhaustively labeling ground-truth.  ...  The result is computed based on physical rules, which is robust. Here we adopt an improved metric described in [24] .  ... 
doi:10.1109/cvpr42600.2020.01146 dblp:conf/cvpr/FangWGL20 fatcat:7y55ihwhgved7ocx7kn7uc4t3e

Scene Understanding for Autonomous Manipulation with Deep Learning [article]

Anh Nguyen
2019 arXiv   pre-print
Due to the gap between theory and application, there are many challenges when applying the results of deep learning to the real robotic systems.  ...  Theoretically, we propose different deep architectures to further improves the state of the art in each problem.  ...  high dimensional input data, we usually stack a set of neurons into a layer.  ... 
arXiv:1903.09761v1 fatcat:bfvsfsk6xrgkfokukflj6pyngq

Survey on depth and RGB image-based 3D hand shape and pose estimation

Lin Huang, Boshen Zhang, Zhilin Guo, Yang Xiao, Zhiguo Cao, Junsong Yuan
2021 Virtual Reality & Intelligent Hardware  
Related RGB-D cameras, hand datasets, and a performance analysis are also discussed to provide a holistic view of recent achievements.  ...  With the availability of large-scale annotated hand datasets and the rapid developments of deep neural networks (DNNs), numerous DNN-based data-driven methods have been proposed for accurate and rapid  ...  One straightforward way to improve any dataset is to collect more data. One of the most important characteristics of a dataset is the number of samples in the training and test sets.  ... 
doi:10.1016/j.vrih.2021.05.002 fatcat:4tbhftt3ira6fporaqlscqhsse

Where's my mesh? An exploratory study on model-free grasp planning

FABRIZIO BOTTAREL
2021
The nature of GRASPA allowed us to evaluate the performance of grasping pipelines [...]  ...  In order to evaluate the performance of our method, we tackle the lack of widespread benchmarking protocols for grasp planning tasks by proposing GRASPA, a complete benchmarking tool inspired by reproducibility  ...  Grasp planning is a field with more than three decades worth of literature and contains a vast landscape of approaches, each with varying assumptions and methodology [50, 100, 10,  ... 
doi:10.15167/bottarel-fabrizio_phd2021-05-12 fatcat:n27hhkxhdvbuvlwuhuzizoa23e

An object representation and methods for uncertainty-aware shape estimation and grasping [article]

Stanimir Dragiev, Universität Stuttgart, Universität Stuttgart
2015
One of the keys to understanding intelligence is the experience of reproducing it, building it into systems we create.  ...  Since the representation translates the uncertainty of the sensors into confidence of the model, an improved controller is able to employ this in order to achieve more robust grasping or more efficient  ...  shape-based grasping; • a translation of sensor feedback to data points to approximate in terms of the above representation an object from multi-modal data and prior information; • heuristic grasp criteria  ... 
doi:10.18419/opus-3537 fatcat:xkcy7574wbd2xkujktetjc6fte

The "Big Ideas of Science" for the school classroom: Promoting interdisciplinary activities and the interconnection of the science subjects taught in primary and secondary education

Tsourlidaki Eleftheria, Sofoklis Sotiriou, Rosa Doran
2016 Journal of research in stem education  
This paper presents the "Big Ideas of Science" set as an alternative means of organizing science educational content in an interdisciplinary way that goes beyond the traditional subject-based organizational  ...  In our research, we introduced to participants the "Big Ideas of Science" as an organization scheme that promotes interdisciplinary learning and it allows students to build more effectively on their existing  ...  With this in mind, we conducted a study to check whether a set, like the one introduced in Harlen's report could be used as an organization scheme that presents science concepts as a collection of related  ... 
doi:10.51355/jstem.2016.23 fatcat:4motsjv2bffahks5k3svkkpsku

Brain-Machine Interfaces: From Basic Science to Neuroprostheses and Neurorehabilitation

Mikhail A. Lebedev, Miguel A. L. Nicolelis
2017 Physiological Reviews  
Work on BMIs has also led to the introduction of novel neurorehabilitation strategies.  ...  Furthermore, BMIs have also incorporated ways to deliver sensory feedback, generated from external actuators, back to the brain.  ...  The most traditional one requires sampling an initial segment of input data from which correlations between neuronal signals and behavioral variables of interest are determined.  ... 
doi:10.1152/physrev.00027.2016 pmid:28275048 fatcat:26dy2lgh6nfppd3mjgoofyit6u

Design and implementation of a 3-D mapping system for highly irregular shaped objects with application to semiconductor manufacturing

Vivek A. Sujan
2002 Optical Engineering: The Journal of SPIE  
A resolution of 1 mm with 15-KHz sampling frequency is achieved. Data from the system are used by the packing algorithm, which determines optimal nugget placement.  ...  One part of the system measures the geometry profile of a nugget being packed and the other the profile of the nuggets already in the crucible.  ...  Acknowledgments The technical and financial support of this work by Shin-Etsu Handotai Co. is acknowledged. Also the technical cooperation of Professor Y.  ... 
doi:10.1117/1.1474438 fatcat:ztt7ybv4ovaqbmyizbugrwh2de

Towards Semantic Segmentation of Urban-Scale 3D Point Clouds: A Dataset, Benchmarks and Challenges

Qingyong Hu, Bo Yang, Sheikh Khalid, Wen Xiao, Niki Trigoni, Andrew Markham
2021 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)  
We extensively evaluate the performance of state-of-the-art algorithms on our dataset and provide a comprehensive analysis of the results.  ...  However, publicly available datasets are either in relative small spatial scales or have limited semantic annotations due to the expensive cost of data acquisition and data annotation, which severely limits  ...  based on the principles of Structure from Motion (SfM) and dense image matching.  ... 
doi:10.1109/cvpr46437.2021.00494 fatcat:lbzset6zhvcifgzt4vhonw7mtq

Towards Semantic Segmentation of Urban-Scale 3D Point Clouds: A Dataset, Benchmarks and Challenges [article]

Qingyong Hu, Bo Yang, Sheikh Khalid, Wen Xiao, Niki Trigoni, Andrew Markham
2021 arXiv   pre-print
We extensively evaluate the performance of state-of-the-art algorithms on our dataset and provide a comprehensive analysis of the results.  ...  However, publicly available datasets are either in relative small spatial scales or have limited semantic annotations due to the expensive cost of data acquisition and data annotation, which severely limits  ...  based on the principles of Structure from Motion (SfM) and dense image matching.  ... 
arXiv:2009.03137v3 fatcat:go77r776vzhephdm2kkfrlurny

Where Next in Object Recognition and how much Supervision Do We Need? [chapter]

Sandra Ebert, Bernt Schiele
2013 Advanced Topics in Computer Vision  
This leads either to small datasets (<10,000 images) that capture only a subset of the realworld class distribution (but with a controlled and verified labeling procedure), or to large datasets that are  ...  In most approaches, this task is addressed by supervised learning algorithms that need a large quantity of labels to perform well.  ...  An ideal dataset for SSL should be dense enough that means each class should be densely sampled that allows to find compact and well separated clusters.  ... 
doi:10.1007/978-1-4471-5520-1_2 dblp:series/acvpr/EbertS13 fatcat:dxhgtml4o5d4vowesxmtqps5ni

Multi-Beam Scanning Electron Microscopy for High-Throughput Imaging in Connectomics Research

Anna Lena Eberle, Dirk Zeidler
2018 Frontiers in Neuroanatomy  
This Mini Review will provide a brief overview of the various approaches to electron microscopic volume imaging, with an emphasis on serial section array tomography and multi-beam scanning electron microscopic  ...  Recently, a novel multi-beam scanning electron microscope technology optimized to the imaging of large sample areas has been developed.  ...  In a connectomics data set, for example, potentially billions of neurons need to be represented unambiguously, so 64 bit encoding is required initially.  ... 
doi:10.3389/fnana.2018.00112 pmid:30618653 pmcid:PMC6297274 fatcat:ah75wn2edndqvd7nsmxavn54pa

Access methods for Big Data: current status and future directions

A. N. M. Bazlur Rashid
2017 EAI Endorsed Transactions on Scalable Information Systems  
Data investigation is a clear traffic jam in many applications, both due to lack of scalability of the core algorithms and due to the difficulty of the data that needs to be analyzed.  ...  In this article, we present a brief overview of the current status of access methods for Big data and discuss a few promising research directions.  ...  EAI Endorsed Transactions on Scalable Information Systems 09 2017 -12 2017 | Volume 4 | Issue 15 | e2  ... 
doi:10.4108/eai.28-12-2017.153520 fatcat:36hnuyb5fngozmm3dtkx7ixyii

Magnetic resonance multitasking for motion-resolved quantitative cardiovascular imaging

Anthony G. Christodoulou, Jaime L. Shaw, Christopher Nguyen, Qi Yang, Yibin Xie, Nan Wang, Debiao Li
2018 Nature Biomedical Engineering  
CMR multitasking may provide a foundation for the development of setup-free CMR imaging for the quantitative evaluation of cardiovascular health.  ...  Users may view, print, copy, and download text and data-mine the content in such documents, for the purposes of academic research, subject always to the full Conditions of use:  ...  Sampling was performed according to the previously-described golden-angle sampling scheme modified to collect subspace training data every other readout.  ... 
doi:10.1038/s41551-018-0217-y pmid:30237910 pmcid:PMC6141200 fatcat:qfvjryfx75dqlazdix4bvxeley
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