Reading Group(s)
Fall 2015
3:00 PM on Fridays in LSRC D344
Rotation Order: Cam, Cassi, Ben, Hyunsoo, Swarna, Branka, Barrett, Ergys
October 23: Presentation on ROS (Barrett)
November 6: (Cam) Rosman, B., & Ramamoorthy, S. "What good are actions? Accelerating learning using learned action priors." IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL). 2012.
November 13: Cassi
November 20: Ben
November 27: No Meeting: Thanksgiving Break
December 4: Hyunsoo
December 11: No Meeting: Exam Period
Summer 2015
Meeting time: 1pm on Wednesdays at Twinnies
Meeting 1
Tracking/Video Analysis (proposer: Carlo, presenter: Ergys)
Z. Kalal, K. Mikolajczyk, J. Matas, Tracking-Learning-Detection, IEEE PAMI 34(7):1409-1422, 2012.
This is quickly becoming a classic in the field of tracking, and shows how to track objects long-term in video by a cooperating tracker (follow object from from frame to frame), detector (recognize the object in each frame), and learner (improves the detector online).
Motion Planning (proposer: Ben; presenter: Ben)
Nathan Ratliff, Matt Zucker1, J. Andrew Bagnell, Siddhartha Srinivasa, CHOMP: Gradient Optimization Techniques for Efficient Motion Planning ICRA 2009
A method of motion planning that allows a prior objective to be included. In their work, they use this to generate smooth trajectories (by including velocity and acceleration in this function).
Object Manipulation (proposer: Cassi; presenter: Cassi)
H. Hamer, J. Gall, T. Weise, L. Van Gool, An Object-Dependent Hand Pose Prior from Sparse Training Data CVPR 2010
This paper proposes a hand pose prior that exploits the direct relationship between a 3D object and the manipulating hand.
Meeting 2
Motion boundaries (Ergys) Learning to Detect Motion Boundaries. Philippe Weinzaepfel, Jerome Revaud, Zaid Harchaoui, Cordelia Schmid. CVPR 2015
Grasping (Ben) Using Geometry to Detect Grasps in 3D Point Clouds. Author names redacted. Will be updated in the future.
Meeting 3
Occlusions (Ergys) Causal Video Object Segmentation From Persistence of Occlusions. Brian Taylor, Vasiliy Karasev and Stefano Soatto. CVPR 2015 Project page
Hand Tracking (Cassi) Accurate, Robust and Flexible Real-time Hand Tracking. T. Sharp, C. Keskin, D. Robertson, J. Taylor, J. Shotton, D. Kim, C. Rhemann, I. Leichter, A. Vinnikov, Y. Wei, D. Freedman, P. Kohli, E. Krupka, A. Fitzgibbon, S. Izadi. Microsoft Research. CHI, April 2015. (Best of CHI Honorable Mention)
For further information see Project Webpage with Video and Project Details and Supplementary Material.
Meeting 4
Manipulation (Cassi) Objects in Action: An Approach for Combining Action Understanding and Object Perception. A. Gupta and L. S. Davis. CVPR 2007.
Grasping (Ben) Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding. Jeremy Maitin-Shepard, Marco Cusumano-Towner, Jinna Lei and Pieter Abbeel. ICRA 2010
Meeting 5
Grasping (Ben) Robust Object Grasping using Force Compliant Motion Primitives. Moslem Kazemi, Jeab-Sebastien Valois, J. Andrew Bagnell, and Nancy Pollard. RSS 2012
Meeting 6
3D Reconstruction (Ergys) DynamicFusion: Reconstruction and Tracking of Non-rigid Scenes in Real-Time. Richard A. Newcombe, Dieter Fox and Steven M. Seitz. CVPR 2015 (Best Paper Award) Project Page and Video.
Scene Understanding (Cassi) Picture: A Probabilistic Programming Language for Scene Perception. Tejas Dattatraya Kulkarni, Pushmeet Kohli, Joshua B. Tenenbaum, and Vikash Kumar Mansinghka. CVPR 2015 (Best Paper Honorable Mention - Cognex) Extended Abstract (1 page). Project Page.
Meeting 7
Feature Learning (Ben) State Representation Learning in Robotics: Using Prior Knowledge about Physical Interaction. Rico Jonschkowski and Oliver Brock. RSS 2014
Reading Queue
Grasping: (proposer: Carlo, presenter:) The pair
C. Ferrari and J. Canny, Planning Optimal Grasps, IEEE ICRA, 2290-2295, 1992. Ch. Borst, M. Fischer, G. Hirzinger, Grasping the Dice by Dicing the Grasp, IEEE/RSJ 3692-3697, 2003.
The first is an old classic and the second is a newer twist (and lighter reading) on the problem of how to select a precision force-closure grasp optimally. In a precision grasp, only fingertips are in contact with the object. Force closure means that the forces and torque applied by the gripper are able to balance all external forces and torques acting on the object.
Matching Articulated Shapes: (proposer: Carlo, presenter:)
L. Muendermann, S. Corazza, T. P. Andriacchi, Accurately Measuring Human Movement Using Articulated ICP with Soft-Joint Constraints and a Repository of Articulated Models, CVPR, 1-6, 2007.
Includes a simple extension to Iterated Closest Point (ICP) for registering an articulated model to a set of 3D points.
Learning from Demonstration / Motion Planning (proposer: Ben; presenter:)
Mike Phillips, Victor Hwang, Sachin Chitta, Maxim Likhachev, Learning to Plan for Constrained Manipulation from Demonstrations RSS 2013
An approach leveraging demonstration to improve upon the poor behavior of sampling based motion planning when needing to sample along a small manifold (i.e. some narrow space).
Time: Thursday @ 1:00 PM.
Rotation Order: Cassi, Rolando, Alan, Ergys, Branka, Susanna
Spring 2013
2013/01/17 | Unbiased Look at Dataset Bias. CVPR 2011. | Paper. |
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2013/01/24 | ||
2013/01/31 | ||
2013/02/07 | ||
2013/02/14 | ||
2013/02/21 | ||
2013/02/28 | ||
2013/03/07 | ||
2013/03/14 | ||
2013/03/21 | ||
2013/03/28 | ||
2013/04/04 | ||
2013/04/11 | ||
2013/04/18 | ||
2013/04/25 | ||
2013/05/03 |
Fall 2012
2012/09/05 | Particle Video: Long-Range Motion Estimation Using Point Trajectories. IJCV 2008. | Paper. |
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2012/09/12 | A Combined Pose, Object, and Feature Model for Action Understanding. CVPR 2012. | Paper. |
2012/09/19 | Real-time human pose tracking from range data. | Preprint. |
2012/09/26 | A Generalization of the ICP Algorithm for Articulated Bodies. BMVC 2008. | Link. |
2012/10/03 | KinectFusion: Real-Time Dense Surface Mapping and Tracking. ISMAR 2011. | Link. |
2012/10/10 | Shape analysis of local facial patches of 3D facial expression recognition. | Link. |
2012/10/17 | A Naturalistic Open Source Movie for Optical Flow Evaluation. ECCV 2012. | Link to dataset. |
2012/10/24 | Same as 10/17. | |
2012/10/31 | Mining Actionlet Ensemble for Action Recognition with Depth Cameras. CVPR 2012. | Link. |
2012/11/07 | Progressive Graph Matching: Making a Move of Graphs via Probabilistic Voting. CVPR 2012. | Link. |
2012/11/14 | Geodesic Flow Kernel for Unsupervised Domain Adaptation. CVPR 2012. | Link. |
2012/11/21 | Tracking Multiple People under Global Appearance Constraints. ICCV 2011. | Link. Paper. |
2012/11/28 | A Review of Computer Vision Techniques for the Analysis of Urban Traffic. Trans. Intel. Trans. Sys. | Link. |
2012/12/05 | Background Inpainting for Scenes with Dynamic Objects and a Free-moving Camera. ECCV 2012. | Project page. |
Spring 2012
2012/04/25 | Using Cloud Shadows to Infer Scene Structure and Camera Calibration. CVPR 2010. | Paper, Oral from CVPR |
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2012/04/18 | Light Field Photography with a Hand-held Plenoptic Camera. Stanford Tech Report. | Paper |
2012/04/11 | Model-based 3D Tracking of an Articulated Hand | Paper |
2012/04/04 | Structure from motion for scenes with large duplicate structures. CVPR 2011. | Link |
2012/03/28 | Are Spatial and Global Constraints Really Necessary for Segmentation? CVPR 2011. | |
2012/03/21 | Efficient Subwindow Search: A Branch and Bound Framework for Object Localization. PAMI 2009. | |
2012/03/14 | Learning a Kernel Matrix for Nonlinear Dimensionality Reduction. ICML 2004 | |
2012/03/07 | ''From 3D Scene Geometry to Human Workspace." | |
2012/01/25 | Tired Scene Labeling with Dynamic Programming. CVPR 2010. | Link |
2012/01/18 | Relative Attributes. ICCV 2011. | Link |
Fall 2011
2011/12/07 | DTAM: Dense Tracking and Mapping in Real-Time. ICCV 2011. | Paper |
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2011/11/30 | Piecewise Planar City 3D Modeling from Street View Panoramic Sequences. CVPR 2009. | Paper |
2011/11/09 | Rendering Synthetic Objects into Legacy Photographs. SIGGRAPH Asia 2011. | Link |
2011/11/02 | Birdlets: Subordinate Categorization Using Volumetric Primitives and Pose-Normalized Appearance. ICCV 2011. | Paper |
2011/10/26 | Hyper-graph Matching via Reweighted Random Walks. CVPR 2011. | Paper |
2011/10/19 | Track to the Future: Spatio-temporal Video Segmentation with Long-range Motion Cues. CVPR 2011. | Link |
2011/10/12 | Ensemble of Exemplar-SVMs for Object Detection and Beyond | Link |
2011/10/05 | Parsing with Recursive Neural Networks | Link |
2011/09/28 | The evolution of object categorization and the challenge of image abstraction | Paper |
2011/09/21 | P-N Learning: Bootstrapping Binary Classifiers from Unlabeled Data by Structural Constraints. CVPR2010 | Paper. Website |
2011/09/14 | Recognition using Visual Phrases. CVPR11 | Paper Data |
2011/09/06 | Real-Time Human Pose Recognition in Parts from a Single Depth Image. CVPR2011 | Paper Website |
2011/08/31 | The Importance of Encoding Versus Training with Sparse Coding and Vector Quantization. ICML11 | Paper. |
Spring 2011
2011/04/21 | Where computer vision needs help from computer science. SODA11 | Paper. |
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2011/04/14 | Multibody Structure-from-Motion in Practice. PAMI2010 | Paper. |
2011/04/07 | Geometries on spaces of treelike shapes. ACCV2010 | Paper. |
2011/03/31 | Nonchronological Video Synopsis and Indexing. PAMI2008 | Paper. |
2011/03/24 | Efficient Piecewise Learning for Conditional Random Fields. CVPR2010 | Paper. |
2011/03/17 | Super-Resolution from a Single Image. ICCV2009 | Paper. |
2011/03/03 | Learning Active Basis Model for Object Detection and Recognition. IJCV2010 | Paper. |
2011/02/17 | Discriminative models for multi-class object layout. ICCV2009 | Paper. |
2011/02/10 | Unified Graph Matching in Euclidean Spaces. CVPR2010 | |
2011/02/03 | Free-Shape Subwindow Search for Object Localization. CVPR2010 | Paper. |
2011/01/27 | Spatiotemporal Closure. ACCV2010 | Paper. |
2011/01/20 | "Lattice Cut" - Constructing superpixels using layer constraints. CVPR2010 | DOI Link. |
Fall 2010
2010/12/09 | Latent Hierarchical Structural Learning for Object Detection. CVPR2010 | Link. |
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2010/12/02 | RASL: Robust Alignment by Sparse and Low-rank Decomposition for Linearly Correlated Images. CVPR2010 | Paper, Website |
2010/11/04 | Object Detection with Discriminatively Trained Part Based Models. PAMI2010 | Link. |
2010/10/28 | Object Segmentation by Long Term Analysis of Point Trajectories. ECCV2010 | Link. |
2010/10/21 | Supervised Dictionary Learning. NIPS2008 | Link. |
2010/10/14 | Linear Spatial Pyramid Matching using Sparse Coding for Image Classification. CVPR2009 | Link. |