Carnegie Mellon University
Vision with Small Baselines
Zoom Link Abstract: 3D sensing with portable imaging systems is becoming more and more popular in computer vision applications such as autonomous driving, virtual reality, robotics manipulation and surveillance, due to the decreasing expense and size of RGB cameras. Despite the compactness and portability of the small baseline vision systems, it is well-known that the [...]
Carnegie Mellon University
Provably Constant-time Motion Planning
Zoom Link Abstract: In manufacturing and warehouse scenarios, robots often perform recurring manipulation tasks in structured environments. Fast and reliable motion planning is one of the key elements that ensure efficient operations in such environments. A very common example scenario is of manipulators working at conveyor belts, where they have limited time to pick moving [...]
Carnegie Mellon University
Humans In Their Natural Habitat: Training AI to Understand People
Zoom Link Abstract: Computer vision has a great potential to help our daily lives by searching for lost keys, watering flowers or reminding us to take a pill. To succeed with such tasks, computer vision methods need to be trained from real and diverse examples of our daily dynamic scenes. First, we need to give [...]
Task-specific Vision DNN Models and Their Relation for Explaining Different Areas of the Visual Cortex
Virtual VASC Seminar: https://cmu.zoom.us/j/249106600 Abstract: Deep Neural Networks (DNNs) are state-of-the-art models for many vision tasks. We propose an approach to assess the relationship between visual tasks and their task-specific models. Our method uses Representation Similarity Analysis (RSA), which is commonly used to find a correlation between neuronal responses from brain data and models. [...]
Carnegie Mellon University
A Theory of Fermat Paths for Non-line-of-sight Shape Reconstruction
Zoom Link Abstract: Traditionally, computer vision systems and algorithms, such as stereo vision, and shape from shading, have been developed to mimic human vision. As a consequence, a lot of these systems operate under constraints that we take for granted in human vision. An example of such a constraint is that the scene of interest [...]
Learning Contextual Actions for Heuristic Search-Based Motion Planning
Zoom Link Abstract: Heuristic search-based motion planning can be computationally costly in large state and action spaces. In this work we explore the use of generative models to learn contextual actions for successor generation in heuristic search. We focus on cases where the robot operates in similar environments, i.e. environments drawn from some underlying distribution. [...]
End-to-end Generative 3D Human Shape and Pose Models and Active Human Sensing
Virtual VASC Seminar: https://cmu.zoom.us/j/249106600 Title: End-to-end Generative 3D Human Shape and Pose Models and Active Human Sensing Abstract: I will review some of our recent work in 3d human modeling, synthesis, and active vision. I will present our new, end-to-end trainable nonlinear statistical 3d human shape and pose models of different resolutions (GHUM and GHUMLite) as [...]
Carnegie Mellon University
Safe and Resilient Multi-Robot Systems: Heterogeneity and Human Presence
Zoom Link Abstract: In the mission of a multi-robot team, the large number of robots behave like a system that relies on networking to enable smooth information propagation and inter-robot interaction as the mission evolves in a collective fashion. Key to the success of mission operation demands for safe and reliable robot interactions within the [...]
Carnegie Mellon University
Michael Tatum – MSR Thesis Talk
Archived Zoom Video Password: 1u%i4YO% Title: Communications Coverage in Unknown Underground Environments Abstract:In field robotics, maintaining communications between the user at a stationary basestation and all deployed robots is essential. This task's difficulty increases when the test environment is underground and the environment is unknown to the operator and robots. A common approach [...]