3D models of humans are commonly used within computer graphics and vision, and so the ability to distinguish between body shapes is an important shape retrieval problem. We extend our recent paper which provided a benchmark for testing non-rigid 3D shape retrieval algorithms on 3D human models. This benchmark provided a far stricter challenge than previous shape benchmarks. We

This paper presents a novel 3DOF pedestrian trajectory prediction approach for autonomous mobile service robots. While most previously reported methods are based on learning of 2D positions in monocular camera images, our approach uses range-finder sensors to learn and predict 3DOF pose trajectories (i.e. 2D position plus 1D rotation within the world coordinate system). Our approach, T-Pose-LSTM (Temporal 3DOF-Pose Long-Short-Term Memory), is trained using long-term data from real-world robot deployments and aims to learn context-dependent (environment-and timespecific) human activities. Our approach incorporates long-term temporal information (i.e. date and time) with short-term pose observations as input. A sequence-to-sequence LSTM encoderdecoder is trained, which encodes observations into LSTM and then decodes as predictions. For deployment, it can perform on-the-fly prediction in real-time. Instead of using manually annotated data, we rely on a robust human detection, tracking and SLAM system, providing us with examples in a global coordinate system. We validate the approach using more than 15K pedestrian trajectories recorded in a care home environment over a period of three months. The experiment shows that the proposed T-Pose-LSTM model advances the state-of-the-art 2D-based method for human trajectory prediction in long-term mobile robot deployments.

In this letter, we study an unmanned aerial vehicle (UAV)-mounted mobile edge computing network, where the UAV executes computational tasks offloaded from mobile terminal users (TUs) and the motion of each TU follows a Gauss-Markov random model. To ensure the quality-of-service (QoS) of each TU, the UAV with limited energy dynamically plans its trajectory according to the locations of mobile TUs. Towards this end, we formulate the problem as a Markov decision process, wherein the UAV trajectory and UAV-TU association are modeled as the parameters to be optimized. To maximize the system reward and meet the QoS constraint, we develop a QoS-based action selection policy in the proposed algorithm based on double deep Q-network. Simulations show that the proposed algorithm converges more quickly and achieves a higher sum throughput than conventional algorithms.

Abstract-We present a visually guided, dual-arm, industrial robot system that is capable of autonomously flattening garments by means of a novel visual perception pipeline that fully interprets high-quality RGB-D images of the clothing scene based on an active stereo robot head. A segmented clothing range map is B-Spline smoothed prior to being parsed by means of shape and topology into 'wrinkle' structures. The wrinkle length, width and height are used to quantify the topology of wrinkles and thereby rank the size of wrinkles such that a greedy algorithm can identify the largest wrinkle present. A flattening plan optimised for this specific wrinkle is formulated based on dual-arm manipulation. Validation of the reported autonomous flattening behaviour has been undertaken and has demonstrated that dual-arm flattening requires significantly fewer manipulation iterations than single-arm flattening. The experimental results also revel that the flattening process is heavily influenced by the quality of the RGB-D sensor, use of a custom off-the-shelf high-resolution stereo-based sensor system outperforming a commercial low-resolution kinect-like camera in terms of required flattening iterations.

This paper presents a useful technique for totally automatic detection of myocardial infarction from patients' ECGs. Due to the large number of heartbeats constituting an ECG and the high cost of having all the heartbeats manually labeled, supervised learning techniques have achieved limited success in ECG classification. In this paper, we first discuss the rationale for applying multiple instance learning (MIL) to automated ECG classification and then propose a new MIL strategy called latent topic MIL, by which ECGs are mapped into a topic space defined by a number of topics identified over all the unlabeled training heartbeats and support vector machine is directly applied to the ECG-level topic vectors. Our experimental results on real ECG datasets from the PTB diagnostic database demonstrate that, compared with existing MIL and supervised learning algorithms, the proposed algorithm is able to automatically detect ECGs with myocardial ischemia without labeling any heartbeats. Moreover, it improves classification quality in terms of both sensitivity and specificity.

Abstract-This paper proposes a single-shot approach for recognising clothing categories from 2.5D features. We propose two visual features, BSP (B-Spline Patch) and TSD (Topology Spatial Distances) for this task. The local BSP features are encoded by LLC (Locality-constrained Linear Coding) and fused with three different global features. Our visual feature is robust to deformable shapes and our approach is able to recognise the category of unknown clothing in unconstrained and random configurations. We integrated the category recognition pipeline with a stereo vision system, clothing instance detection, and dual-arm manipulators to achieve an autonomous sorting system. To verify the performance of our proposed method, we build a high-resolution RGBD clothing dataset of 50 clothing items of 5 categories sampled in random configurations (a total of 2,100 clothing samples). Experimental results show that our approach is able to reach 83.2% accuracy while classifying clothing items which were previously unseen during training. This advances beyond the previous state-of-the-art by 36.2%. Finally, we evaluate the proposed approach in an autonomous robot sorting system, in which the robot recognises a clothing item from an unconstrained pile, grasps it, and sorts it into a box according to its category. Our proposed sorting system achieves reasonable sorting success rates with single-shot perception.

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This paper presents a novel semantic mapping approach, Recurrent-OctoMap, learned from long-term 3D Lidar data. Most existing semantic mapping approaches focus on improving semantic understanding of single frames, rather than 3D refinement of semantic maps (i.e. fusing semantic observations). The most widely-used approach for 3D semantic map refinement is a Bayes update, which fuses the consecutive predictive probabilities following a Markov-Chain model. Instead, we propose a learning approach to fuse the semantic features, rather than simply fusing predictions from a classifier. In our approach, we represent and maintain our 3D map as an OctoMap, and model each cell as a recurrent neural network (RNN), to obtain a Recurrent-OctoMap. In this case, the semantic mapping process can be formulated as a sequenceto-sequence encoding-decoding problem. Moreover, in order to extend the duration of observations in our Recurrent-OctoMap, we developed a robust 3D localization and mapping system for successively mapping a dynamic environment using more than two weeks of data, and the system can be trained and deployed with arbitrary memory length. We validate our approach on the ETH long-term 3D Lidar dataset [1]. The experimental results show that our proposed approach outperforms the conventional "Bayes update" approach.