Abstract:3D reconstruction is the computer vision task of reconstructing the 3D shape of an object from multiple 2D images. Most existing algorithms for this task are designed for offline settings, producing a single reconstruction from a batch of images taken from diverse viewpoints. Alongside reconstruction accuracy, additional considerations arise when 3D reconstructions are used in real-time processing pipelines for applications such as robot navigation or manipulation. In these cases, an accurate 3D reconstruction… Show more
“…On top of standard file operations (copy, move, rename, delete, match), DataCurator can operate on the content of images, tables (CSV), HDF5, six single molecule localization microscopy formats ( Cardoen, 2022 ), MAT, JSON, SQLite (file-based databases) and common mesh (geometry) formats and can be further extended to include new datatypes. While DataCurator examples currently focus on biomedical images, there are no technical restrictions to the kind of data it can process, with interfaces for processing files abstracted away to enable easy inclusion of new data type operations.…”
Large-scale processing of heterogeneous datasets in interdisciplinary research often requires time-consuming manual data curation. Ambiguity in the data layout and preprocessing conventions can easily compromise reproducibility and scientific discovery, and even when detected, it requires time and effort to be corrected by domain experts. Poor data curation can also interrupt processing jobs on large computing clusters, causing frustration and delays. We introduce DataCurator, a portable software package that verifies arbitrarily complex datasets of mixed formats, working equally well on clusters as on local systems. Human-readable TOML recipes are converted into executable machine-verifiable templates, enabling users to easily verify datasets using custom rules without writing code. Recipes can be used to transform and validate data, for pre- or post-processing, selection of data subsets, sampling, and aggregation, such as summary statistics. Processing pipelines no longer need to be burdened by laborious data validation, with data curation and validation replaced by human and machine verifiable recipes specifying rules and actions. Multithreaded execution ensures scalability on clusters, and existing Julia, R, and Python libraries can be reused. DataCurator enables efficient remote workflows, offering integration with Slack and the ability to transfer curated data to clusters using OwnCloud and SCP. Code available at: https://github.com/bencardoen/DataCurator.jl.
“…On top of standard file operations (copy, move, rename, delete, match), DataCurator can operate on the content of images, tables (CSV), HDF5, six single molecule localization microscopy formats ( Cardoen, 2022 ), MAT, JSON, SQLite (file-based databases) and common mesh (geometry) formats and can be further extended to include new datatypes. While DataCurator examples currently focus on biomedical images, there are no technical restrictions to the kind of data it can process, with interfaces for processing files abstracted away to enable easy inclusion of new data type operations.…”
Large-scale processing of heterogeneous datasets in interdisciplinary research often requires time-consuming manual data curation. Ambiguity in the data layout and preprocessing conventions can easily compromise reproducibility and scientific discovery, and even when detected, it requires time and effort to be corrected by domain experts. Poor data curation can also interrupt processing jobs on large computing clusters, causing frustration and delays. We introduce DataCurator, a portable software package that verifies arbitrarily complex datasets of mixed formats, working equally well on clusters as on local systems. Human-readable TOML recipes are converted into executable machine-verifiable templates, enabling users to easily verify datasets using custom rules without writing code. Recipes can be used to transform and validate data, for pre- or post-processing, selection of data subsets, sampling, and aggregation, such as summary statistics. Processing pipelines no longer need to be burdened by laborious data validation, with data curation and validation replaced by human and machine verifiable recipes specifying rules and actions. Multithreaded execution ensures scalability on clusters, and existing Julia, R, and Python libraries can be reused. DataCurator enables efficient remote workflows, offering integration with Slack and the ability to transfer curated data to clusters using OwnCloud and SCP. Code available at: https://github.com/bencardoen/DataCurator.jl.
In recent years, the integration of polarimetric imaging into robotic perception systems has increased significantly, driven by the accessibility of affordable polarimetric sensors. This technology complements traditional color imaging by capturing and analyzing the polarization characteristics of light. This additional information provides robots with valuable insights into object shape, material composition, and other properties, ultimately enabling more robust manipulation tasks. This review aims to provide a comprehensive analysis of the principles behind polarimetric imaging and its diverse applications within the field of robotic perception. By exploiting the polarization state of light, polarimetric imaging offers promising solutions to three key challenges in robot vision: Surface segmentation; depth estimation through polarization patterns; and 3D reconstruction using polarimetric data. This review emphasizes the practical value of polarimetric imaging in robotics by demonstrating its effectiveness in addressing real-world challenges. We then explore potential applications of this technology not only within the core robotics field but also in related areas. Through a comparative analysis, our goal is to elucidate the strengths and limitations of polarimetric imaging techniques. This analysis will contribute to a deeper understanding of its broad applicability across various domains within and beyond robotics.
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