Nuno Pereira

Nuno Pereira, Luís A. Alexandre

MaskedFusion is a framework to estimate the 6D pose of objects using RGB-D data, with an architecture that leverages multiple sub-tasks in a pipeline to achieve accurate 6D poses. 6D pose estimation is an open challenge due to complex world objects and many possible problems when capturing data from the real world, e.g., occlusions, truncations, and noise in the data. Achieving accurate 6D poses will improve results in other open problems like robot grasping or positioning objects in augmented reality. MaskedFusion improves the state-of-the-art by using object masks to eliminate non-relevant data. With the inclusion of the masks on the neural network that estimates the 6D pose of an object we also have features that represent the object shape. MaskedFusion is a modular pipeline where each sub-task can have different methods that achieve the objective. MaskedFusion achieved 97.3% on average using the ADD metric on the LineMOD dataset and 93.3% using the ADD-S AUC metric on YCB-Video Dataset, which is an improvement, compared to the state-of-the-art methods. The code is available on GitHub (https://github.com/kroglice/MaskedFusion).

Tianshu Huang, Arjun Ramesh, Emily Ruppel et al.

Accurately estimating workload runtime is a longstanding goal in computer systems, and plays a key role in efficient resource provisioning, latency minimization, and various other system management tasks. Runtime prediction is particularly important for managing increasingly complex distributed systems in which more sophisticated processing is pushed to the edge in search of better latency. Previous approaches for runtime prediction in edge systems suffer from poor data efficiency or require intensive instrumentation; these challenges are compounded in heterogeneous edge computing environments, where historical runtime data may be sparsely available and instrumentation is often challenging. Moreover, edge computing environments often feature multi-tenancy due to limited resources at the network edge, potentially leading to interference between workloads and further complicating the runtime prediction problem. Drawing from insights across machine learning and computer systems, we design a matrix factorization-inspired method that generates accurate interference-aware predictions with tight provably-guaranteed uncertainty bounds. We validate our method on a novel WebAssembly runtime dataset collected from 24 unique devices, achieving a prediction error of 5.2% -- 2x better than a naive application of existing methods.

Nuno Pereira, Luís A. Alexandre

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be used in real-time. Our method uses RGB-D data as input to segment objects and estimate their pose. It uses a neural network with multiple heads to identify the objects in the scene, generate the appropriate masks and estimate the values of the translation vectors and the quaternion that represents the objects' rotation. These heads leverage a pyramid architecture used during feature extraction and feature fusion. We conduct an empirical evaluation using the two most common datasets in the area, and compare against state-of-the-art approaches, illustrating the capabilities of MPF6D. Our method can be used in real-time with its low inference time and high accuracy.

Vasco Lopes, Luís A. Alexandre, Nuno Pereira

Blockchain is a disruptive technology that is normally used within financial applications, however it can be very beneficial also in certain robotic contexts, such as when an immutable register of events is required. Among the several properties of Blockchain that can be useful within robotic environments, we find not just immutability but also decentralization of the data, irreversibility, accessibility and non-repudiation. In this paper, we propose an architecture that uses blockchain as a ledger and smart-contract technology for robotic control by using external parties, Oracles, to process data. We show how to register events in a secure way, how it is possible to use smart-contracts to control robots and how to interface with external Artificial Intelligence algorithms for image analysis. The proposed architecture is modular and can be used in multiple contexts such as in manufacturing, network control, robot control, and others, since it is easy to integrate, adapt, maintain and extend to new domains.