Abraham R. Schneider

Jay M. Wong, Syler Wagner, Connor Lawson et al.

To enable autonomous robotic manipulation in unstructured environments, we present SegICP-DSR, a real- time, dense, semantic scene reconstruction and pose estimation algorithm that achieves mm-level pose accuracy and standard deviation (7.9 mm, σ=7.6 mm and 1.7 deg, σ=0.7 deg) and suc- cessfully identified the object pose in 97% of test cases. This represents a 29% increase in accuracy, and a 14% increase in success rate compared to SegICP in cluttered, unstruc- tured environments. The performance increase of SegICP-DSR arises from (1) improved deep semantic segmentation under adversarial training, (2) precise automated calibration of the camera intrinsic and extrinsic parameters, (3) viewpoint specific ray-casting of the model geometry, and (4) dense semantic ElasticFusion point clouds for registration. We benchmark the performance of SegICP-DSR on thousands of pose-annotated video frames and demonstrate its accuracy and efficacy on two tight tolerance grasping and insertion tasks using a KUKA LBR iiwa robotic arm.

Lev E. Givon, Laura J. Mariano, David O'Dowd et al.

Accurate diagnosis of Alzheimer's Disease (AD) entails clinical evaluation of multiple cognition metrics and biomarkers. Metrics such as the Alzheimer's Disease Assessment Scale - Cognitive test (ADAS-cog) comprise multiple subscores that quantify different aspects of a patient's cognitive state such as learning, memory, and language production/comprehension. Although computer-aided diagnostic techniques for classification of a patient's current disease state exist, they provide little insight into the relationship between changes in brain structure and different aspects of a patient's cognitive state that occur over time in AD. We have developed a Convolutional Neural Network architecture that can concurrently predict the trajectories of the 13 subscores comprised by a subject's ADAS-cog examination results from a current minimally preprocessed structural MRI scan up to 36 months from image acquisition time without resorting to manual feature extraction. Mean performance metrics are within range of those of existing techniques that require manual feature selection and are limited to predicting aggregate scores.

Jay M. Wong, Vincent Kee, Tiffany Le et al.

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed and robustness, we present SegICP, a novel integrated solution to object recognition and pose estimation. SegICP couples convolutional neural networks and multi-hypothesis point cloud registration to achieve both robust pixel-wise semantic segmentation as well as accurate and real-time 6-DOF pose estimation for relevant objects. Our architecture achieves 1cm position error and <5^\circ$ angle error in real time without an initial seed. We evaluate and benchmark SegICP against an annotated dataset generated by motion capture.