Elham Amin Mansour

Mingyang Song, Yang Zhang, Tunç O. Aydın et al.

Noise synthesis is a challenging low-level vision task aiming to generate realistic noise given a clean image along with the camera settings. To this end, we propose an effective generative model which utilizes clean features as guidance followed by noise injections into the network. Specifically, our generator follows a UNet-like structure with skip connections but without downsampling and upsampling layers. Firstly, we extract deep features from a clean image as the guidance and concatenate a Gaussian noise map to the transition point between the encoder and decoder as the noise source. Secondly, we propose noise synthesis blocks in the decoder in each of which we inject Gaussian noise to model the noise characteristics. Thirdly, we propose to utilize an additional Style Loss and demonstrate that this allows better noise characteristics supervision in the generator. Through a number of new experiments, we evaluate the temporal variance and the spatial correlation of the generated noise which we hope can provide meaningful insights for future works. Finally, we show that our proposed approach outperforms existing methods for synthesizing camera noise.

Elham Amin Mansour, Hehui Zheng, Robert K. Katzschmann

The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect occluded point clouds at a rate of 30Hz, this does not represent a continuously trackable object surface. Hence, in this work, we developed a method that takes as input a template mesh which is the mesh of an object in its non-deformed state and a deformed point cloud of the same object, and then shapes the template mesh such that it matches the deformed point cloud. The reconstruction of meshes from point clouds has long been studied in the field of Computer graphics under 3D reconstruction and 4D reconstruction, however, both lack the speed and generalizability needed for robotics applications. Our model is designed using a point cloud auto-encoder and a Real-NVP architecture. Our trained model can perform mesh reconstruction and tracking at a rate of 58Hz on a template mesh of 3000 vertices and a deformed point cloud of 5000 points and is generalizable to the deformations of six different object categories which are assumed to be made of soft material in our experiments (scissors, hammer, foam brick, cleanser bottle, orange, and dice). The object meshes are taken from the YCB benchmark dataset. An instance of a downstream application can be the control algorithm for a robotic hand that requires online feedback from the state of the manipulated object which would allow online grasp adaptation in a closed-loop manner. Furthermore, the tracking capacity of our method can help in the system identification of deforming objects in a marker-free approach. In future work, we will extend our trained model to generalize beyond six object categories and additionally to real-world deforming point clouds.

Elham Amin Mansour, Ozan Unal, Suman Saha et al.

The increasing relevance of panoptic segmentation is tied to the advancements in autonomous driving and AR/VR applications. However, the deployment of such models has been limited due to the expensive nature of dense data annotation, giving rise to unsupervised domain adaptation (UDA). A key challenge in panoptic UDA is reducing the domain gap between a labeled source and an unlabeled target domain while harmonizing the subtasks of semantic and instance segmentation to limit catastrophic interference. While considerable progress has been achieved, existing approaches mainly focus on the adaptation of semantic segmentation. In this work, we focus on incorporating instance-level adaptation via a novel instance-aware cross-domain mixing strategy IMix. IMix significantly enhances the panoptic quality by improving instance segmentation performance. Specifically, we propose inserting high-confidence predicted instances from the target domain onto source images, retaining the exhaustiveness of the resulting pseudo-labels while reducing the injected confirmation bias. Nevertheless, such an enhancement comes at the cost of degraded semantic performance, attributed to catastrophic forgetting. To mitigate this issue, we regularize our semantic branch by employing CLIP-based domain alignment (CDA), exploiting the domain-robustness of natural language prompts. Finally, we present an end-to-end model incorporating these two mechanisms called LIDAPS, achieving state-of-the-art results on all popular panoptic UDA benchmarks.