We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task. The goal is to explore reducing the complexity of CAD-like interfaces so that novice users can quickly recover an object's shape and describe a manipulation task that is then carried out by a robot. The object modeling and interaction annotation capabilities are tested with a user study and compared against results obtained using existing approaches. The approach has been analyzed using a variety of shape comparison, grasping, and manipulation metrics, and tested with the PR2 robot platform, where it was shown to be successful.
In the work of @cite_121 , a is extracted from 3D object meshes and later used to deform them by performing simple modifications of the underlying proxy. This approach highlights the power of simplified representations for object analysis and modification. The work of @cite_108 shows the use of these simple sweep-based proxies to fit 2D sketches and transform them to 3D objects.
@cite_121 @cite_108
2136836996 2137808436
Skeletons provide a synthetic and thin representation of objects. Therefore, they are useful for shape description. Recent papers have proposed to approximate the skeleton of continuous shapes using the Voronoi graph of boundary points. An original formulation is presented here, using the notion of polyballs (we call polyball any finite union of balls). A preliminary work shows that their skeletons consist of simple components (line segments in 2D and polygons in 3D). An efficient method for simplifying 3D continuous skeletons is also presented. The originality of our approach consists in simplifying the shape without modifying its topology and in including these modifications on the skeleton. Depending on the desired result, we propose two strategies which lead to either surfacical skeletons or wireframe skeletons. Two angular criteria are proposed that allow us to build a size-invariant hierarchy of simplified skeletons. Minimalist object representations or shape-proxies that spark and inspire human perception of shape remain an incompletely understood, yet powerful aspect of visual communication. We explore the use of planar sections, i.e., the contours of intersection of planes with a 3D object, for creating shape abstractions, motivated by their popularity in art and engineering. We first perform a user study to show that humans do define consistent and similar planar section proxies for common objects. Interestingly, we observe a strong correlation between user-defined planes and geometric features of objects. Further we show that the problem of finding the minimum set of planes that capture a set of 3D geometric shape features is both NP-hard and not always the proxy a user would pick. Guided by the principles inferred from our user study, we present an algorithm that progressively selects planes to maximize feature coverage, which in turn influence the selection of subsequent planes. The algorithmic framework easily incorporates various shape features, while their relative importance values are computed and validated from the user study data. We use our algorithm to compute planar slices for various objects, validate their utility towards object abstraction using a second user study, and conclude showing the potential applications of the extracted planar slice shape proxies.