text: 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.
  @cite_86: Images are static and lack important depth information about the underlying 3D scenes. We introduce interactive images in the context of man-made environments wherein objects are simple and regular, share various non-local relations (e.g., coplanarity, parallelism, etc.), and are often repeated. Our interactive framework creates partial scene reconstructions based on cuboid-proxies with minimal user interaction. It subsequently allows a range of intuitive image edits mimicking real-world behavior, which are otherwise difficult to achieve. Effectively, the user simply provides high-level semantic hints, while our system ensures plausible operations by conforming to the extracted non-local relations. We demonstrate our system on a range of real-world images and validate the plausibility of the results using a user study.
  @cite_40: We introduce an interactive tool which enables a user to quickly assemble an architectural model directly over a 3D point cloud acquired from large-scale scanning of an urban scene. The user loosely defines and manipulates simple building blocks, which we call SmartBoxes, over the point samples. These boxes quickly snap to their proper locations to conform to common architectural structures. The key idea is that the building blocks are smart in the sense that their locations and sizes are automatically adjusted on-the-fly to fit well to the point data, while at the same time respecting contextual relations with nearby similar blocks. SmartBoxes are assembled through a discrete optimization to balance between two snapping forces defined respectively by a data-fitting term and a contextual term, which together assist the user in reconstructing the architectural model from a sparse and noisy point cloud. We show that a combination of the user's interactive guidance and high-level knowledge about the semantics of the underlying model, together with the snapping forces, allows the reconstruction of structures which are partially or even completely missing from the input.
  @cite_52: Recent advances of 3D acquisition devices have enabled large-scale acquisition of 3D scene data. Such data, if completely and well annotated, can serve as useful ingredients for a wide spectrum of computer vision and graphics works such as data-driven modeling and scene understanding, object detection and recognition. However, annotating a vast amount of 3D scene data remains challenging due to the lack of an effective tool and or the complexity of 3D scenes (e.g., clutter, varying illumination conditions). This paper aims to build a robust annotation tool that effectively and conveniently enables the segmentation and annotation of massive 3D data. Our tool works by coupling 2D and 3D information via an interactive framework, through which users can provide high-level semantic annotation for objects. We have experimented our tool and found that a typical indoor scene could be well segmented and annotated in less than 30 minutes by using the tool, as opposed to a few hours if done manually. Along with the tool, we created a dataset of over a hundred 3D scenes associated with complete annotations using our tool. Both the tool and dataset are available at http: scenenn.net .
  @cite_89: We introduce an interactive technique for manipulating simple 3D shapes based on extracting them from a single photograph. Such extraction requires understanding of the components of the shape, their projections, and relations. These simple cognitive tasks for humans are particularly difficult for automatic algorithms. Thus, our approach combines the cognitive abilities of humans with the computational accuracy of the machine to solve this problem. Our technique provides the user the means to quickly create editable 3D parts---human assistance implicitly segments a complex object into its components, and positions them in space. In our interface, three strokes are used to generate a 3D component that snaps to the shape's outline in the photograph, where each stroke defines one dimension of the component. The computer reshapes the component to fit the image of the object in the photograph as well as to satisfy various inferred geometric constraints imposed by its global 3D structure. We show that with this intelligent interactive modeling tool, the daunting task of object extraction is made simple. Once the 3D object has been extracted, it can be quickly edited and placed back into photos or 3D scenes, permitting object-driven photo editing tasks which are impossible to perform in image-space. We show several examples and present a user study illustrating the usefulness of our technique.
summary: One important distinction between methods is the form these annotations take. In @cite_52 @cite_89 simple lines and sketches are interpreted as instructions and combined with the section of the images they are used on. The results are either 3D models of the 2D-segmented shapes, or a segmented 3D space, where each part of the scene may be labeled with the object categories. Another typical objective is the creation of new object models from existing ones. One approach is to deform them into new shapes. In the work of @cite_40 @cite_86 , cuboid proxies are used to guide shape deformations.