Pose Manipulation with Identity Preservation

Manipulation of Pose Distributions

For assembly tasks parts often have to be oriented before they can be put in an assembly. The results presented in this paper are a component of the automated design of parts orienting devices. The focus is on orienting parts with minimal sensing and manipulation. We present a new approach to parts orienting through the manipulation of pose distributions. Through dynamic simulation we can deter...

Speech compression with preservation of speaker identity

Although much e ort has been directed recently towards speech compression at rates below 4 kb/s, the primary metric for comparison has, understandably, been the amount of spectral distortion in the decompressed speech. However, an aspect which is becoming important in some applications is the ability to identify the original speaker from the coded speech algorithmically. We investigate here the...

Pose estimation for planar contact manipulation with manifold particle filters

We investigate the problem of using contact sensors to estimate the pose of an object during planar pushing by a fixed-shape hand. Contact sensors are unique because they inherently discriminate between “contact” and “no-contact” configurations. As a result, the set of object configurations that activates a sensor constitutes a lower-dimensional contact manifold in the configuration space of th...

Michael Erdmann Manipulation of Pose Distributions

For assembly tasks parts often have to be oriented before they can be put in an assembly. The results presented in this paper are a component of the automated design of parts orienting devices. The focus is on orienting parts with minimal sensing and manipulation. We present a new approach to parts orienting through the manipulation of pose distributions. Through dynamic simulation we can deter...

Regional Identity Preservation Using the Internet