Methods for Real-Time Bin-Picking Using 2D Vision Computer vision has proved to be a valuable asset in robot automated applications. One such application is known as bin-picking, in which a robot is used to automatically pick up a number of items from a container. In some cases these “bins” contain overlapping items or even unsorted heaps. In this paper two methods are presented that use only 2...

We present a generalization of independent component analysis (ICA), where instead of looking for a linear transform that makes the data components independent, we look for a transform that makes the data components well fit by a tree-structured graphical model. This tree-dependent component analysis (TCA) provides a tractable and flexible approach to weakening the assumption of independence in...

Influence diagrams are a directed network representation for decision making under uncertainty. The nodes in the diagram represent uncertain and decision variables, and the arcs indicate probabilistic dependence and observability. This paper examines the graphical orderings underlying the influence diagram and the primitive interchange operations that can reorder the network. These operations a...

We propose an independence criterion based on the eigenspectrum of covariance operators in reproducing kernel Hilbert spaces (RKHSs), consisting of an empirical estimate of the Hilbert-Schmidt norm of the cross-covariance operator (we term this a Hilbert-Schmidt Independence Criterion, or HSIC). This approach has several advantages, compared with previous kernel-based independence criteria. Fir...