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2016


A New Perspective and Extension of the Gaussian Filter
A New Perspective and Extension of the Gaussian Filter

Wüthrich, M., Trimpe, S., Garcia Cifuentes, C., Kappler, D., Schaal, S.

The International Journal of Robotics Research, 35(14):1731-1749, December 2016 (article)

Abstract
The Gaussian Filter (GF) is one of the most widely used filtering algorithms; instances are the Extended Kalman Filter, the Unscented Kalman Filter and the Divided Difference Filter. The GF represents the belief of the current state by a Gaussian distribution, whose mean is an affine function of the measurement. We show that this representation can be too restrictive to accurately capture the dependences in systems with nonlinear observation models, and we investigate how the GF can be generalized to alleviate this problem. To this end, we view the GF as the solution to a constrained optimization problem. From this new perspective, the GF is seen as a special case of a much broader class of filters, obtained by relaxing the constraint on the form of the approximate posterior. On this basis, we outline some conditions which potential generalizations have to satisfy in order to maintain the computational efficiency of the GF. We propose one concrete generalization which corresponds to the standard GF using a pseudo measurement instead of the actual measurement. Extending an existing GF implementation in this manner is trivial. Nevertheless, we show that this small change can have a major impact on the estimation accuracy.

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PDF DOI Project Page [BibTex]

2016


PDF DOI Project Page [BibTex]


Creating body shapes from verbal descriptions by linking similarity spaces
Creating body shapes from verbal descriptions by linking similarity spaces

Hill, M. Q., Streuber, S., Hahn, C. A., Black, M. J., O’Toole, A. J.

Psychological Science, 27(11):1486-1497, November 2016, (article)

Abstract
Brief verbal descriptions of bodies (e.g. curvy, long-legged) can elicit vivid mental images. The ease with which we create these mental images belies the complexity of three-dimensional body shapes. We explored the relationship between body shapes and body descriptions and show that a small number of words can be used to generate categorically accurate representations of three-dimensional bodies. The dimensions of body shape variation that emerged in a language-based similarity space were related to major dimensions of variation computed directly from three-dimensional laser scans of 2094 bodies. This allowed us to generate three-dimensional models of people in the shape space using only their coordinates on analogous dimensions in the language-based description space. Human descriptions of photographed bodies and their corresponding models matched closely. The natural mapping between the spaces illustrates the role of language as a concise code for body shape, capturing perceptually salient global and local body features.

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pdf [BibTex]

pdf [BibTex]


{Body Talk}: Crowdshaping Realistic {3D} Avatars with Words
Body Talk: Crowdshaping Realistic 3D Avatars with Words

Streuber, S., Quiros-Ramirez, M. A., Hill, M. Q., Hahn, C. A., Zuffi, S., O’Toole, A., Black, M. J.

ACM Trans. Graph. (Proc. SIGGRAPH), 35(4):54:1-54:14, July 2016 (article)

Abstract
Realistic, metrically accurate, 3D human avatars are useful for games, shopping, virtual reality, and health applications. Such avatars are not in wide use because solutions for creating them from high-end scanners, low-cost range cameras, and tailoring measurements all have limitations. Here we propose a simple solution and show that it is surprisingly accurate. We use crowdsourcing to generate attribute ratings of 3D body shapes corresponding to standard linguistic descriptions of 3D shape. We then learn a linear function relating these ratings to 3D human shape parameters. Given an image of a new body, we again turn to the crowd for ratings of the body shape. The collection of linguistic ratings of a photograph provides remarkably strong constraints on the metric 3D shape. We call the process crowdshaping and show that our Body Talk system produces shapes that are perceptually indistinguishable from bodies created from high-resolution scans and that the metric accuracy is sufficient for many tasks. This makes body “scanning” practical without a scanner, opening up new applications including database search, visualization, and extracting avatars from books.

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pdf web tool video talk (ppt) [BibTex]

pdf web tool video talk (ppt) [BibTex]


Capturing Hands in Action using Discriminative Salient Points and Physics Simulation
Capturing Hands in Action using Discriminative Salient Points and Physics Simulation

Tzionas, D., Ballan, L., Srikantha, A., Aponte, P., Pollefeys, M., Gall, J.

International Journal of Computer Vision (IJCV), 118(2):172-193, June 2016 (article)

Abstract
Hand motion capture is a popular research field, recently gaining more attention due to the ubiquity of RGB-D sensors. However, even most recent approaches focus on the case of a single isolated hand. In this work, we focus on hands that interact with other hands or objects and present a framework that successfully captures motion in such interaction scenarios for both rigid and articulated objects. Our framework combines a generative model with discriminatively trained salient points to achieve a low tracking error and with collision detection and physics simulation to achieve physically plausible estimates even in case of occlusions and missing visual data. Since all components are unified in a single objective function which is almost everywhere differentiable, it can be optimized with standard optimization techniques. Our approach works for monocular RGB-D sequences as well as setups with multiple synchronized RGB cameras. For a qualitative and quantitative evaluation, we captured 29 sequences with a large variety of interactions and up to 150 degrees of freedom.

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Website pdf link (url) DOI Project Page [BibTex]

Website pdf link (url) DOI Project Page [BibTex]


Human Pose Estimation from Video and IMUs
Human Pose Estimation from Video and IMUs

Marcard, T. V., Pons-Moll, G., Rosenhahn, B.

Transactions on Pattern Analysis and Machine Intelligence PAMI, 38(8):1533-1547, January 2016 (article)

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data pdf dataset_documentation [BibTex]

data pdf dataset_documentation [BibTex]


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Probabilistic Inference for Determining Options in Reinforcement Learning

Daniel, C., van Hoof, H., Peters, J., Neumann, G.

Machine Learning, Special Issue, 104(2):337-357, (Editors: Gärtner, T., Nanni, M., Passerini, A. and Robardet, C.), European Conference on Machine Learning im Machine Learning, Journal Track, 2016, Best Student Paper Award of ECML-PKDD 2016 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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Self-diffusiophoresis of chemically active colloids

Popescu, M. N., Uspal, W. E., Dietrich, S.

The European Physical Journal Special Topics, 225(11-12):2189-2206, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Perpetual superhydrophobicity

Giacomello, A., Schimmele, L., Dietrich, S., Tasinkevych, M.

Soft Matter, 12, pages: 8927-8934, Royal Society of Chemistry, Cambridge, UK, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Molecular dynamics simulation of a binary mixture near the lower critical point

Pousaneh, F., Edholm, O., Maciolek, A.

The Journal of Chemical Physics, 145(1), American Institute of Physics, Woodbury, N.Y., 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Effective Interaction between Active Colloids and Fluid Interfaces Induced by Marangoni Flows

Dom\’\inguez, A., Malgaretti, P., Popescu, M. N., Dietrich, S.

Physical Review Letters, 116, American Physical Society, Woodbury, N.Y., 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Dynamics of Novel Photoactive AgCl Microstars and Their Environmental Applications

Simmchen, J., Baeza, A., Miguel-Lopez, A., Stanton, M. M., Vallet-Regi, M., Ruiz-Molina, D., Sánchez, S.

ChemNanoMat, 3(1):65-71, Wiley, Weinheim, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Wetting hysteresis induced by nanodefects

Giacomello, A., Schimmele, L., Dietrich, S.

Proceedings of the National Academy of Sciences of the United States of America, 113(3):E262-E271, National Academy of Sciences, Washington, D.C., 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Three-phase contact line and line tension of electrolyte solutions in contact with charged substrates

Ibagon, I., Bier, M., Dietrich, S.

Journal of Physics: Condensed Matter, 28(24), IOP Publishing, Bristol, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Smart biosensors for multiplexed and fully integrated point-of-care diagnostics

Romeo, A., Leung, T. S., Sanchez, S.

Lab on a Chip, 16(11):1957-1961, Royal Society of Chemistry, Cambridge, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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The sequential activation of the mitotic microtubule assembly pathways favors bipolar spindle formation

Cavazza, T., Malgaretti, P., Vernos, I.

Molecular Biology of the Cell, 27(19):2935-2945, American Society for Cell Biology, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Entropically induced asymmetric passage times of charged tracers across corrugated channels

Malgaretti, P., Pagonabarraga, I., Rubi, J. M.

The Journal of Chemical Physics, 144(3), American Institute of Physics, Woodbury, N.Y., 2016 (article)

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DOI [BibTex]

DOI [BibTex]


Shape estimation of subcutaneous adipose tissue using an articulated statistical shape model
Shape estimation of subcutaneous adipose tissue using an articulated statistical shape model

Yeo, S. Y., Romero, J., Loper, M., Machann, J., Black, M.

Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization, 0(0):1-8, 2016 (article)

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publisher website preprint pdf link (url) DOI Project Page [BibTex]

publisher website preprint pdf link (url) DOI Project Page [BibTex]


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Topographical pathways guide chemical microswimmers

Simmchen, J., Katuri, J., Uspal, W., Popescu, M. N., Tasinkevych, M., Sanchez, S.

Nature Communications, 7, Nature Publishing Group, London, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Fluctuational electrodynamics for nonlinear media

Soo, H., Krüger, M.

EPL, 115(4), EDP Science, Les-Ulis, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Poisson-Boltzmann study of the effective electrostatic interaction between colloids at an electrolyte interface

Majee, A., Bier, M., Dietrich, S.

The Journal of Chemical Physics, 145(6), American Institute of Physics, Woodbury, N.Y., 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Bubble-Free Propulsion of Ultrasmall Tubular Nanojets Powered by Biocatalytic Reactions

Ma, X., Hortelao, A. C., Miquel-Lopez, A., Sanchez, S.

Journal of the American Chemical Society, 138(42):13782-13785, American Chemical Society, Washington, DC, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Wetting and orientation of catalytic Janus colloids at the surface of water

Wang, X., In, M., Blanc, C., Malgaretti, P., Nobilia, M., Stocco, A.

Faraday Discussions, 191, pages: 305-324, Royal Society of Chemistry, London, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Collective dynamics of chemically active particles trapped at a fluid interface

Dom\’\inguez, A., Malgaretti, P., Popescu, M. N., Dietrich, S.

Soft Matter, 12(40):8398-8406, Royal Society of Chemistry, Cambridge, UK, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Guiding Catalytically Active Particles with Chemically Patterned Surfaces

Uspal, W. E., Popescu, M. N., Dietrich, S., Tasinkevych, M.

Physical Review Letters, 117(4), American Physical Society, Woodbury, N.Y., 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Structure and dynamics of binary liquid mixtures near their continuous demixing transitions

Roy, S., Höfling, F., Dietrich, S.

The Journal of Chemical Physics, 145(4), American Institute of Physics, Woodbury, N.Y., 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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A dynamic DFT approach to generalized diffusion equations in a system with long-ranged and hydrodynamic interactions

Bleibel, J., Dominguez, A., Oettel, M.

Journal of Physics: Condensed Matter, 28(24), IOP Publishing, Bristol, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Rectification and Non-Gaussian Diffusion in Heterogeneous Media

Malgaretti, P., Pagonabarraga, I., Rubi, J. M.

Entropy, 18(11), Molecular Diversity Preservation International, Basel, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Lateral critical Casimir force in two\textendashdimensional inhomogeneous Ising strip. Exact results

Nowakowski, P., Napiorkowski, M.

The Journal of Chemical Physics, 144(21), 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Tailoring three-dimensional architectures by rolled-up nanotechnology for mimicking microvasculatures

Arayanarakool, R., Meyer, A. K., Helbig, L., Sanchez, S., Schmidt, O. G.

Lab on a Chip, 15(14):2981-2989, Royal Society of Chemistry, Cambridge, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Flexible sensors for biomedical technology

Vilela, D., Romeo, A., Sanchez, S.

Lab on a Chip, 16(3):402-408, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Mechanical stability of bipolar spindle assembly

Malgaretti, P., Muhuri, S.

EPL, 115(2), EDP Science, Les-Ulis, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Reversed Janus micro/nanomotors with internal chemical engine

Ma, X., Jang, S., Popescu, M. N., Uspal, W. E., Miguel-López, A., Hahn, K., Kim, D., Sanchez, S.

ACS Nano, 10(9):8751-8759, American Chemical Society, Washington, DC, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Driven colloidal fluids: construction of dynamical density functional theories from exactly solvable limits

Scacchi, A., Krüger, M., Brader, J. M.

Journal of Physics: Condensed Matter, 28(24), IOP Publishing, Bristol, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Flight of a heavy particle nonlinearly coupled to a quantum bath

Maghrebi, M. F., Krüger, M., Kardar, M.

Physical Review B, 93(1), American Physical Society, Woodbury, NY, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir forces between defects in the 2D Ising model

Nowakowski, P., Maciolek, A., Dietrich, S.

Journal of Physics A: Mathematical and Theoretical, 49(48), IOP Pub., Bristol, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Miniaturized soft bio-hybrid robotics: a step forward into healthcare applications

Patino, T., Mestre, R., Sanchez, S.

Lab on a Chip, 16(19):3626-3630, Royal Society of Chemistry, Cambridge, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Characterizing anomalous diffusion in crowded polymer solutions and gels over five decades in time with variable-lengthscale fluorescence correlation spectroscopy

Banks, Daniel S, Tressler, Charmaine, Peters, Robert D, Höfling, Felix, Fradin, Cécile

Soft Matter, 12(18):4190-4203, Royal Society of Chemistry, Cambridge, UK, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Slip Length Enhancement in Nanofluidic Flow using Nanotextured Superhydrophobic Surfaces

Heverhagen, Jonas, Tasinkevych, M., Rahman, A., Black, C.T., Checco, A.

Advanced Materials Interfaces, 3(17), Wiley-VCH, Weinheim, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Event-based Sampling for Reducing Communication Load in Realtime Human Motion Analysis by Wireless Inertial Sensor Networks

Laidig, D., Trimpe, S., Seel, T.

Current Directions in Biomedical Engineering, 2(1):711-714, De Gruyter, 2016 (article)

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PDF DOI [BibTex]

PDF DOI [BibTex]


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Active colloids at fluid interfaces

Malgaretti, P., Popescu, M. N., Dietrich, S.

Soft Matter, 12(17):4007-4023, Royal Society of Chemistry, Cambridge, UK, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical adsorption and critical Casimir forces in the canonical ensemble

Gross, M., Vasilyev, O., Gambassi, A., Dietrich, S.

Physical Review E, 94(2), American Physical Society, Melville, NY, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Critical Casimir interactions between Janus particles

Labbe-Laurent, M., Dietrich, S.

Soft Matter, 12(31):6621-6648, Royal Society of Chemistry, Cambridge, UK, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Motion Control of Urea-Powerde Biocompatible Hollow Microcapsule

Ma, X., Wang, X., Hahn, K., Sanchez, S.

ACS Nano, 10(3):3597-3605, American Chemical Society, Washington, DC, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Enzyme Catalysis To Power Micro/Nanomachines

Ma, X., Hortelao, A. C., Patino, T., Sanchez, S.

ACS Nano, 10(10):9111-9122, American Chemical Society, Washington, DC, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Microfluidic fuel cells for energy generation

Safdar, M., Jänis, J., Sanchez, S.

Lab on a Chip, 16(15):2754-2758, Royal Society of Chemistry, Cambridge, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Reusable and Long-Lasting Active Microcleaners for Heterogeneous Water Remediation

Parmar, J., Vilela, D., Pellicer, E., Esque-de-los Ojos, D., Sort, J., Sanchez, S.

Advanced Functional Materials, 26(23):4152-4161, Wiley-VCH Verlag GmbH, Weinheim, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Self-Assembly of Micromachining Systems Powered by Janus Micromotors

Maggi, C., Simmchen, J., Saglimbeni, F., Katuri, J., Dipalo, M., De Angelis, F., Sanchez, S., Di Leonardo, R.

Small, 12(4):446-451, Wiley, Weinheim, Germany, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Graphene-Based Microrobots for Toxic Heavy Metal Removal and Recovery from Water

Vilela, D., Parmar, J., Zeng, Y., Zhao, Y., Sanchez, S.

Nano Letters, 16(4):2860-2866, American Chemical Society, Washington, DC, 2016 (article)

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DOI [BibTex]

DOI [BibTex]


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Colloidal Particles in Thin Nematic Wetting Films

Jeridi, H., Tasinkevych, M., Othman, T., Blanc, C.

Langmuir, 32(35):9097-9107, American Chemical Society, Columbus, OH, 2016 (article)

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DOI [BibTex]

DOI [BibTex]