arXiv subjects

Andrea Giachetti

Publications and source records attributed to Andrea Giachetti.

17 recordsLinked to original sources

arXiv2025

Fast and accurate neural reflectance transformation imaging through knowledge distillation

Reflectance Transformation Imaging (RTI) is very popular for its ability to visually analyze surfaces by enhancing surface details through interactive relighting, starting from only a few tens of photographs taken with a fixed camera and variable illumination. Traditional methods like Polynomial Texture Maps (PTM) and Hemispherical Harmonics (HSH) are compact and fast, but struggle to accurately capture complex reflectance fields using few per-pixel coefficients and fixed bases, leading to artifacts, especially in highly reflective or shadowed areas. The NeuralRTI approach, which exploits a neural autoencoder to learn a compact function that better approximates the local reflectance as a function of light directions, has been shown to produce superior quality at comparable storage cost. However, as it performs interactive relighting with custom decoder networks with many parameters, the rendering step is computationally expensive and not feasible at full resolution for large images on limited hardware. Earlier attempts to reduce costs by directly training smaller networks have failed to produce valid results. For this reason, we propose to reduce its computational cost through a novel solution based on Knowledge Distillation (DisK-NeuralRTI). ...

cs.CV↗

arXiv2025

Two-Stage Gaussian Splatting Optimization for Outdoor Scene Reconstruction

Outdoor scene reconstruction remains challenging due to the stark contrast between well-textured, nearby regions and distant backgrounds dominated by low detail, uneven illumination, and sky effects. We introduce a two-stage Gaussian Splatting framework that explicitly separates and optimizes these regions, yielding higher-fidelity novel view synthesis. In stage one, background primitives are initialized within a spherical shell and optimized using a loss that combines a background-only photometric term with two geometric regularizers: one constraining Gaussians to remain inside the shell, and another aligning them with local tangential planes. In stage two, foreground Gaussians are initialized from a Structure-from-Motion reconstruction, added and refined using the standard rendering loss, while the background set remains fixed but contributes to the final image formation. Experiments on diverse outdoor datasets show that our method reduces background artifacts and improves perceptual quality compared to state-of-the-art baselines. Moreover, the explicit background separation enables automatic, object-free environment map estimation, opening new possibilities for photorealistic outdoor rendering and mixed-reality applications.

cs.GR↗

arXiv2025

Uncertainty Aware-Predictive Control Barrier Functions: Safer Human Robot Interaction through Probabilistic Motion Forecasting

To enable flexible, high-throughput automation in settings where people and robots share workspaces, collaborative robotic cells must reconcile stringent safety guarantees with the need for responsive and effective behavior. A dynamic obstacle is the stochastic, task-dependent variability of human motion: when robots fall back on purely reactive or worst-case envelopes, they brake unnecessarily, stall task progress, and tamper with the fluidity that true Human-Robot Interaction demands. In recent years, learning-based human-motion prediction has rapidly advanced, although most approaches produce worst-case scenario forecasts that often do not treat prediction uncertainty in a well-structured way, resulting in over-conservative planning algorithms, limiting their flexibility. We introduce Uncertainty-Aware Predictive Control Barrier Functions (UA-PCBFs), a unified framework that fuses probabilistic human hand motion forecasting with the formal safety guarantees of Control Barrier Functions. In contrast to other variants, our framework allows for dynamic adjustment of the safety margin thanks to the human motion uncertainty estimation provided by a forecasting module. Thanks to uncertainty estimation, UA-PCBFs empower collaborative robots with a deeper understanding of future human states, facilitating more fluid and intelligent interactions through informed motion planning. We validate UA-PCBFs through comprehensive real-world experiments with an increasing level of realism, including automated setups (to perform exactly repeatable motions) with a robotic hand and direct human-robot interactions (to validate promptness, usability, and human confidence). Relative to state-of-the-art HRI architectures, UA-PCBFs show better performance in task-critical metrics, significantly reducing the number of violations of the robot's safe space during interaction with respect to the state-of-the-art.

cs.RO↗

arXiv2023

Eyes on teleporting: comparing locomotion techniques in Virtual Reality with respect to presence, sickness and spatial orientation

This work compares three locomotion techniques for an immersive VR environment: two different types of teleporting (with and without animation) and a manual (joystick-based) technique. We tested the effect of these techniques on visual motion sickness, spatial awareness, presence, subjective pleasantness, and perceived difficulty of operating the navigation. We collected eye tracking and head and body orientation data to investigate the relationships between motion, vection, and sickness. Our study confirms some results already discussed in the literature regarding the reduced invasiveness and the high usability of instant teleport while increasing the evidence against the hypothesis of reduced spatial awareness induced by this technique. We reinforce the evidence about the issues of extending teleporting with animation. Furthermore, we offer some new evidence of a benefit to the user experience of the manual technique and the correlation of the sickness felt in this condition with head movements. The findings of this study contribute to the ongoing debate on the development of guidelines on navigation interfaces in specific VR environments.

cs.HC↗

arXiv2023

OO-dMVMT: A Deep Multi-view Multi-task Classification Framework for Real-time 3D Hand Gesture Classification and Segmentation

Continuous mid-air hand gesture recognition based on captured hand pose streams is fundamental for human-computer interaction, particularly in AR / VR. However, many of the methods proposed to recognize heterogeneous hand gestures are tested only on the classification task, and the real-time low-latency gesture segmentation in a continuous stream is not well addressed in the literature. For this task, we propose the On-Off deep Multi-View Multi-Task paradigm (OO-dMVMT). The idea is to exploit multiple time-local views related to hand pose and movement to generate rich gesture descriptions, along with using heterogeneous tasks to achieve high accuracy. OO-dMVMT extends the classical MVMT paradigm, where all of the multiple tasks have to be active at each time, by allowing specific tasks to switch on/off depending on whether they can apply to the input. We show that OO-dMVMT defines the new SotA on continuous/online 3D skeleton-based gesture recognition in terms of gesture classification accuracy, segmentation accuracy, false positives, and decision latency while maintaining real-time operation.

cs.CV↗

arXiv2023

Aerodynamic loads on groups of offshore wind turbine towers stored on quaysides during the pre-assembly phase

Offshore wind turbine towers are pre-assembled and temporarily held in close proximity to each other in group arrangements on port quaysides. Accurate estimates of the aerodynamic loads on the individual towers and on the overall group are essential for the safe and economic design of the quayside's supporting structures and foundations. Wind tunnel tests represent the main way to address the problem, but results may lead to overconservative designs due to inevitable mismatches in the Reynolds number. This crucial issue is dealt with here using an original engineering solution based on concentrated but discontinuous surface roughness, which allows, for the first time in the case of finite-height towers arranged in groups and subjected to an atmospheric boundary layer flow, the successful simulation of the target high Reynolds number regime. This case study assumes slender wind turbine towers with a height of 115 m, and for the sake of generality, the investigations focus principally on a cylindrical shape rather than the more complex real-world geometry. The constant diameter of the towers is determined based on the theoretical equivalence of the mean overturning moment. The rationality of this procedure is verified a posteriori using a set of measurements on the real-shape towers. The experiments show a regular behavior of the maximum mean base shear force and moment for towers arranged in double-row groups, while the results are more complicated for single-row groups, since biased flow sometimes occurs in symmetric or nearly-symmetric configurations. Dynamic loads are also inspected, and gust factors in good agreement with Eurocode 1's prescriptions are found. Several parametric studies are carried out, the most extensive of which is devoted to assessing the role of tower height. A complicated non-monotonic pattern of the load coefficients with the tower height is encountered.

physics.flu-dyn↗

arXiv2022

SHREC 2022 Track on Online Detection of Heterogeneous Gestures

This paper presents the outcomes of a contest organized to evaluate methods for the online recognition of heterogeneous gestures from sequences of 3D hand poses. The task is the detection of gestures belonging to a dictionary of 16 classes characterized by different pose and motion features. The dataset features continuous sequences of hand tracking data where the gestures are interleaved with non-significant motions. The data have been captured using the Hololens 2 finger tracking system in a realistic use-case of mixed reality interaction. The evaluation is based not only on the detection performances but also on the latency and the false positives, making it possible to understand the feasibility of practical interaction tools based on the algorithms proposed. The outcomes of the contest's evaluation demonstrate the necessity of further research to reduce recognition errors, while the computational cost of the algorithms proposed is sufficiently low.

cs.CV↗

arXiv2022

Experimental study of the wind pressure field on the Notre Dame Cathedral in Paris

The paper concerns an experimental study on the wind pressures over the surface of a worldwide known Gothic Cathedral: Notre Dame of Paris. The experimental tests have been conducted in the CRIACIV wind tunnel, Prato (Italy), on a model of the Cathedral at the scale 1:200 reproducing the atmospheric boundary layer. Two types of tests have been conducted: with or without the surrounding modeling the part of the city of Paris near the Cathedral. This has been done, on the one hand, for evaluating the effect of the surrounding buildings onto the wind pressure distribution on the Cathedral, and, on the other hand, to have a wind pressure distribution plausible for any other Cathedral with a similar shape. The tests have been done for all the wind directions and the mean and peak pressures have been recorded. The results emphasize that the complex geometry of this type of structures is responsible for a peculiar aerodynamic behavior that does not allow estimating correctly the wind loads on the various parts of the Cathedral based on codes and standards, which are tailored for ordinary regular buildings.

physics.flu-dyn↗

arXiv2021

SHREC 2021: Retrieval and classification of protein surfaces equipped with physical and chemical properties

This paper presents the methods that have participated in the SHREC 2021 contest on retrieval and classification of protein surfaces on the basis of their geometry and physicochemical properties. The goal of the contest is to assess the capability of different computational approaches to identify different conformations of the same protein, or the presence of common sub-parts, starting from a set of molecular surfaces. We addressed two problems: defining the similarity solely based on the surface geometry or with the inclusion of physicochemical information, such as electrostatic potential, amino acid hydrophobicity, and the presence of hydrogen bond donors and acceptors. Retrieval and classification performances, with respect to the single protein or the existence of common sub-sequences, are analysed according to a number of information retrieval indicators.

q-bio.BM↗

arXiv2021

Real vs Simulated Foveated Rendering to Reduce Visual Discomfort in Virtual Reality

In this paper, a study aimed at investigating the effects of real (using eye tracking to determine the fixation) and simulated foveated blurring in immersive Virtual Reality is presented. Techniques to reduce the optical flow perceived at the visual field margins are often employed in immersive Virtual Reality environments to alleviate discomfort experienced when the visual motion perception does not correspond to the body's acceleration. Although still preliminary, our results suggest that for participants with higher self-declared sensitivity to sickness, there might be an improvement for nausea when using blurring. The (perceived) difficulty of the task seems to improve when the real foveated method is used.

cs.HC↗

arXiv2021

Structural biology in the clouds: The WeNMR-EOSC Ecosystem

Structural biology aims at characterizing the structural and dynamic properties of biological macromolecules at atomic details. Gaining insight into three dimensional structures of biomolecules and their interactions is critical for understanding the vast majority of cellular processes, with direct applications in health and food sciences. Since 2010, the WeNMR project (www.wenmr.eu) has implemented numerous web-based services to facilitate the use of advanced computational tools by researchers in the field, using the high throughput computing infrastructure provided by EGI. These services have been further developed in subsequent initiatives under H2020 projects and are now operating as Thematic Services in the European Open Science Cloud (EOSC) portal (www.eosc-portal.eu), sending >12 millions of jobs and using around 4000 CPU-years per year. Here we review 10 years of successful e-infrastructure solutions serving a large worldwide community of over 23,000 users to date, providing them with user-friendly, web-based solutions that run complex workflows in structural biology. The current set of active WeNMR portals are described, together with the complex backend machinery that allows distributed computing resources to be harvested efficiently.

q-bio.BM↗

arXiv2021

SHREC 2021: Track on Skeleton-based Hand Gesture Recognition in the Wild

Gesture recognition is a fundamental tool to enable novel interaction paradigms in a variety of application scenarios like Mixed Reality environments, touchless public kiosks, entertainment systems, and more. Recognition of hand gestures can be nowadays performed directly from the stream of hand skeletons estimated by software provided by low-cost trackers (Ultraleap) and MR headsets (Hololens, Oculus Quest) or by video processing software modules (e.g. Google Mediapipe). Despite the recent advancements in gesture and action recognition from skeletons, it is unclear how well the current state-of-the-art techniques can perform in a real-world scenario for the recognition of a wide set of heterogeneous gestures, as many benchmarks do not test online recognition and use limited dictionaries. This motivated the proposal of the SHREC 2021: Track on Skeleton-based Hand Gesture Recognition in the Wild. For this contest, we created a novel dataset with heterogeneous gestures featuring different types and duration. These gestures have to be found inside sequences in an online recognition scenario. This paper presents the result of the contest, showing the performances of the techniques proposed by four research groups on the challenging task compared with a simple baseline method.

cs.CV↗

arXiv2021

PAVEL: Decorative Patterns with Packed Volumetric Elements

Many real-world hand-crafted objects are decorated with elements that are packed onto the object's surface and deformed to cover it as much as possible. Examples are artisanal ceramics and metal jewelry. Inspired by these objects, we present a method to enrich surfaces with packed volumetric decorations. Our algorithm works by first determining the locations in which to add the decorative elements and then removing the non-physical overlap between them while preserving the decoration volume. For the placement, we support several strategies depending on the desired overall motif. To remove the overlap, we use an approach based on implicit deformable models creating the qualitative effect of plastic warping while avoiding expensive and hard-to-control physical simulations. Our decorative elements can be used to enhance virtual surfaces, as well as 3D-printed pieces, by assembling the decorations onto real-surfaces to obtain tangible reproductions.

cs.GR↗

arXiv2020

SIMCO: SIMilarity-based object COunting

We present SIMCO, the first agnostic multi-class object counting approach. SIMCO starts by detecting foreground objects through a novel Mask RCNN-based architecture trained beforehand (just once) on a brand-new synthetic 2D shape dataset, InShape; the idea is to highlight every object resembling a primitive 2D shape (circle, square, rectangle, etc.). Each object detected is described by a low-dimensional embedding, obtained from a novel similarity-based head branch; this latter implements a triplet loss, encouraging similar objects (same 2D shape + color and scale) to map close. Subsequently, SIMCO uses this embedding for clustering, so that different types of objects can emerge and be counted, making SIMCO the very first multi-class unsupervised counter. Experiments show that SIMCO provides state-of-the-art scores on counting benchmarks and that it can also help in many challenging image understanding tasks.

cs.CV↗

arXiv2020

Shape retrieval of non-rigid 3d human models

3D models of humans are commonly used within computer graphics and vision, and so the ability to distinguish between body shapes is an important shape retrieval problem. We extend our recent paper which provided a benchmark for testing non-rigid 3D shape retrieval algorithms on 3D human models. This benchmark provided a far stricter challenge than previous shape benchmarks. We have added 145 new models for use as a separate training set, in order to standardise the training data used and provide a fairer comparison. We have also included experiments with the FAUST dataset of human scans. All participants of the previous benchmark study have taken part in the new tests reported here, many providing updated results using the new data. In addition, further participants have also taken part, and we provide extra analysis of the retrieval results. A total of 25 different shape retrieval methods.

cs.CV↗

arXiv2019

Texture Retrieval in the Wild through detection-based attributes

Capturing the essence of a textile image in a robust way is important to retrieve it in a large repository, especially if it has been acquired in the wild (by taking a photo of the textile of interest). In this paper we show that a texel-based representation fits well with this task. In particular, we refer to Texel-Att, a recent texel-based descriptor which has shown to capture fine grained variations of a texture, for retrieval purposes. After a brief explanation of Texel-Att, we will show in our experiments that this descriptor is robust to distortions resulting from acquisitions in the wild by setting up an experiment in which textures from the ElBa (an Element-Based texture dataset) are artificially distorted and then used to retrieve the original image. We compare our approach with existing descriptors using a simple ranking framework based on distance functions. Results show that even under extreme conditions (such as a down-sampling with a factor of 10), we perform better than alternative approaches.

cs.CV↗

arXiv2019

Texel-Att: Representing and Classifying Element-based Textures by Attributes

Element-based textures are a kind of texture formed by nameable elements, the texels [1], distributed according to specific statistical distributions; it is of primary importance in many sectors, namely textile, fashion and interior design industry. State-of-theart texture descriptors fail to properly characterize element-based texture, so we present Texel-Att to fill this gap. Texel-Att is the first fine-grained, attribute-based representation and classification framework for element-based textures. It first individuates texels, characterizing them with individual attributes; subsequently, texels are grouped and characterized through layout attributes, which give the Texel-Att representation. Texels are detected by a Mask-RCNN, trained on a brand-new element-based texture dataset, ElBa, containing 30K texture images with 3M fully-annotated texels. Examples of individual and layout attributes are exhibited to give a glimpse on the level of achievable graininess. In the experiments, we present detection results to show that texels can be precisely individuated, even on textures "in the wild"; to this sake, we individuate the element-based classes of the Describable Texture Dataset (DTD), where almost 900K texels have been manually annotated, leading to the Element-based DTD (E-DTD). Subsequently, classification and ranking results demonstrate the expressivity of Texel-Att on ElBa and E-DTD, overcoming the alternative features and relative attributes, doubling the best performance in some cases; finally, we report interactive search results on ElBa and E-DTD: with Texel-Att on the E-DTD dataset we are able to individuate within 10 iterations the desired texture in the 90% of cases, against the 71% obtained with a combination of the finest existing attributes so far. Dataset and code is available at https://github.com/godimarcovr/Texel-Att

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