Daily Papers

Point cloud registration is challenging in the presence of heavy outlier correspondences. This paper focuses on addressing the robust correspondence-based registration problem with gravity prior that often arises in practice. The gravity directions are typically obtained by inertial measurement units (IMUs) and can reduce the degree of freedom (DOF) of rotation from 3 to 1. We propose a novel transformation decoupling strategy by leveraging screw theory. This strategy decomposes the original 4-DOF problem into three sub-problems with 1-DOF, 2-DOF, and 1-DOF, respectively, thereby enhancing the computation efficiency. Specifically, the first 1-DOF represents the translation along the rotation axis and we propose an interval stabbing-based method to solve it. The second 2-DOF represents the pole which is an auxiliary variable in screw theory and we utilize a branch-and-bound method to solve it. The last 1-DOF represents the rotation angle and we propose a global voting method for its estimation. The proposed method sequentially solves three consensus maximization sub-problems, leading to efficient and deterministic registration. In particular, it can even handle the correspondence-free registration problem due to its significant robustness. Extensive experiments on both synthetic and real-world datasets demonstrate that our method is more efficient and robust than state-of-the-art methods, even when dealing with outlier rates exceeding 99%.

Context. Recent developments in exoplanetary research highlight the importance of Love numbers in understanding their internal dynamics, formation, migration history and their potential habitability. Love numbers represent crucial parameters that gauge how exoplanets respond to external forces such as tidal interactions and rotational effects. By measuring these responses, we can gain insights into the internal structure, composition, and density distribution of exoplanets. The rate of apsidal precession of a planetary orbit is directly linked to the second-order fluid Love number, thus we can gain valuable insights into the mass distribution of the planet. Aims. In this context, we aim to re-determine the orbital parameters of WASP-43b-in particular, orbital period, eccentricity, and argument of the periastron-and its orbital evolution. We study the outcomes of the tidal interaction with the host star:whether tidal decay and periastron precession are occurring in the system. Method. We observed the system with HARPS, whose data we present for the first time, and we also analyse the newly acquired JWST full-phase light curve. We fit jointly archival and new radial velocity and transit and occultation mid-times, including tidal decay, periastron precession and long-term acceleration in the system. Results. We detected a tidal decay rate of \dotP_a=(-1.99pm0.50) and a periastron precession rate of \dotomega=(0.1851+0.0070-0.0077)=(0.1727+0.0083-0.0089)deg/d=(621.72+29.88-32.04)arcsec/d. This is the first time that both periastron precession and tidal decay are simultaneously detected in an exoplanetary system. The observed tidal interactions can neither be explained by the tidal contribution to apsidal motion of a non-aligned stellar or planetary rotation axis nor by assuming non-synchronous rotation for the planet, and a value for the planetary Love number cannot be derived. [...]

The basic framework of the superfluid vortex model for pulsar glitches, though, is well accepted; there is a lack of consensus on the possible trigger mechanism responsible for the simultaneous release of a large number (sim 10^{17}) of superfluid vortices from the inner crust. Here, we propose a simple trigger mechanism to explain such catastrophic events of vortex unpinning. We treat a superfluid vortex line as a classical massive straight string with well-defined string tension stretching along the rotation axis of pulsars. The crustquake-induced lattice vibration of the inner crust can act as a driving force for the transverse oscillation of the string. Such forced oscillation near resonance causes the bending of the vortex lines, disturbing their equilibrium configuration and resulting in the unpinning of vortices. We consider unpinning from the inner crust's so-called {\it strong (nuclear)} pinning region, where the vortices are likely pinned to the nuclear sites. We also comment on vortex unpinning from the interstitial pinning region of the inner crust. We sense that unifying crustquake with the superfluid vortex model can naturally explain the cause of large-scale vortex unpinning and generation of large-size pulsar glitches.

Spectro-astrometry is used to investigate the low velocity component (LVC) of the optical forbidden emission from the T Tauri stars RU Lupi and AS 205 N. Both stars also have high velocity forbidden emission (HVC) which is tracing a jet. For AS 205 N, analysis reveals a complicated outflow system. For RU Lupi, the [O I] 6300 and [S II] 6716, 6731 LV narrow component (NC) is offset along the same position angle (PA) as the HVC but with a different velocity gradient than the jet, in that displacement from the stellar position along the rotation axis is decreasing with increasing velocity. From the LVC NC PA and velocity gradient, it is inferred that the NC is tracing a wide angled MHD disk wind. A photoevaporative wind is ruled out. This is supported by a comparison with a previous spectro-astrometric study of the CO fundamental line. The decrease in offset with increasing velocity is interpreted as tracing an increase in the height of the wind with increasing disk radius. This is one of the first measurements of the spatial extent of the forbidden emission line LVC NC (~ 40 au, 8 au for RU~Lupi in the [S II] 6731 and [O I] 6300 lines) and the first direct confirmation that the LVC narrow component can trace an MHD disk wind.

Global stability of differentially rotating plasma is investigated using a generalized effective potential. We first, for a current-free system, obtain a general form of an effective potential in terms of the free energies of global curvature and gradients of rotation for non-axisymmetric disturbances. We then examine the stability of differentially rotating disks for several rotation profiles and present the associated effective potential for the onset of these instabilities in the MHD regime. In particular, results for global axisymmetric magnetorotational instability (MRI) as well as local and global non-axisymmetric modes are presented. The latter constitute two distinct non-axisymmetric modes, a high frequency local MRI and a global low-frequency non-axisymmetric mode (the magneto-curvature mode, introduced in Ebrahimi&Pharr, ApJ 2022), confined either between two Alfv\'enic resonances or an Alfv\'enic resonance and a boundary.

This paper introduces the point-axis representation for oriented object detection, emphasizing its flexibility and geometrically intuitive nature with two key components: points and axes. 1) Points delineate the spatial extent and contours of objects, providing detailed shape descriptions. 2) Axes define the primary directionalities of objects, providing essential orientation cues crucial for precise detection. The point-axis representation decouples location and rotation, addressing the loss discontinuity issues commonly encountered in traditional bounding box-based approaches. For effective optimization without introducing additional annotations, we propose the max-projection loss to supervise point set learning and the cross-axis loss for robust axis representation learning. Further, leveraging this representation, we present the Oriented DETR model, seamlessly integrating the DETR framework for precise point-axis prediction and end-to-end detection. Experimental results demonstrate significant performance improvements in oriented object detection tasks.

Generalized in-hand manipulation has long been an unsolved challenge of robotics. As a small step towards this grand goal, we demonstrate how to design and learn a simple adaptive controller to achieve in-hand object rotation using only fingertips. The controller is trained entirely in simulation on only cylindrical objects, which then - without any fine-tuning - can be directly deployed to a real robot hand to rotate dozens of objects with diverse sizes, shapes, and weights over the z-axis. This is achieved via rapid online adaptation of the controller to the object properties using only proprioception history. Furthermore, natural and stable finger gaits automatically emerge from training the control policy via reinforcement learning. Code and more videos are available at https://haozhi.io/hora

The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a novel constraints-based loss for measuring the intrinsic (focal length: (f_x, f_y) and principal point: (p_x, p_y)) and extrinsic (baseline: (b), disparity: (d), translation: (t_x, t_y, t_z), and rotation specifically pitch: (theta_p)) camera parameters. Our novel constraints are based on geometric properties inherent in the camera model, including the anatomy of the projection matrix (vanishing points, image of world origin, axis planes) and the orthonormality of the rotation matrix. Thus we proposed a novel Unsupervised Geometric Constraint Loss (UGCL) via a multitask learning framework. Our methodology is a hybrid approach that employs the learning power of a neural network to estimate the desired parameters along with the underlying mathematical properties inherent in the camera projection matrix. This distinctive approach not only enhances the interpretability of the model but also facilitates a more informed learning process. Additionally, we introduce a new CVGL Camera Calibration dataset, featuring over 900 configurations of camera parameters, incorporating 63,600 image pairs that closely mirror real-world conditions. By training and testing on both synthetic and real-world datasets, our proposed approach demonstrates improvements across all parameters when compared to the state-of-the-art (SOTA) benchmarks. The code and the updated dataset can be found here: https://github.com/CVLABLUMS/CVGL-Camera-Calibration

This paper addresses the task of estimating the 6 degrees of freedom pose of a known 3D object from depth information represented by a point cloud. Deep features learned by convolutional neural networks from color information have been the dominant features to be used for inferring object poses, while depth information receives much less attention. However, depth information contains rich geometric information of the object shape, which is important for inferring the object pose. We use depth information represented by point clouds as the input to both deep networks and geometry-based pose refinement and use separate networks for rotation and translation regression. We argue that the axis-angle representation is a suitable rotation representation for deep learning, and use a geodesic loss function for rotation regression. Ablation studies show that these design choices outperform alternatives such as the quaternion representation and L2 loss, or regressing translation and rotation with the same network. Our simple yet effective approach clearly outperforms state-of-the-art methods on the YCB-video dataset. The implementation and trained model are avaliable at: https://github.com/GeeeG/CloudPose.

At a fraction the total cost of an equivalent orbital mission, scientific balloon-borne platforms, operating above 99.7% of the Earth's atmosphere, offer attractive, competitive, and effective observational capabilities -- namely space-like resolution, transmission, and backgrounds -- that are well suited for modern astronomy and cosmology. SuperBIT is a diffraction-limited, wide-field, 0.5 m telescope capable of exploiting these observing conditions in order to provide exquisite imaging throughout the near-IR to near-UV. It utilizes a robust active stabilization system that has consistently demonstrated a 1 sigma sky-fixed pointing stability at 48 milliarcseconds over multiple 1 hour observations at float. This is achieved by actively tracking compound pendulations via a three-axis gimballed platform, which provides sky-fixed telescope stability at < 500 milliarcseconds and corrects for field rotation, while employing high-bandwidth tip/tilt optics to remove residual disturbances across the science imaging focal plane. SuperBIT's performance during the 2019 commissioning flight benefited from a customized high-fidelity science-capable telescope designed with exceptional thermo- and opto-mechanical stability as well as tightly constrained static and dynamic coupling between high-rate sensors and telescope optics. At the currently demonstrated level of flight performance, SuperBIT capabilities now surpass the science requirements for a wide variety of experiments in cosmology, astrophysics and stellar dynamics.

We present the requirements, design and evaluation of the cryogenic continuously rotating half-wave plate (CHWP) for the Simons Observatory (SO). SO is a cosmic microwave background (CMB) polarization experiment at Parque Astron\'{o}mico Atacama in northern Chile that covers a wide range of angular scales using both small (0.42 m) and large (6 m) aperture telescopes. In particular, the small aperture telescopes (SATs) focus on large angular scales for primordial B-mode polarization. To this end, the SATs employ a CHWP to modulate the polarization of the incident light at 8 Hz, suppressing atmospheric 1/f noise and mitigating systematic uncertainties that would otherwise arise due to the differential response of detectors sensitive to orthogonal polarizations. The CHWP consists of a 505 mm diameter achromatic sapphire HWP and a cryogenic rotation mechanism, both of which are cooled down to sim50 K to reduce detector thermal loading. Under normal operation the HWP is suspended by a superconducting magnetic bearing and rotates with a constant 2 Hz frequency, controlled by an electromagnetic synchronous motor. We find that the number of superconductors and magnets that make up the superconducting magnetic bearing are important design parameters, especially for the rotation mechanism's vibration performance. The rotation angle is detected through an angular encoder with a noise level of 0.07 muradmathrm{s}. During a cooldown, the rotor is held in place by a grip-and-release mechanism that serves as both an alignment device and a thermal path. In this paper we provide an overview of the SO SAT CHWP: its requirements, hardware design, and laboratory performance.

Object pose estimation, which plays a vital role in robotics, augmented reality, and autonomous driving, has been of great interest in computer vision. Existing studies either require multi-stage pose regression or rely on 2D-3D feature matching. Though these approaches have shown promising results, they rely heavily on appearance information, requiring complex input (i.e., multi-view reference input, depth, or CAD models) and intricate pipeline (i.e., feature extraction-SfM-2D to 3D matching-PnP). We propose AxisPose, a model-free, matching-free, single-shot solution for robust 6D pose estimation, which fundamentally diverges from the existing paradigm. Unlike existing methods that rely on 2D-3D or 2D-2D matching using 3D techniques, such as SfM and PnP, AxisPose directly infers a robust 6D pose from a single view by leveraging a diffusion model to learn the latent axis distribution of objects without reference views. Specifically, AxisPose constructs an Axis Generation Module (AGM) to capture the latent geometric distribution of object axes through a diffusion model. The diffusion process is guided by injecting the gradient of geometric consistency loss into the noise estimation to maintain the geometric consistency of the generated tri-axis. With the generated tri-axis projection, AxisPose further adopts a Triaxial Back-projection Module (TBM) to recover the 6D pose from the object tri-axis. The proposed AxisPose achieves robust performance at the cross-instance level (i.e., one model for N instances) using only a single view as input without reference images, with great potential for generalization to unseen-object level.

Stellar rotation periods are valuable both for constraining models of angular momentum loss and for under- standing how magnetic features impact inferences of exoplanet parameters. Building on our previous work in the northern hemisphere, we have used long-term, ground-based photometric monitoring from the MEarth Observatory to measure 234 rotation periods for nearby, southern hemisphere M dwarfs. Notable examples include the exoplanet hosts GJ 1132, LHS 1140, and Proxima Centauri. We find excellent agreement between our data and K2 photometry for the overlapping subset. Amongst the sample of stars with the highest quality datasets, we recover periods in 66%; as the length of the dataset increases, our recovery rate approaches 100%. The longest rotation periods we detect are around 140 days, which we suggest represent the periods that are reached when M dwarfs are as old as the local thick disk (about 9 Gyr).

Contours or closed planar curves are common in many domains. For example, they appear as object boundaries in computer vision, isolines in meteorology, and the orbits of rotating machinery. In many cases when learning from contour data, planar rotations of the input will result in correspondingly rotated outputs. It is therefore desirable that deep learning models be rotationally equivariant. In addition, contours are typically represented as an ordered sequence of edge points, where the choice of starting point is arbitrary. It is therefore also desirable for deep learning methods to be equivariant under cyclic shifts. We present RotaTouille, a deep learning framework for learning from contour data that achieves both rotation and cyclic shift equivariance through complex-valued circular convolution. We further introduce and characterize equivariant non-linearities, coarsening layers, and global pooling layers to obtain invariant representations for downstream tasks. Finally, we demonstrate the effectiveness of RotaTouille through experiments in shape classification, reconstruction, and contour regression.

Rotated object detection aims to identify and locate objects in images with arbitrary orientation. In this scenario, the oriented directions of objects vary considerably across different images, while multiple orientations of objects exist within an image. This intrinsic characteristic makes it challenging for standard backbone networks to extract high-quality features of these arbitrarily orientated objects. In this paper, we present Adaptive Rotated Convolution (ARC) module to handle the aforementioned challenges. In our ARC module, the convolution kernels rotate adaptively to extract object features with varying orientations in different images, and an efficient conditional computation mechanism is introduced to accommodate the large orientation variations of objects within an image. The two designs work seamlessly in rotated object detection problem. Moreover, ARC can conveniently serve as a plug-and-play module in various vision backbones to boost their representation ability to detect oriented objects accurately. Experiments on commonly used benchmarks (DOTA and HRSC2016) demonstrate that equipped with our proposed ARC module in the backbone network, the performance of multiple popular oriented object detectors is significantly improved (e.g. +3.03% mAP on Rotated RetinaNet and +4.16% on CFA). Combined with the highly competitive method Oriented R-CNN, the proposed approach achieves state-of-the-art performance on the DOTA dataset with 81.77% mAP.

In sports analytics, accurately capturing both the 3D locations and rotations of body joints is essential for understanding an athlete's biomechanics. While Human Mesh Recovery (HMR) models can estimate joint rotations, they often exhibit lower accuracy in joint localization compared to 3D Human Pose Estimation (HPE) models. Recent work addressed this limitation by combining a 3D HPE model with inverse kinematics (IK) to estimate both joint locations and rotations. However, IK is computationally expensive. To overcome this, we propose a novel 2D-to-3D uplifting model that directly estimates 3D human poses, including joint rotations, in a single forward pass. We investigate multiple rotation representations, loss functions, and training strategies - both with and without access to ground truth rotations. Our models achieve state-of-the-art accuracy in rotation estimation, are 150 times faster than the IK-based approach, and surpass HMR models in joint localization precision.

The long-term dynamical evolution of asteroid families is governed by the interplay between orbital and rotational evolution driven by thermal forces and collision. We aim to observationally trace the rotational evolution of main-belt asteroid families over Gyr timescales. We analyzed rotational properties of 8739 asteroids with spin period measurements and 3794 asteroids with obliquity determinations across 28 asteroid families spanning ages from 14~Myrs to 3~Gyrs. We introduced a dimensionless timescale that normalizes each asteroid's family age by its classical YORP timescale, enabling direct comparison of rotational states across different evolutionary stages. We examined two key observables: the fraction of slow rotators (periods greater than or equal to 30 hours) and the polarization fraction (the degree to which asteroid spin poles align correctly with their position in the family's V-shape distribution according to the Yarkovsky theory). Evolution of both quantities were fitted to identify characteristic transition timescales. We discovered that the slow-rotator fraction increases steeply with t and saturates at f_{rm slow} simeq 0.25 around a breakpoint t_{rm bp} simeq 20. This implies a stochastic YORP timescale τ_{rm YORP,stoc} simeq 10,τ_{rm YORP} by comparison with rotational evolution models that include tumbling and weakened YORP torques. The polarization fraction reaches a maximum of simeq 0.8 at t simeq 16 and then decays toward the random limit f_{rm pol} rightarrow 0.5 for t gtrsim 20, indicating an increasing dominance of collisional spin reorientation over time. The rotation properties within different asteroid families offer crucial clues to rotation evolution and can serve as a new dimension for age estimation of asteroid families with more data in the LSST era.