Question: BRAND: A robust descriptor for appearance and depth in RGB-D images.

This paper introduces a novel approach for local 3D surface description aimed at enhancing the uniqueness and repeatability of descriptors for surface matching tasks. We begin by classifying existing descriptor methods into two primary categories: Signatures and Histograms. Through detailed analysis and experimental evidence, we highlight the critical importance of ensuring both uniqueness and repeatability in the local reference frame. Inspired by these insights, we propose a comprehensive framework for surface representation that includes a new, uniquely determined and repeatable local reference frame, coupled with an innovative 3D descriptor. This descriptor uniquely merges the strengths of Signatures and Histograms, aiming to strike a superior balance between descriptiveness and robustness. The efficacy of our proposal is rigorously evaluated using a range of public datasets and real-world range scans obtained through Spacetime Stereo, providing strong validation of our method's performance and reliability.

While 3D object representations are being revived in the context of multi-view object class detection and scene understanding, they have not yet attained wide-spread use in fine-grained categorization. State-of-the-art approaches achieve remarkable performance when training data is plentiful, but they are typically tied to flat, 2D representations that model objects as a collection of unconnected views, limiting their ability to generalize across viewpoints. In this paper, we therefore lift two state-of-the-art 2D object representations to 3D, on the level of both local feature appearance and location. In extensive experiments on existing and newly proposed datasets, we show our 3D object representations outperform their state-of-the-art 2D counterparts for fine-grained categorization and demonstrate their efficacy for estimating 3D geometry from images via ultra-wide baseline matching and 3D reconstruction.

This paper describes a patch-based approach for rapid image correlation or template matching. By representing a template image with an ensemble of patches, the method is robust with respect to variations such as local appearance variation, partial occlusion, and scale changes. Rectangle filters are applied to each image patch for fast filtering based on the integral image representation. A new method is developed for feature dimension reduction by detecting the "salient" image structures given a single image. Experiments on a variety images show the success of the method in dealing with different variations in the test images. In terms of computation time, the approach is faster than traditional methods by up to two orders of magnitude and is at least three times faster than a fast implementation of normalized cross correlation.

We present a model for intrinsic decomposition of RGB-D images. Our approach analyzes a single RGB-D image and estimates albedo and shading fields that explain the input. To disambiguate the problem, our model estimates a number of components that jointly account for the reconstructed shading. By decomposing the shading field, we can build in assumptions about image formation that help distinguish reflectance variation from shading. These assumptions are expressed as simple nonlocal regularizers. We evaluate the model on real-world images and on a challenging synthetic dataset. The experimental results demonstrate that the presented approach outperforms prior models for intrinsic decomposition of RGB-D images.

Establishing dense correspondences reliably between a pair of images is an important vision task with many applications. Though significant advance has been made towards estimating dense stereo and optical flow fields for two images adjacent in viewpoint or in time, building reliable dense correspondence fields for two general images still remains largely unsolved. For instance, two given images sharing some content exhibit dramatic photometric and geometric variations, or they depict different 3D scenes of similar scene characteristics. Fundamental challenges to such an image or scene alignment task are often multifold, which render many existing techniques fall short of producing dense correspondences robustly and efficiently. This paper presents a novel approach called DAISY filter flow (DFF) to address this challenging task. Inspired by the recent PatchMatch Filter technique, we leverage and extend a few established methods: DAISY descriptors, filter-based efficient flow inference, and the PatchMatch fast search. Coupling and optimizing these modules seamlessly with image segments as the bridge, the proposed DFF approach enables efficiently performing dense descriptor-based correspondence field estimation in a generalized high-dimensional label space, which is augmented by scales and rotations. Experiments on a variety of challenging scenes show that our DFF approach estimates spatially coherent yet discontinuity-preserving image alignment results both robustly and efficiently.

The ability to segment unknown objects in depth images has potential to enhance robot skills in grasping and object tracking. Recent computer vision research has demonstrated that Mask R-CNN can be trained to segment specific categories of objects in RGB images when massive handlabeled datasets are available. As generating these datasets is time-consuming, we instead train with synthetic depth images. Many robots now use depth sensors, and recent results suggest training on synthetic depth data can generalize well to the real world. We present a method for automated dataset generation and rapidly generate a training dataset of 50k depth images and 320k object masks synthetically using simulated scenes of 3D CAD models. We train a variant of Mask R-CNN on the generated dataset to perform category-agnostic instance segmentation without hand-labeled data. We evaluate the trained network, which we refer to as Synthetic Depth (SD) Mask R-CNN, on a set of real, high-resolution images of challenging, denselycluttered bins containing objects with highly-varied geometry. SD Mask R-CNN outperforms point cloud clustering baselines by an absolute 15% in Average Precision and 20% in Average Recall, and achieves performance levels similar to a Mask RCNN trained on a massive, hand-labeled RGB dataset and fine-tuned on real images from the experimental setup. The network also generalizes well to a lower-resolution depth sensor. We deploy the model in an instance-specific grasping pipeline to demonstrate its usefulness in a robotics application. Code, the synthetic training dataset, and supplementary material are available at https://bit.ly/2letCuE.

This paper describes a probabilistic approach to the problem of recognizing places based on their appearance. The system we present is not limited to localization, but can determine that a new observation comes from a previously unseen place, and so augment its map. Effectively this is a SLAM system in the space of appearance. Our probabilistic approach allows us to explicitly account for perceptual aliasing in the environment—identical but indistinctive observations receive a low probability of having come from the same place. We achieve this by learning a generative model of place appearance. By partitioning the learning problem into two parts, new place models can be learned online from only a single observation of a place. The algorithm complexity is linear in the number of places in the map, and is particularly suitable for online loop closure detection in mo-

Computer-aided food identification and quantity estimation have caught more attention in recent years because of the growing concern of our health. The identification problem is usually defined as an image categorization or classification problem and several researches have been proposed. In this paper, we address the issues of feature descriptors in the food identification problem and introduce a preliminary approach for the quantity estimation using depth information. Sparse coding is utilized in the SIFT and Local binary pattern feature descriptors, and these features combined with gabor and color features are used to represent food items. A multi-label SVM classifier is trained for each feature, and these classifiers are combined with multi-class Adaboost algorithm. For evaluation, 50 categories of worldwide food are used, and each category contains 100 photographs from different sources, such as manually taken or from Internet web albums. An overall accuracy of 68.3% is achieved, and success at top-N candidates achieved 80.6%, 84.8%, and 90.9% accuracy accordingly when N equals 2, 3, and 5, thus making mobile application practical. The experimental results show that the proposed methods greatly improve the performance of original SIFT and LBP feature descriptors. On the other hand, for quantity estimation using depth information, a straight forward method is proposed for certain food, while transparent food ingredients such as pure water and cooked rice are temporarily excluded.

Wee present an accurate and robust method for six degree of freedom image localization. There are two key-points of our method, 1). automatic immense photo synthesis and labeling from point cloud model and, 2). pose estimation with deep convolutional neural networks (ConvNets) regression. Our model can directly regresses 6-DOF camera poses from images, accurately describing where and how it was captured. We achieved an accuracy within 1 meters and 1 degree on our outdoor dataset, which covers about 20, 000m on our school campus. Unlike previous point cloud registration solutions, our model supports low resolution images (i.e. 224×224 in our settings), and is tiny in size when finished training. Moreover, in pose estimation, our model uses O(1) time & space complexity as trainset grows. We will show the importance to localization using hundreds of thousands of generated and self-labeled ”photos” came from a short video. We will show our model’s robustness despite of illumination and seasonal variances, which usually fails methods that leverage image feature descriptors like SIFT. Furthermore, we will show the ability of transfer our model trained on one scene to another, and the gains in accuracy and efficiency.

When a robot is deployed it needs to understand the nature of its surroundings. In this paper, we address the problem of semantic labeling 3D point clouds by object affordance (e.g., `pushable', `liftable'). We propose a technique to extract geometric features from point cloud segments and build a classifier to predict associated object affordances. With the classifier, we have developed an algorithm to enhance object segmentation and reduce manipulation uncertainty by iterative clustering, along with minimizing labeling entropy. Our incremental multiple view merging technique shows improved object segmentation. The novel feature of our approach is the semantic labeling that can be directly applied to manipulation planning. In our experiments with 6 affordance labels, an average of 81.8% accuracy of affordance prediction is achieved. We demonstrate refined object segmentation by applying the classifier to data from the PR2 robot using a Microsoft Kinect in an indoor office environment.

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a label related to the type of object it represents, to attack the problem of long-term visual localization. We show that semantically labeled 3D point maps of the environment, together with semantically segmented images, can be efficiently used for vehicle localization without the need for detailed feature descriptors (SIFT, SURF, etc.), Thus, instead of depending on hand-crafted feature descriptors, we rely on the training of an image segmenter. The resulting map takes up much less storage space compared to a traditional descriptor based map. A particle filter based semantic localization solution is compared to one based on SIFT-features, and even with large seasonal variations over the year we perform on par with the larger and more descriptive SIFT-features, and are able to localize with an error below 1 m most of the time.


Question: BRAND: A robust descriptor for appearance and depth in RGB-D images.

This paper introduces a comprehensive dataset designed to serve as a benchmark for evaluating the performance of Simultaneous Localization and Mapping (SLAM) systems using RGB-D images. The dataset consists of extensive RGB-D image sequences paired with precise camera trajectories, aiming to establish a standard for assessing visual SLAM algorithms. The images were captured using a Microsoft Kinect sensor, known for its capability to deliver color and depth information at a resolution of 640x480 pixels and a frame rate of 30 Hz. To ensure accuracy in the camera pose trajectories, a high-precision motion-capture system was employed, featuring eight high-speed cameras operating at 100 Hz. Additionally, accelerometer data from the Kinect is included in the dataset. To facilitate the evaluation of SLAM systems, a criterion for quantifying the quality of the estimated camera trajectory is proposed, offering researchers a clear metric for comparing different visual SLAM approaches.

Aquiring reliable depth maps is an essential prerequisite for accurate and incremental 3D reconstruction used in a variety of robotics applications. Depth maps produced by affordable Kinect-like cameras have become a de-facto standard for indoor reconstruction and the driving force behind the success of many algorithms. However, Kinect-like cameras are less effective outdoors where one should rely on other sensors. Often, we use a combination of a stereo camera and lidar, however, process the acquired data in independent pipelines which generally leads to sub-optimal performance since both sensors suffer from different drawbacks. In this paper, we propose a probabilistic model that efficiently exploits complementarity between different depth-sensing modalities for incremental dense scene reconstruction. Our model uses a piecewise planarity prior assumption which is common in both the indoor and outdoor scenes. We demonstrate the effectiveness of our approach on the KITTI dataset, and provide qualitative and quantitative results showing high-quality dense reconstruction of a number of scenes.

Despite the great progress achieved in recognizing objects as 2D bounding boxes in images, it is still very challenging to detect occluded objects and estimate the 3D properties of multiple objects from a single image. In this paper, we propose a novel object representation, 3D Voxel Pattern (3DVP), that jointly encodes the key properties of objects including appearance, 3D shape, viewpoint, occlusion and truncation. We discover 3DVPs in a data-driven way, and train a bank of specialized detectors for a dictionary of 3DVPs. The 3DVP detectors are capable of detecting objects with specific visibility patterns and transferring the meta-data from the 3DVPs to the detected objects, such as 2D segmentation mask, 3D pose as well as occlusion or truncation boundaries. The transferred meta-data allows us to infer the occlusion relationship among objects, which in turn provides improved object recognition results. Experiments are conducted on the KITTI detection benchmark [17] and the outdoor-scene dataset [41]. We improve state-of-the-art results on car detection and pose estimation with notable margins (6% in difficult data of KITTI). We also verify the ability of our method in accurately segmenting objects from the background and localizing them in 3D.

This supplement provides additional details on the bilateral solver and its extensions in Sections 1–4, and a plethora of experiments and comparisons to prior work in Section 5. In Section 1 we derive the bilateral-space quadratic objective at the core of the bilateral solver. Section 2 details the bilateral-space pyramid representation used for faster initialization and preconditioning. Section 3 extends the bilateral solver to use a robust error function to cope with outliers. Section 4 improves the performance of the bilateral solver when applied to multiple output channels. Finally, in Section 5 we provide additional evaluation of the bilateral solver and extensively compare it to numerous existing and novel baseline techniques.

Image-based rendering techniques include those with geometry and those without. Geometric information in the form of a depth map aligned with the image holds a lot of promise for IBR due to the several methods available to capture it. It can improve the quality of generated views using a limited number of views. Compression of light fields or multiple images has attracted a lot of attention in the past. Compression of multiple depth maps of the same scene has not been explored much in the literature. We propose a method for compressing multiple depth maps in this paper using geometric proxy. Different quality of rendering and compression ratio can be achieved by varying different parameters. Experiments show the effectiveness of the compression technique on several model data.

We approach recognition in the framework of deformable shape matching, relying on a new algorithm for finding correspondences between feature points. This algorithm sets up correspondence as an integer quadratic programming problem, where the cost function has terms based on similarity of corresponding geometric blur point descriptors as well as the geometric distortion between pairs of corresponding feature points. The algorithm handles outliers, and thus enables matching of exemplars to query images in the presence of occlusion and clutter. Given the correspondences, we estimate an aligning transform, typically a regularized thin plate spline, resulting in a dense correspondence between the two shapes. Object recognition is then handled in a nearest neighbor framework where the distance between exemplar and query is the matching cost between corresponding points. We show results on two datasets. One is the Caltech 101 dataset (Fei-Fei, Fergus and Perona), an extremely challenging dataset with large intraclass variation. Our approach yields a 48% correct classification rate, compared to Fei-Fei et al 's 16%. We also show results for localizing frontal and profile faces that are comparable to special purpose approaches tuned to faces.

We introduce T-LESS, a new public dataset for estimating the 6D pose, i.e. translation and rotation, of texture-less rigid objects. The dataset features thirty industry-relevant objects with no significant texture and no discriminative color or reflectance properties. The objects exhibit symmetries and mutual similarities in shape and/or size. Compared to other datasets, a unique property is that some of the objects are parts of others. The dataset includes training and test images that were captured with three synchronized sensors, specifically a structured-light and a time-of-flight RGB-D sensor and a high-resolution RGB camera. There are approximately 39K training and 10K test images from each sensor. Additionally, two types of 3D models are provided for each object, i.e. a manually created CAD model and a semi-automatically reconstructed one. Training images depict individual objects against a black background. Test images originate from twenty test scenes having varying complexity, which increases from simple scenes with several isolated objects to very challenging ones with multiple instances of several objects and with a high amount of clutter and occlusion. The images were captured from a systematically sampled view sphere around the object/scene, and are annotated with accurate ground truth 6D poses of all modeled objects. Initial evaluation results indicate that the state of the art in 6D object pose estimation has ample room for improvement, especially in difficult cases with significant occlusion. The T-LESS dataset is available online at cmp:felk:cvut:cz/t-less.

Image variability due to changes in pose and illumination can seriously impair object recognition. This paper presents appearance-based methods which, unlike previous appearance-based approaches, require only a small set of training images to generate a rich representation that models this variability. Speci cally, from as few as three images of an object in xed pose seen under slightly varying but unknown lighting, a surface and an albedo map are reconstructed. These are then used to generate synthetic images with large variations in pose and illumination and thus build a representation useful for object recognition. Our methods have been tested within the domain of face recognition on a subset of the Yale Face Database B containing 4050 images of 10 faces seen under variable pose and illumination. This database was speci cally gathered for testing these generative methods. Their performance is shown to exceed that of popular existing methods.

We propose a computational framework to jointly parse a single RGB image and reconstruct a holistic 3D configuration composed by a set of CAD models using a stochastic grammar model. Specifically, we introduce a Holistic Scene Grammar (HSG) to represent the 3D scene structure, which characterizes a joint distribution over the functional and geometric space of indoor scenes. The proposed HSG captures three essential and often latent dimensions of the indoor scenes: i) latent human context, describing the affordance and the functionality of a room arrangement, ii) geometric constraints over the scene configurations, and iii) physical constraints that guarantee physically plausible parsing and reconstruction. We solve this joint parsing and reconstruction problem in an analysis-by-synthesis fashion, seeking to minimize the differences between the input image and the rendered images generated by our 3D representation, over the space of depth, surface normal, and object segmentation map. The optimal configuration, represented by a parse graph, is inferred using Markov chain Monte Carlo (MCMC), which efficiently traverses through the non-differentiable solution space, jointly optimizing object localization, 3D layout, and hidden human context. Experimental results demonstrate that the proposed algorithm improves the generalization ability and significantly outperforms prior methods on 3D layout estimation, 3D object detection, and holistic scene understanding.

On your one-minute walk from the coffee machine to your desk each morning, you pass by dozens of scenes – a kitchen, an elevator, your office – and you effortlessly recognize them and perceive their 3D structure. But this one-minute scene-understanding problem has been an open challenge in computer vision since the field was first established 50 years ago. In this dissertation, we aim to rethink the path researchers took over these years, challenge the standard practices and implicit assumptions in the current research, and redefine several basic principles in computational scene understanding. The key idea of this dissertation is that learning from rich data under natural setting is crucial for finding the right representation for scene understanding. First of all, to overcome the limitations of object-centric datasets, we built the Scene Understanding (SUN) Database, a large collection of real-world images that exhaustively spans all scene categories. This scene-centric dataset provides a more natural sample of human visual world, and establishes a realistic benchmark for standard 2D recognition tasks. However, while an image is a 2D array, the world is 3D and our eyes see it from a viewpoint, but this is not traditionally modeled. To obtain a 3D understanding at high-level, we reintroduce geometric figures using modern machinery. To model scene viewpoint, we propose a panoramic place representation to go beyond aperture computer vision and use data that is close to natural input for human visual system. This paradigm shift toward rich representation also opens up new challenges that require a new kind of big data – data with extra descriptions, namely rich data. Specifically, we focus on a highly valuable kind of rich data – multiple viewpoints in 3D – and we build the SUN3D database to obtain an integrated place-centric representation of scenes. We argue for the great importance of modeling the computer’s role as an agent in a 3D scene, and demonstrate the power of place-centric scene representation. Thesis Supervisor: Antonio Torralba Title: Associate Professor

This paper presents a deep learning architecture for detecting the palm and fingertip positions of stable grasps directly from partial object views. The architecture is trained using RGBD image patches of fingertip and palm positions from grasps computed on complete object models using a grasping simulator. At runtime, the architecture is able to estimate grasp quality metrics without the need to explicitly calculate the given metric. This ability is useful as the exact calculation of these quality functions is impossible from an incomplete view of a novel object without any tactile feedback. This architecture for grasp quality prediction provides a framework for generalizing grasp experience from known to novel objects.


Question: BRAND: A robust descriptor for appearance and depth in RGB-D images.

This paper explores the adaptation and enhancement of local feature detectors and descriptors, originally designed for 2D images, to operate within the broader context of scalar fields on 2D manifolds. Our focus is on developing methodologies and tools for feature detection and description on surfaces that are augmented with scalar functions, such as photometric data. This research is driven by the increasing demand for the matching and tracking of photometric surfaces across temporal sequences, spurred by recent advancements in multi-camera 3D reconstruction techniques. We introduce a 3D feature detector, MeshDOG, and a 3D feature descriptor, MeshHOG, tailored for use on uniformly triangulated meshes. These tools are invariant to changes in rotation, translation, and scale, making them versatile for a wide range of applications. The descriptor is designed to efficiently encapsulate the local geometric and photometric characteristics of the surface. Furthermore, the proposed framework is generic and can be applied to any scalar function, including local curvature. Our experimental results, showcasing the successful matching of both rigid and non-rigid meshes, highlight the efficacy and versatility of our methods.

Image variability due to changes in pose and illumination can seriously impair object recognition. This paper presents appearance-based methods which, unlike previous appearance-based approaches, require only a small set of training images to generate a rich representation that models this variability. Speci cally, from as few as three images of an object in xed pose seen under slightly varying but unknown lighting, a surface and an albedo map are reconstructed. These are then used to generate synthetic images with large variations in pose and illumination and thus build a representation useful for object recognition. Our methods have been tested within the domain of face recognition on a subset of the Yale Face Database B containing 4050 images of 10 faces seen under variable pose and illumination. This database was speci cally gathered for testing these generative methods. Their performance is shown to exceed that of popular existing methods.

We propose a computational framework to jointly parse a single RGB image and reconstruct a holistic 3D configuration composed by a set of CAD models using a stochastic grammar model. Specifically, we introduce a Holistic Scene Grammar (HSG) to represent the 3D scene structure, which characterizes a joint distribution over the functional and geometric space of indoor scenes. The proposed HSG captures three essential and often latent dimensions of the indoor scenes: i) latent human context, describing the affordance and the functionality of a room arrangement, ii) geometric constraints over the scene configurations, and iii) physical constraints that guarantee physically plausible parsing and reconstruction. We solve this joint parsing and reconstruction problem in an analysis-by-synthesis fashion, seeking to minimize the differences between the input image and the rendered images generated by our 3D representation, over the space of depth, surface normal, and object segmentation map. The optimal configuration, represented by a parse graph, is inferred using Markov chain Monte Carlo (MCMC), which efficiently traverses through the non-differentiable solution space, jointly optimizing object localization, 3D layout, and hidden human context. Experimental results demonstrate that the proposed algorithm improves the generalization ability and significantly outperforms prior methods on 3D layout estimation, 3D object detection, and holistic scene understanding.

We assess the applicability of several popular learning methods for the problem of recognizing generic visual categories with invariance to pose, lighting, and surrounding clutter. A large dataset comprising stereo image pairs of 50 uniform-colored toys under 36 azimuths, 9 elevations, and 6 lighting conditions was collected (for a total of 194,400 individual images). The objects were 10 instances of 5 generic categories: four-legged animals, human figures, airplanes, trucks, and cars. Five instances of each category were used for training, and the other five for testing. Low-resolution grayscale images of the objects with various amounts of variability and surrounding clutter were used for training and testing. Nearest neighbor methods, support vector machines, and convolutional networks, operating on raw pixels or on PCA-derived features were tested. Test error rates for unseen object instances placed on uniform backgrounds were around 13% for SVM and 7% for convolutional nets. On a segmentation/recognition task with highly cluttered images, SVM proved impractical, while convolutional nets yielded 16/7% error. A real-time version of the system was implemented that can detect and classify objects in natural scenes at around 10 frames per second.

Registration of range sensor measurements is an important task in mobile robotics and has received a lot of attention. Several iterative optimization schemes have been proposed in order to align three-dimensional (3D) point scans. With the more widespread use of high-frame-rate 3D sensors and increasingly more challenging application scenarios for mobile robots, there is a need for fast and accurate registration methods that current state-of-the-art algorithms cannot always meet. This work proposes a novel algorithm that achieves accurate point cloud registration an order of a magnitude faster than the current state of the art. The speedup is achieved through the use of a compact spatial representation: the Three-Dimensional Normal Distributions Transform (3D-NDT). In addition, a fast, global-descriptor based on the 3D-NDT is defined and used to achieve reliable initial poses for the iterative algorithm. Finally, a closed-form expression for the covariance of the proposed method is also derived. The proposed algorithms are evaluated on two standard point cloud data sets, resulting in stable performance on a par with or better than the state of the art. The implementation is available as an open-source package for the Robot Operating System (ROS).

Many object classes are primarily defined by their functions. However, this fact has been left largely unexploited by visual object categorization or detection systems. We propose a method to learn an affordance detector. It identifies locations in the 3d space which “support” the particular function. Our novel approach “imagines” an actor performing an action typical for the target object class, instead of relying purely on the visual object appearance. So, function is handled as a cue complementary to appearance, rather than being a consideration after appearance-based detection. Experimental results are given for the functional category “sitting”. Such affordance is tested on a 3d representation of the scene, as can be realistically obtained through SfM or depth cameras. In contrast to appearance-based object detectors, affordance detection requires only very few training examples and generalizes very well to other sittable objects like benches or sofas when trained on a few chairs.

We introduce a new dataset, Human3.6M, of 3.6 Million accurate 3D Human poses, acquired by recording the performance of 5 female and 6 male subjects, under 4 different viewpoints, for training realistic human sensing systems and for evaluating the next generation of human pose estimation models and algorithms. Besides increasing the size of the datasets in the current state-of-the-art by several orders of magnitude, we also aim to complement such datasets with a diverse set of motions and poses encountered as part of typical human activities (taking photos, talking on the phone, posing, greeting, eating, etc.), with additional synchronized image, human motion capture, and time of flight (depth) data, and with accurate 3D body scans of all the subject actors involved. We also provide controlled mixed reality evaluation scenarios where 3D human models are animated using motion capture and inserted using correct 3D geometry, in complex real environments, viewed with moving cameras, and under occlusion. Finally, we provide a set of large-scale statistical models and detailed evaluation baselines for the dataset illustrating its diversity and the scope for improvement by future work in the research community. Our experiments show that our best large-scale model can leverage our full training set to obtain a 20% improvement in performance compared to a training set of the scale of the largest existing public dataset for this problem. Yet the potential for improvement by leveraging higher capacity, more complex models with our large dataset, is substantially vaster and should stimulate future research. The dataset together with code for the associated large-scale learning models, features, visualization tools, as well as the evaluation server, is available online at http://vision.imar.ro/human3.6m.

As robots begin to collaborate with humans in everyday workspaces, they will need to understand the functions of tools and their parts. To cut an apple or hammer a nail, robots need to not just know the tool's name, but they must localize the tool's parts and identify their functions. Intuitively, the geometry of a part is closely related to its possible functions, or its affordances. Therefore, we propose two approaches for learning affordances from local shape and geometry primitives: 1) superpixel based hierarchical matching pursuit (S-HMP); and 2) structured random forests (SRF). Moreover, since a part can be used in many ways, we introduce a large RGB-Depth dataset where tool parts are labeled with multiple affordances and their relative rankings. With ranked affordances, we evaluate the proposed methods on 3 cluttered scenes and over 105 kitchen, workshop and garden tools, using ranked correlation and a weighted F-measure score [26]. Experimental results over sequences containing clutter, occlusions, and viewpoint changes show that the approaches return precise predictions that could be used by a robot. S-HMP achieves high accuracy but at a significant computational cost, while SRF provides slightly less accurate predictions but in real-time. Finally, we validate the effectiveness of our approaches on the Cornell Grasping Dataset [25] for detecting graspable regions, and achieve state-of-the-art performance.

This paper presents a novel visual representation, called orderlets, for real-time human action recognition with depth sensors. An orderlet is a middle level feature that captures the ordinal pattern among a group of low level features. For skeletons, an orderlet captures specific spatial relationship among a group of joints. For a depth map, an orderlet characterizes a comparative relationship of the shape information among a group of subregions. The orderlet representation has two nice properties. First, it is insensitive to small noise since an orderlet only depends on the comparative relationship among individual features. Second, it is a frame-level representation thus suitable for real-time online action recognition. Experimental results demonstrate its superior performance on online action recognition and cross-environment action recognition.

The ability to classify objects is fundamental for robots. Besides knowledge about their visual appearance, captured by the RGB channel, robots heavily need also depth information to make sense of the world. While the use of deep networks on RGB robot images has benefited from the plethora of results obtained on databases like ImageNet, using convnets on depth images requires mapping them into three-dimensional channels. This transfer learning procedure makes them processable by pretrained deep architectures. Current mappings are based on heuristic assumptions over preprocessing steps and on what depth properties should be most preserved, resulting often in cumbersome data visualizations, and in suboptimal performance in terms of generality and recognition results. Here, we take an alternative route and we attempt instead to learn an optimal colorization mapping for any given pretrained architecture, using as training data a reference RGB-D database. We propose a deep network architecture, exploiting the residual paradigm, that learns how to map depth data to three channel images. A qualitative analysis of the images obtained with this approach clearly indicates that learning the optimal mapping preserves the richness of depth information better than current hand-crafted approaches. Experiments on the Washington, JHUIT-50 and BigBIRD public benchmark databases, using CaffeNet, VGG-16, GoogleNet, and ResNet50 clearly showcase the power of our approach, with gains in performance of up to 16% compared to state of the art competitors on the depth channel only, leading to top performances when dealing with RGB-D data.

We propose multi-view and volumetric convolutional neural networks (ConvNets) for 3D shape recognition, which combines surface normal and height fields to capture local geometry and physical size of an object. This strategy helps distinguishing between objects with similar geometries but different sizes. This is especially useful for enhancing volumetric ConvNets and classifying 3D scans with insufficient surface details. Experimental results on CAD and real-world scan datasets showed that our technique outperforms previous approaches.


Question: BRAND: A robust descriptor for appearance and depth in RGB-D images.

This paper presents an optimized version of the Point Feature Histograms (PFH) descriptors, known as Fast Point Feature Histograms (FPFH), tailored for efficient 3D registration of overlapping point cloud views. Building upon our previous research [1], [2], where PFH descriptors were introduced as robust multi-dimensional features for capturing the local geometry around a point in 3D datasets, we have undertaken a comprehensive analysis of their robustness and computational complexity. We introduce several enhancements that significantly decrease computation times. These include caching previously calculated values and refining the theoretical formulations, leading to the development of FPFH descriptors that maintain the discriminative power of PFH while being faster to compute. Additionally, we propose a method for the real-time computation of FPFH features, making them suitable for dynamic applications. To substantiate our findings, we showcase the effectiveness of FPFH for 3D registration and introduce a novel sample consensus-based approach, SAC-IA (SAmple Consensus Initial Alignment), aimed at aligning two datasets into the convergence domain of a local non-linear optimizer, thereby improving the accuracy and speed of registration processes.

In this paper we propose and evaluate an algorithm that learns a similarity measure for comparing never seen objects. The measure is learned from pairs of training images labeled "same" or "different". This is far less informative than the commonly used individual image labels (e.g., "car model X"), but it is cheaper to obtain. The proposed algorithm learns the characteristic differences between local descriptors sampled from pairs of "same" and "different" images. These differences are vector quantized by an ensemble of extremely randomized binary trees, and the similarity measure is computed from the quantized differences. The extremely randomized trees are fast to learn, robust due to the redundant information they carry and they have been proved to be very good clusterers. Furthermore, the trees efficiently combine different feature types (SIFT and geometry). We evaluate our innovative similarity measure on four very different datasets and consistently outperform the state-of-the-art competitive approaches.

This paper describes a probabilistic approach to the problem of recognizing places based on their appearance. The system we present is not limited to localization, but can determine that a new observation comes from a previously unseen place, and so augment its map. Effectively this is a SLAM system in the space of appearance. Our probabilistic approach allows us to explicitly account for perceptual aliasing in the environment—identical but indistinctive observations receive a low probability of having come from the same place. We achieve this by learning a generative model of place appearance. By partitioning the learning problem into two parts, new place models can be learned online from only a single observation of a place. The algorithm complexity is linear in the number of places in the map, and is particularly suitable for online loop closure detection in mo-

We present a 3-D shape-based object recognition system for simultaneous recognition of multiple objects in scenes containing clutter and occlusion. Recognition is based on matching surfaces by matching points using the spin-image representation. The spin-image is a data level shape descriptor that is used to match surfaces represented as surface meshes. We present a compression scheme for spin-images that results in efficient multiple object recognition which we verify with results showing the simultaneous recognition of multiple objects from a library of 20 models. Furthermore, we demonstrate the robust performance of recognition in the presence of clutter and occlusion through analysis of recognition trials on 100 scenes. This research was performed at Carnegie Mellon University and was supported by the US Department of Energy under contract DE-AC21-92MC29104. 1

Different from RGB videos, depth data in RGB-D videos provide key complementary information for tristimulus visual data which potentially could achieve accuracy improvement for action recognition. However, most of the existing action recognition models solely using RGB videos limit the performance capacity. Additionally, the state-of-the-art action recognition models, namely 3D convolutional neural networks (3D-CNNs) contain tremendous parameters suffering from computational inefficiency. In this paper, we propose a series of 3D lightweight architectures for action recognition based on RGB-D data. Compared with conventional 3D-CNN models, the proposed lightweight 3D-CNNs have considerably less parameters involving lower computation cost, while it results in favorable recognition performance. Experimental results on two public benchmark datasets show that our models can approximate or outperform the state-of-the-art approaches. Specifically, on the RGB+DNTU (NTU) dataset, we achieve 93.2% and 97.6% for crosssubject and cross-view measurement, and on the NorthwesternUCLA Multiview Action 3D (N-UCLA) dataset, we achieve 95.5% accuracy of cross-view.

As robots begin to collaborate with humans in everyday workspaces, they will need to understand the functions of tools and their parts. To cut an apple or hammer a nail, robots need to not just know the tool's name, but they must localize the tool's parts and identify their functions. Intuitively, the geometry of a part is closely related to its possible functions, or its affordances. Therefore, we propose two approaches for learning affordances from local shape and geometry primitives: 1) superpixel based hierarchical matching pursuit (S-HMP); and 2) structured random forests (SRF). Moreover, since a part can be used in many ways, we introduce a large RGB-Depth dataset where tool parts are labeled with multiple affordances and their relative rankings. With ranked affordances, we evaluate the proposed methods on 3 cluttered scenes and over 105 kitchen, workshop and garden tools, using ranked correlation and a weighted F-measure score [26]. Experimental results over sequences containing clutter, occlusions, and viewpoint changes show that the approaches return precise predictions that could be used by a robot. S-HMP achieves high accuracy but at a significant computational cost, while SRF provides slightly less accurate predictions but in real-time. Finally, we validate the effectiveness of our approaches on the Cornell Grasping Dataset [25] for detecting graspable regions, and achieve state-of-the-art performance.

In general, the problem of change detection is studied in color space. Most proposed methods aim at dynamically finding the best color thresholds to detect moving objects against a background model. Background models are often complex to handle noise affecting pixels. Because the pixels are considered individually, some changes cannot be detected because it involves groups of pixels and some individual pixels may have the same appearance as the background. To solve this problem, we propose to formulate the problem of background subtraction in feature space. Instead of comparing the color of pixels in the current image with colors in a background model, features in the current image are compared with features in the background model. The use of a feature at each pixel position allows accounting for change affecting groups of pixels, and at the same time adds robustness to local perturbations. With the advent of binary feature descriptors such as BRISK or FREAK, it is now possible to use features in various applications at low computational cost. We thus propose to perform background subtraction with a small binary descriptor that we named Local Binary Similarity Patterns (LBSP). We show that this descriptor outperforms color, and that a simple background subtractor using LBSP outperforms many sophisticated state of the art methods in baseline scenarios.

We propose a method to refine geometry of 3D meshes from a consumer level depth camera, e.g. Kinect, by exploiting shading cues captured from an infrared (IR) camera. A major benefit to using an IR camera instead of an RGB camera is that the IR images captured are narrow band images that filter out most undesired ambient light, which makes our system robust against natural indoor illumination. Moreover, for many natural objects with colorful textures in the visible spectrum, the subjects appear to have a uniform albedo in the IR spectrum. Based on our analyses on the IR projector light of the Kinect, we define a near light source IR shading model that describes the captured intensity as a function of surface normals, albedo, lighting direction, and distance between light source and surface points. To resolve the ambiguity in our model between the normals and distances, we utilize an initial 3D mesh from the Kinect fusion and multi-view information to reliably estimate surface details that were not captured and reconstructed by the Kinect fusion. Our approach directly operates on the mesh model for geometry refinement. We ran experiments on our algorithm for geometries captured by both the Kinect I and Kinect II, as the depth acquisition in Kinect I is based on a structured-light technique and that of the Kinect II is based on a time-of-flight technology. The effectiveness of our approach is demonstrated through several challenging real-world examples. We have also performed a user study to evaluate the quality of the mesh models before and after our refinements.

Describing the color and textural information of a person image is one of the most crucial aspects of person re-identification (re-id). In this paper, we present novel meta-descriptors based on a hierarchical distribution of pixel features. Although hierarchical covariance descriptors have been successfully applied to image classification, the mean information of pixel features, which is absent from the covariance, tends to be the major discriminative information for person re-id. To solve this problem, we describe a local region in an image via hierarchical Gaussian distribution in which both means and covariances are included in their parameters. More specifically, the region is modeled as a set of multiple Gaussian distributions in which each Gaussian represents the appearance of a local patch. The characteristics of the set of Gaussians are again described by another Gaussian distribution. In both steps, we embed the parameters of the Gaussian into a point of Symmetric Positive Definite (SPD) matrix manifold. By changing the way to handle mean information in this embedding, we develop two hierarchical Gaussian descriptors. Additionally, we develop feature norm normalization methods with the ability to alleviate the biased trends that exist on the descriptors. The experimental results conducted on five public datasets indicate that the proposed descriptors achieve remarkably high performance on person re-id.

In this paper we address the problem of semantic labeling of indoor scenes on RGB-D data. With the availability of RGB-D cameras, it is expected that additional depth measurement will improve the accuracy. Here we investigate a solution how to incorporate complementary depth information into a semantic segmentation framework by making use of convolutional neural networks (CNNs). Recently encoder-decoder type fully convolutional CNN architectures have achieved a great success in the field of semantic segmentation. Motivated by this observation we propose an encoder-decoder type network, where the encoder part is composed of two branches of networks that simultaneously extract features from RGB and depth images and fuse depth features into the RGB feature maps as the network goes deeper. Comprehensive experimental evaluations demonstrate that the proposed fusion-based architecture achieves competitive results with the state-of-the-art methods on the challenging SUN RGB-D benchmark obtaining 76.27% global accuracy, 48.30% average class accuracy and 37.29% average intersectionover-union score.

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a label related to the type of object it represents, to attack the problem of long-term visual localization. We show that semantically labeled 3D point maps of the environment, together with semantically segmented images, can be efficiently used for vehicle localization without the need for detailed feature descriptors (SIFT, SURF, etc.), Thus, instead of depending on hand-crafted feature descriptors, we rely on the training of an image segmenter. The resulting map takes up much less storage space compared to a traditional descriptor based map. A particle filter based semantic localization solution is compared to one based on SIFT-features, and even with large seasonal variations over the year we perform on par with the larger and more descriptive SIFT-features, and are able to localize with an error below 1 m most of the time.


Question: Factors influencing organizational commitment and its outcomes among university educators in Pakistan.

This comprehensive analysis delves into the research on trust in leadership conducted over the past four decades, synthesizing findings and outlining their implications for both academia and practice. The study consolidates empirical evidence from 106 primary studies to elucidate the core relationships between trust in leadership and pivotal outcomes, antecedents, and associated factors. A significant contribution is the exploration of how specifying the construct of trust with different leadership referents, such as direct leaders versus organizational leadership, and various definitions of trust, can yield systematically distinct relationships between trust in leadership and both outcomes and antecedents. Notably, direct leaders, such as supervisors, emerge as a critical referent of trust. To encapsulate the vast literature and clarify perspectives on trust in leadership, the paper proposes a theoretical framework that aims to provide a coherent understanding of the construct's operation and its multifaceted nature. This framework not only enriches the theoretical underpinnings of trust in leadership but also guides future research and practical applications in organizational settings.

Developing effective health care organizations is increasingly complex as a result of demographic changes, globalization and developments in medicine. This study examines the potential contribution of organizational behavior theory and research by investigating the relationship between systems of human resource management (HRM) practices and effectiveness of patient care in hospitals. Relatively little research has been conducted to explore these issues in health care settings. In a sample of 52 hospitals in England, we examine the relationship between the HRM system and health care outcome. Specifically, we study the association between high performance HRM policies and practices and standardized patient mortality rates. The research reveals that, after controlling for prior mortality and other potentially confounding factors such as the ratio of doctors to patients, greater use of a complementary set of HRM practices has a statistically and practically significant relationship with patient mortality. The findings suggest that managers and policy makers should focus sharply on improving the functioning of relevant HR management systems in health care organizations as one important means by which to improve patient care.

BACKGROUND
Research has shown how academic emotions are related to achievement and to cognitive/motivational variables that promote achievement. Mediated models have been proposed to account for the relationships among academic emotions, cognitive/motivational variables, and achievement, and research has supported such mediated models, particularly with negative emotions.

AIMS
The study tested the hypotheses: (1) self-regulation and the positive academic emotions of enjoyment and pride are positive predictors of achievement; and (2) enjoyment and pride both moderate the relationship between self-regulation and achievement.

SAMPLE
Participants were 1,345 students enrolled in various trigonometry classes in one university.

METHODS
Participants answered the Academic Emotions Questionnaire-Math (Pekrun, Goetz, & Frenzel, 2005) and a self-regulation scale (Pintrich, Smith, Garcia, & McKeachie, 1991) halfway through their trigonometry class. The students' final grades in the course were regressed to self-regulation, positive emotions, and the interaction terms to test the moderation effects.

RESULTS AND CONCLUSIONS
Enjoyment and pride were both positive predictors of grades; more importantly, both moderated the relationship between self-regulation and grades. For students who report higher levels of both positive emotions, self-regulation was positively associated with grades. However, for those who report lower levels of pride, self-regulation was not related to grades; and, for those who reported lower levels of enjoyment, self-regulation was negatively related to grades. The results are discussed in terms of how positive emotions indicate positive appraisals of task/outcome value, and thus enhance the positive links between cognitive/motivational variables and learning.

The primary questions addressed in this paper are the following: what are the factors that affect students‟ adoption of an e-learning system and what are the relationships among these factors? This paper investigates and identifies some of the major factors affecting students‟ adoption of an e-learning system in a university in Jordan. E-learning adoption is approached from the information systems acceptance point of view. This suggests that a prior condition for learning effectively using e-learning systems is that students must actually use them. Thus, a greater knowledge of the factors that affect IT adoption and their interrelationships is a pre-cursor to a better understanding of student acceptance of e-learning systems. In turn, this will help and guide those who develop, implement, and deliver e-learning systems. In this study, an extended version of the Technology Acceptance Model (TAM) was developed to investigate the underlying factors that influence students‟ decisions to use an e-learning system. The TAM was populated using data gathered from a survey of 486 undergraduate students, who were using the Moodle based e-learning system at the Arab Open University. The model was estimated using Structural Equation Modelling (SEM). A path model was developed to analyze the relationships between the factors to explain students‟ adoption of the e-learning system. Whilst findings support existing literature about prior experience affecting perceptions, they also point to surprising group effects, which may merit future exploration.

A pretest-posttest control-group design (N = 20) was used to assess the effects of transformational leadership training, with 9 and 11 managers assigned randomly to training and control groups, respectively. Training consisted of a 1-day group session and 4 individual booster sessions thereafter on a monthly basis. Multivariate analyses of covariance, with pretest scores as the covariate, showed that the training resulted in significant effects on subordinates' perceptions of leaders' transformational leadership, subordinates' own organizational commitment, and 2 aspects of branch-level financial performance.

Creating an integrative research framework that extends a model frequently used in the Information Systems field, the Technology Acceptance Model, together with variables used in the Education field, this empirical study investigates the factors influencing student performance as reflected by their final course grade. The Technology Acceptance Model explains computer acceptance in general terms. The model measures the impact of external variables on internal beliefs, attitudes, and intentions. Perceived Usefulness and Perceived Ease of Use, two main constructs in the model, refer to an individual’s perception of how the adoption of a new technology will increase their efficiency, and the individual’s perception of how easy the technology will be to use. The lower the perceived effort is, the easier the technology will be to adopt. Thus, Perceived Usefulness, Perceived Ease of Use, Computer Self-Efficacy, and Computer Anxiety were measured to determine their effect on student performance.

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School of Business Administration, Southwestern University of Finance and Economics, Sichuan, P. R. of China; Business School, Shantou University, Guangdong, P. R. of China; Information Technology Management, School of Business, University at Albany, Albany, NY, U.S.A; Department of Management, Hong Kong University of Science and Technology, Hong Kong, P.R. China; Department of Finance and Decision Sciences, School of Business, Hong Kong Baptist University, Hong Kong, P.R. China

Past studies in U.S. work organizations have supported a model derived from self-determination theory in which autonomy-supportive work climates predict satisfaction of the intrinsic needs for competence, autonomy, and relatedness, which in turn predict task motivation and psychological adjustment on the job. To test this model cross-culturally, the authors studied employees of state-owned companies in Bulgaria, a country that has traditionally had a central-planning economy, a totalitarian political system, and collectivist values. A sample from a privately owned American corporation was used for comparison purposes. Results using structural equation modeling suggested that the model fit the data from each country, that the constructs were equivalent across countries, and that some paths of the structural model fit equivalently for the two countries but that county moderated the other paths.


Question: Determinants and outcomes of organizational commitment in Pakistani university educators.

A Comprehensive Evaluation of Organizational Commitment and Its Impact on Organizational Performance

This study delves into the intricate relationship between organizational commitment and organizational performance, specifically focusing on the academic sector in Pakistan. The research methodology adopted for this study is empirical, involving a systematic collection and analysis of data to assess the dynamics of organizational commitment among university teachers. The findings reveal a significant correlation between the level of commitment exhibited by educators and the overall effectiveness of the educational institutions they serve. This study emphasizes the importance of fostering a strong sense of commitment among university faculty as a means to enhance organizational performance. It also underscores the need for institutions to develop strategies that promote loyalty and dedication among their teaching staff to ensure optimal institutional outcomes. The results of this study contribute to the broader understanding of organizational behavior in the academic context, offering insights that can inform policy and practice in higher education management.

AIM
To determine overall and subgroup prevalence of depressive symptomatology among university students in Denizli, Turkey during the 1999-2000 academic year, and to investigate whether sociodemographic factors were associated with depressive symptoms in university students.

METHODS
A stratified probability sample of 504 Turkish university students (296 male, 208 female) was used in a cross-sectional study. Data were obtained by self-administered questionnaire, including questions on sociodemographic characteristics and problem areas. The revised Beck Depression Inventory (BDI) was used to determine depressive symptoms of the participants. BDI scores 17 or higher were categorized as depressive for logistic regression analysis. Student t-test and linear regression were used for continuous data analysis.

RESULTS
Out of all participants, 26.2% had a BDI score 17 or higher. The prevalence of depressive symptoms increased to 32.1% among older students, 34.7% among students with low socioeconomic status, 31.2% among seniors, and 62.9% among students with poor school performance. The odds ratio of depressive symptoms was 1.84 (95% confidence interval [CI], 1.03-3.28) in students with low socioeconomic status and 7.34 (95% CI, 3.36-16.1) in students with poor school performance in the multivariate logistic model. The participants identified several problem areas: lack of social activities and shortage of facilities on the campus (69.0%), poor quality of the educational system (54.8%), economic problems (49.3%), disappointment with the university (43.2%), and friendship problems (25.9%).

CONCLUSIONS
Considering the high frequency of depressive symptoms among Turkish university students, a student counseling service offering mental health assistance is necessary. This service should especially find the way to reach out to poor students and students with poor school performance.

In this study, the authors examined the findings and implications of the research on trust in leadership that has been conducted during the past 4 decades. First, the study provides estimates of the primary relationships between trust in leadership and key outcomes, antecedents, and correlates (k = 106). Second, the study explores how specifying the construct with alternative leadership referents (direct leaders vs. organizational leadership) and definitions (types of trust) results in systematically different relationships between trust in leadership and outcomes and antecedents. Direct leaders (e.g., supervisors) appear to be a particularly important referent of trust. Last, a theoretical framework is offered to provide parsimony to the expansive literature and to clarify the different perspectives on the construct of trust in leadership and its operation.

The aim of this paper is to examine the factors influencing the adoption of the human resource information system (HRIS) in the Saudi context. A few researches have looked at the adoption of HRIS, but none of these studies have examined the adoption of such a system from the users’ perspective in general and Saudi Arabia (SA) in particular. This study has developed a model that integrates service quality with perceived usefulness and perceived ease of use to investigate the factors affecting the users’ adoption of HRIS. The model was empirically tested using the structure equation modelling by employing data collected from a survey of HRIS users. The findings and discussion presented in this study will help the Saudi organisations to understand the current status of their HRIS to improve it and benefit from it. This study provides guidelines for its implementation for theory and practices, limitations and future directions.

Developing effective health care organizations is increasingly complex as a result of demographic changes, globalization and developments in medicine. This study examines the potential contribution of organizational behavior theory and research by investigating the relationship between systems of human resource management (HRM) practices and effectiveness of patient care in hospitals. Relatively little research has been conducted to explore these issues in health care settings. In a sample of 52 hospitals in England, we examine the relationship between the HRM system and health care outcome. Specifically, we study the association between high performance HRM policies and practices and standardized patient mortality rates. The research reveals that, after controlling for prior mortality and other potentially confounding factors such as the ratio of doctors to patients, greater use of a complementary set of HRM practices has a statistically and practically significant relationship with patient mortality. The findings suggest that managers and policy makers should focus sharply on improving the functioning of relevant HR management systems in health care organizations as one important means by which to improve patient care.


Question: Determinants and outcomes of organizational commitment in Pakistani university educators.

This study delves into the dynamics of social exchange within organizational contexts, exploring the interplay between perceived organizational support, leader-member exchange, and employee responses. Drawing upon the foundational theories of social exchange (P. Blau, 1964) and the norm of reciprocity (A. W. Gouldner, 1960), the research aims to elucidate how these constructs influence employee attitudes and behaviors. Building on prior empirical findings that suggest varying reciprocation efforts based on the exchange partner (B. L. McNeely & B. M. Meglino, 1994), this investigation seeks to deepen our understanding by comparing the relative impacts of employee-organization exchange and subordinate-supervisor exchange. Utilizing structural equation modeling, the study evaluates nested models to ascertain the relationships. The analysis reveals that perceived organizational support is strongly correlated with organizational commitment, while leader-member exchange is more closely linked to citizenship and in-role behavior, offering insights into the nuanced mechanisms of social exchange in the workplace.

OBJECTIVE
To elucidate behavioral determinants of handwashing among nurses.

DESIGN
Statistical modeling using the Theory of Planned Behavior and relevant components to handwashing behavior by nurses that were derived from focus-group discussions and literature review.

SETTING
The community and 3 tertiary care hospitals.

PARTICIPANTS
Children aged 9-10 years, mothers, and nurses.

RESULTS
Responses from 754 nurses were analyzed using backward linear regression for handwashing intention. We reasoned that handwashing results in 2 distinct behavioral practices--inherent handwashing and elective handwashing--with our model explaining 64% and 76%, respectively, of the variance in behavioral intention. Translation of community handwashing behavior to healthcare settings is the predominant driver of all handwashing, both inherent (weighted beta =2.92) and elective (weighted beta =4.1). Intended elective in-hospital handwashing behavior is further significantly predicted by nurses' beliefs in the benefits of the activity (weighted beta =3.12), peer pressure of senior physicians (weighted beta =3.0) and administrators (weighted beta =2.2), and role modeling (weighted beta =3.0) but only to a minimal extent by reduction in effort (weighted beta =1.13). Inherent community behavior (weighted beta =2.92), attitudes (weighted beta =0.84), and peer behavior (weighted beta =1.08) were strongly predictive of inherent handwashing intent.

CONCLUSIONS
A small increase in handwashing adherence may be seen after implementing the use of alcoholic hand rubs, to decrease the effort required to wash hands. However, the facilitation of compliance is not simply related to effort but is highly dependent on altering behavioral perceptions. Thus, introduction of hand rub alone without an associated behavioral modification program is unlikely to induce a sustained increase in hand hygiene compliance.

The movement of workers to act in a desired manner has always consumed the thoughts of managers. In many ways, this goal has been reached through incentive programs, corporate pep talks, and other types of conditional administrative policy. However, as the workers adjust their behaviour in response to one of the aforementioned stimuli, is job satisfaction actualized? The instilling of satisfaction within workers is a crucial task of management. Satisfaction creates confidence, loyalty and ultimately improved quality in the output of the employed. Satisfaction, though, is not the simple result of an incentive program. Employees will most likely not take any more pride in their work even if they win the weekend getaway for having the highest sales. This paper reviews the literature of motivational theorists and draws from their approaches to job satisfaction and the role of motivation within job satisfaction. The theories of Frederick Herzberg and Edwin Locke are presented chronologically to show how Locke’s theory was a response to Herzberg’s theory. By understanding these theories, managers can focus on strategies of creating job satisfaction. This is followed by a brief examination of Kenneth Blanchard and Paul Hersey’s theory on leadership within management and how this art is changing through time. Herzberg and job satisfaction

BACKGROUND
Burnout and psychiatric morbidity among gastroenterologists, surgeons, radiologists, and oncologists in the UK have been estimated by means of a questionnaire-based survey. The relationship between consultants' mental health and their job stress and satisfaction, as well as their job and demographic characteristics, were also examined.

METHODS
Psychiatric morbidity was estimated using the 12-item General Health Questionnaire. The three components of burnout-emotional exhaustion, depersonalization, and low personal accomplishment-were assessed using the Maslach Burnout Inventory. Job stress and satisfaction were measured using study-specific questions.

FINDINGS
Of 1133 consultants, 882 (78%) returned questionnaires. The estimated prevalence of psychiatric morbidity was 27%, with no significant differences between the four specialist groups. Radiologists reported the highest level of burnout in terms of low personal accomplishment. Job satisfaction significantly protected consultants' mental health against job stress. Three sources of stress were associated with both burnout and psychiatric morbidity; feeling overloaded, and its effect on home life; feeling poorly managed and resourced; and dealing with patients' suffering. Burnout was also associated with low satisfaction in three domains: relationships with patients, relatives and staff; professional status/esteem; intellectual stimulation. In addition, being aged 55 years or less and being single were independent risk factors for burnout. Burnout was also more prevalent among consultants who felt insufficiently trained in communication and management skills.

INTERPRETATION
Consultants' mental health is likely to be protected against the high demands of medical practice by maintaining or enhancing job satisfaction, and by providing training in communication and management skills.


Question: Determinants and outcomes of organizational commitment in Pakistani university educators.

Understanding the Dynamics of Leadership: Insights, Effectiveness, and Personality Traits
Despite the extensive knowledge that psychologists have accumulated about leadership, decision-makers often overlook these insights when selecting real-world leaders. To bridge this gap and make research more applicable to practical decision-making, this paper first defines leadership and then addresses nine common questions that arise during leadership decisions. These questions cover crucial aspects such as the criteria for appointing leaders, methods for evaluating their performance, and the circumstances under which they should be replaced. By synthesizing past research, this article aims to provide decision-makers with a clearer understanding of leadership effectiveness and the role of personality traits in leadership success. This knowledge is essential for making informed choices in leadership appointments and evaluations, ensuring that organizations benefit from the most capable and compatible leaders.

© International Association for Applied Psychology, 2004. Published by Blackwell Publishing, 9600 Garsington Road, Oxford OX4 2DQ, UK and 350 Main Street, Malden, MA 02148, USA. Blackwell Publishing, Ltd. Oxford, UK APPS pplied Psychology: an International Review 0269-994X © Blackwell Publishing 2004 ct ber 2004 53 4 riginal Arti le PERFORMANCE MANAGEMENT D N HARTOG ET AL. Performance Management: A Model and Research Agenda

The movement of workers to act in a desired manner has always consumed the thoughts of managers. In many ways, this goal has been reached through incentive programs, corporate pep talks, and other types of conditional administrative policy. However, as the workers adjust their behaviour in response to one of the aforementioned stimuli, is job satisfaction actualized? The instilling of satisfaction within workers is a crucial task of management. Satisfaction creates confidence, loyalty and ultimately improved quality in the output of the employed. Satisfaction, though, is not the simple result of an incentive program. Employees will most likely not take any more pride in their work even if they win the weekend getaway for having the highest sales. This paper reviews the literature of motivational theorists and draws from their approaches to job satisfaction and the role of motivation within job satisfaction. The theories of Frederick Herzberg and Edwin Locke are presented chronologically to show how Locke’s theory was a response to Herzberg’s theory. By understanding these theories, managers can focus on strategies of creating job satisfaction. This is followed by a brief examination of Kenneth Blanchard and Paul Hersey’s theory on leadership within management and how this art is changing through time. Herzberg and job satisfaction

The purpose of this study is to investigate the influence of knowledge management infrastructure and process on nursing care effectiveness in selected teaching hospitals in Southwest Nigeria. The organization of nursing knowledge resources is critical to health care organizations for providing safe and high quality care for patients. Therefore, it is necessary to study the role of knowledge management in clinical nursing practice and the outcomes on the effectiveness of nursing care. Despite the critical role of nursing care in defining high-performing health care delivery, knowledge management in this area is still at an early stage of development. Based on organizational capability theory and employing concurrent mixed-method research design, this study seeks to identify the components of knowledge infrastructure and processes that influence the efficiency and effectiveness of nursing care in clinical floor nursing of selected teaching hospitals in Nigeria, a developing country in Africa. The output from the research is expected to contribute to the domain of literature/knowledge; provide awareness of the knowledge management practices in nursing care in Nigeria; assist nursing administrators, health policy makers and hospital management to exploit and make effective use of knowledge-based resources to enhance nursing care which can improve the productivity of health care organizations.

Non attendance of lectures and tutorials appears to be a growing trend. The literature suggests many possible reasons including students’ changing lifestyle, attitudes, teaching and technology. This paper looks at the reasons for non attendance of students in the Faculty of Commerce at the University of Wollongong and identifies relationships between attendance, participation and performance. The results indicate that there are valid reasons for non attendance that are both in the control of learners and teachers. There are also clear benefits for students to be gained in attendance; however, changes in the way we learn, teach, assess and use technology are recommended if we wish to reverse the trend. This journal article is available in Journal of University Teaching & Learning Practice: http://ro.uow.edu.au/jutlp/vol3/iss2/3 Jour na l o f Un ive rs i t y Teach ing and Lear n ing Pr ac t i ce Does Attendance Matter? An Examination of Student Attitudes, Participation, Performance and Attendance

Organizations develop technical and procedural measures to protect information systems. Relying only on technical based security solutions is not enough. Organizations must consider technical security solutions along with social, human, and organizational factors. The human element represents the employees (insiders) who use the information systems and other technology resources in their day-to-day operations. ISP awareness is essential to protect organizational information systems. This study adapts the Innovation Diffusion Theory to examine the antecedents of ISP awareness and its impact on the satisfaction with ISP and security practices. A sample of 236 employees in universities in the United States is collected to evaluate the research model. Results indicated that ISP quality, self-efficacy, and technology security awareness significantly impact ISP awareness. The current study presents significant contributions toward understanding the antecedents of ISP awareness and provides a starting point toward including satisfaction aspect in information security behavioral domain.

Computer systems cannot improve organizational performance if they aren't used. Unfortunately, resistance to end-user systems by managers and professionals is a widespread problem. To better predict, explain, and increase user acceptance, we need to better understand why people accept or reject computers. This research addresses the ability to predict peoples' computer acceptance from a measure oftheir intentions, and the ability to explain their intentions in terms oftheir attitudes, subjective norms, perceived usefulness, perceived ease of use, and related variables. In a longitudinal study of 107 users, intentions to use a specific system, measured after a onehour introduction to the system, were correlated 0.35 with system use 14 weeks later. The intentionusage correlation was 0.63 at the end of this time period. Perceived usefulness strongly influenced peoples' intentions, explaining more than half of the variance in intentions at the end of 14 weeks. Perceived ease of use had a small but significant effect on intentions as well, although this effect subsided over time. Attitudes only partially mediated the effects of these beliefs on intentions. Subjective norms had no effect on intentions. These results suggest the possibility of simple but powerful models ofthe determinants of user acceptance, with practical value for evaluating systems and guiding managerial interventions aimed at reducing the problem of underutilized computer technology. (INFORMATION TECHNOLOGY; USER ACCEPTANCE; INTENTION MODELS)

Scholars in various disciplines have considered the causes, nature, and effects of trust. Prior approaches to studying trust are considered, Including characteristics of the tnistor, the trustee, and the role of risk. A definition of trust and a model of its antecedents and outcomes are presented, which integrate research from multiple disciplines and differentiate trust from similar constructs. Several research propositions based on the model are presented.