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Ground Vehicle Monocular Visual Odometry

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Ground Vehicle Monocular Visual Odometry

International Conference on intelligent Transportation

作者： Mohamed Sabry Abdulla Al-Kaff Ahmed Hussein Slim Abdennadher Computer Science Department German University in Cairo (GUC) Cairo Egypt Intelligent Systems Lab (LSI) Research Group Universidad Carlos III de Madrid (UC3M) Legan•es Madrid Spain Perception and Camera Functions Department IAV GmbH Berlin Germany

Technology advances in the field of intelligent Transportation systems are rapidly increasing to obtain higher autonomy levels, and improve the robustness and reliability of autonomous driving. One of the challenges related to autonomous vehicles is the localization systems especially in GPS-denied environments. This paper presents an enhancement in the monocular visual odometry by exploring the use of one external sensor (encoder); in order to obtain the vehicle speed with computer vision techniques to provide a reliable and real time localization system. The proposed algorithm has been validated by performing real experiments, and the obtained results show the improvement in accuracy comparing to existing stereo visual odometry algorithm, with lower error in translation and rotation of the path points.

关键词： Cameras Robustness Feature extraction Land vehicles Visual odometry Real-time systems

Author Correction: Predicting standardized uptake value of brown adipose tissue from CT scans using convolutional neural networks

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Nature communications 2024年第1期15卷 10022页

作者： Ertunc Erdil Anton S Becker Moritz Schwyzer Borja Martinez-Tellez Jonatan R Ruiz Thomas Sartoretti H Alberto Vargas A Irene Burger Alin Chirindel Damian Wild Nicola Zamboni Bart Deplancke Vincent Gardeux Claudia Irene Maushart Matthias Johannes Betz Christian Wolfrum Ender Konukoglu Computer Vision Lab. ETH Zurich Zurich Switzerland. ertunc.erdil@vision.ee.ethz.ch. Computer Vision Lab. ETH Zurich Zurich Switzerland. Department of Radiology Memorial Sloan Kettering Cancer Center New York NY USA. Institute for Diagnostic and Interventional Radiology University Hospital Zurich Zurich Switzerland. Department of Radiology NYU Grossman School of Medicine New York NY USA. Department of Nursing Physiotherapy and Medicine and SPORT Research Group (CTS-1024) CERNEP Research Center University of Almería Almería Spain. CIBER de Fisiopatología de la Obesidad y Nutrición (CIBEROBN) Instituto de Salud Carlos III Granada Spain. Department of Medicine Division of Endocrinology and Einthoven Laboratory for Experimental Vascular Medicine Leiden University Medical Center Leiden The Netherlands. Department of Physical Education and Sports Faculty of Sports Science Sport and Health University Research Institute (iMUDS) University of Granada 18071 Granada Spain. Instituto de Investigación Biosanitaria Ibs.Granada Granada Spain. Centro de Investigación Biomédica en Red Fisiopatología de la Obesidad y Nutrición (CIBERobn) Instituto de Salud Carlos III Madrid Spain. Department of Nuclear Medicine University Zurich Hospital Zurich Switzerland. University of Zurich Zurich Switzerland. Department of Radiology and Nuclear Medicine University Hospital of Basel Basel Switzerland. Swiss Multi-Omics Center ETH Zürich Zürich Switzerland. Laboratory of Systems Biology and Genetics Institute of Bioengineering School of Life Sciences Ecole Polytechnique Fédérale de Lausanne (EPFL) 1015 Lausanne Switzerland. Swiss Institute of Bioinformatics 1015 Lausanne Switzerland. Department of Endocrinology Diabetes and Metabolism University Hospital Basel and University of Basel Basel Switzerland. Department of Health Sciences and Technology ETH Zurich Zurich Switzerland. The LOOP Zürich - Medical Research Center Zürich Switzerland.

Out-of-domain Detection for Natural Language Understanding in Dialog systems

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arXiv 2019年

作者： Zheng, Yinhe Chen, Guanyi Huang, Minlie Beijing100102 China The Institute for Artificial Intelligence State Key Lab of Intelligent Technology and Systems Beijing National Research Center for Information Science and Technology Department of Computer Science and Technology Tsinghua University Beijing100084 China The Department of Information and Computing Sciences Utrecht University Utrecht3584 CC Netherlands

Natural Language Understanding (NLU) is a vital component of dialogue systems, and its ability to detect Out-of-Domain (OOD) inputs is critical in practical applications, since the acceptance of the OOD input that is unsupported by the current system may lead to catastrophic failure. However, most existing OOD detection methods rely heavily on manually labeled OOD samples and cannot take full advantage of unlabeled data. This limits the feasibility of these models in practical applications. In this paper, we propose a novel model to generate high-quality pseudo OOD samples that are akin to IN-Domain (IND) input utterances and thereby improves the performance of OOD detection. To this end, an autoencoder is trained to map an input utterance into a latent code. Moreover, the codes of IND and OOD samples are trained to be indistinguishable by utilizing a generative adversarial network. To provide more supervision signals, an auxiliary classifier is introduced to regularize the generated OOD samples to have indistinguishable intent labels. Experiments show that these pseudo OOD samples generated by our model can be used to effectively improve OOD detection in NLU. Besides, we also demonstrate that the effectiveness of these pseudo OOD data can be further improved by efficiently utilizing unlabeled data. Copyright © 2019, The Authors. All rights reserved.

关键词： Speech processing

Beam Squint and Channel Estimation for Wideband mmWave Massive MIMO-OFDM systems

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arXiv 2019年

作者： Wang, Bolei Jian, Mengnan Gao, Feifei Ye Li, Geoffrey Jin, Shi Lin, Hai State Key Lab of Intelligent Technologies and Systems Tsinghua University Department of Automation Tsinghua University Beijing China School of Electrical and Computer Engineering Georgia Institute of Technology AtlantaGA United States National Communications Research Laboratory Southeast University Nanjing210096 China Department of Electrical and Information Systems Graduate School of Engineering Osaka Prefecture University SakaiOsaka Japan

With the increasing scale of antenna arrays in wideband millimeter-wave (mmWave) communications, the physical propagation delays of electromagnetic waves traveling across the whole array will become large and comparable to the time-domain sample period, which is known as the spatial-wideband effect. In this case, different subcarriers in an orthogonal frequency division multiplexing (OFDM) system will "see" distinct angles of arrival (AoAs) for the same path. This effect is known as beam squint, resulting from the spatial-wideband effect, and makes the approaches based on the conventional multiple-input multiple-output (MIMO) model, such as channel estimation and precoding, inapplicable. After discussing the relationship between beam squint and the spatial-wideband effect, we propose a channel estimation scheme for frequency-division duplex (FDD) mmWave massive MIMO-OFDM systems with hybrid analog/digital precoding, which takes the beam squint effect into consideration. A super-resolution compressed sensing approach is developed to extract the frequency-insensitive parameters of each uplink channel path, i.e., the AoA and the time delay, and the frequency-sensitive parameter, i.e., the complex channel gain. With the help of the reciprocity of these frequency-insensitive parameters in FDD systems, the downlink channel estimation can be greatly simplified, where only limited pilots are needed to obtain downlink complex gains and reconstruct downlink channels. Furthermore, the uplink and downlink Copyright © 2019, The Authors. All rights reserved.

关键词： Channel estimation

Ontologizing Health systems Data at Scale: Making Translational Discovery a Reality

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arXiv 2022年

作者： Callahan, Tiffany J. Stefanski, Adrianne L. Wyrwa, Jordan M. Zeng, Chenjie Ostropolets, Anna Banda, Juan M. Baumgartner, William A. Boyce, Richard D. Casiraghi, Elena Coleman, Ben D. Collins, Janine H. Deakyne-Davies, Sara J. Feinstein, James A. Haendel, Melissa A. Lin, Asiyah Y. Martin, Blake Matentzoglu, Nicolas A. Meeker, Daniella Reese, Justin Sinclair, Jessica Taneja, Sanya B. Trinkley, Katy E. Vasilevsky, Nicole A. Williams, Andrew Zhang, Xingman A. Denny, Joshua C. Robinson, Peter N. Ryan, Patrick Hripcsak, George Bennett, Tellen D. Hunter, Lawrence E. Kahn, Michael G. Computational Bioscience Program University of Colorado Anschutz Medical Campus AuroraCO80045 United States Department of Biomedical Informatics Columbia University Irving Medical Center New YorkNY10032 United States Department of Physical Medicine and Rehabilitation School of Medicine University of Colorado Anschutz Medical Campus AuroraCO80045 United States National Human Genome Research Institute National Institutes of Health BethesdaMD20892 United States Department of Computer Science Georgia State University AtlantaGA30303 United States Department of Biomedical Informatics University of Pittsburgh School of Medicine PittsburghPA15260 United States Computer Science Università degli Studi di Milano Milan20122 Italy Division of Environmental Genomics and Systems Biology Lawrence Berkeley National Laboratory BerkeleyCA94720 United States The Jackson Laboratory for Genomic Medicine FarmingtonCT06032 United States Department of Haematology University of Cambridge Cambridge United Kingdom Department of Research Informatics & Data Science Analytics Resource Center Children’s Hospital Colorado AuroraCO80045 United States University of Colorado Anschutz School of Medicine AuroraCO80045 United States Center for Health AI University of Colorado Anschutz Medical Campus AuroraCO80045 United States Departments of Biomedical Informatics and Pediatrics University of Colorado School of Medicine AuroraCO80045 United States Semanticly Athens Greece Yale School of Medicine New HavenCT06510 United States HealthLinc ValparaisoIN46383 United States Intelligent Systems Program University of Pittsburgh PittsburghPA15260 United States Department of Family Medicine University of Colorado Anschutz School of Medicine AuroraCO80045 United States Translational and Integrative Sciences Lab University of Colorado Anschutz Medical Campus AuroraCO80045 United States Tufts Institute for Clinical Research and Health Policy Studies Tufts University Bos

Background: Common data models solve many challenges of standardizing electronic health record (EHR) data, but are unable to semantically integrate all the resources needed for deep phenotyping. Open Biological and Biomedical Ontology (OBO) Foundry ontologies provide computable representations of biological knowledge and enable the integration of heterogeneous data. However, mapping EHR data to OBO ontologies requires significant manual curation and domain expertise. Objective: We introduce OMOP2OBO, an algorithm for mapping Observational Medical Outcomes Partnership (OMOP) vocabularies to OBO ontologies. Results: Using OMOP2OBO, we produced mappings for 92,367 conditions, 8611 drug ingredients, and 10,673 measurement results, which covered 68-99% of concepts used in clinical practice when examined across 24 hospitals. When used to phenotype rare disease patients, the mappings helped systematically identify undiagnosed patients who might benefit from genetic testing. Conclusions: By aligning OMOP vocabularies to OBO ontologies our algorithm presents new opportunities to advance EHR-based deep phenotyping. © 2022, CC BY.

关键词： Ontology

Time Series Forecasting of New Cases and New Deaths Rate for COVID-19 using Deep Learning Methods

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arXiv 2021年

作者： Ayoobi, Nooshin Sharifrazi, Danial Alizadehsani, Roohallah Shoeibi, Afshin Gorriz, Juan M. Moosaei, Hossein Khosravi, Abbas Nahavandi, Saeid Chofreh, Abdoulmohammad Gholamzadeh Goni, Feybi Ariani Klemeš, Jiří Jaromír Mosavi, Amir Department of Mathematics Savitribai Phule Pune University Pune411007 India Department of Computer Engineering School of Technical and Engineering Shiraz Branch Islamic Azad University Shiraz Iran Institute for Intelligent Systems Research and Innovation Deakin University GeelongVIC3216 Australia Computer Engineering Department Ferdowsi University of Mashhad Mashhad Iran Faculty of Electrical and Computer Engineering Biomedical Data Acquisition Lab K. N. Toosi University of Technology Tehran Iran Department of Signal Theory Networking and Communications Universidad de Granada Spain Department of Mathematics Faculty of Science University of Bojnord Iran Sustainable Process Integration Laboratory - SPIL NETME Centre Faculty of Mechanical Engineering Brno University of Technology - VUT Brno Technická 2896/2 Brno616 69 Czech Republic Department of Management Faculty of Business and Management Brno University of Technology VUT Brno Kolejní 2906/4 Brno612 00 Czech Republic Faculty of Civil Engineering Technische Universität Dresden Dresden01069 Germany John von Neumann Faculty of Informatics Obuda University Budapest1034 Hungary School of Economics and Business Norwegian University of Life Sciences 1430 Norway

The first known case of Coronavirus disease 2019 (COVID-19) was identified in December 2019. It has spread worldwide, leading to an ongoing pandemic, imposed restrictions and costs to many countries. Predicting the number of new cases and deaths during this period can be a useful step in predicting the costs and facilities required in the future. The purpose of this study is to predict new cases and deaths rate one, three and seven-day ahead during the next 100 days. The motivation for predicting every n days (instead of just every day) is the investigation of the possibility of computational cost reduction and still achieving reasonable performance. Such a scenario may be encountered real-time forecasting of time series. Six different deep learning methods are examined on the data adopted from the WHO website. Three methods are LSTM, Convolutional LSTM, and GRU. The bidirectional extension is then considered for each method to forecast the rate of new cases and new deaths in Australia and Iran countries. This study is novel as it carries out a comprehensive evaluation of the aforementioned three deep learning methods and their bidirectional extensions to perform prediction on COVID-19 new cases and new death rate time series. To the best of our knowledge, this is the first time that Bi-GRU and Bi-Conv-LSTM models are used for prediction on COVID-19 new cases and new deaths time series. The evaluation of the methods is presented in the form of graphs and Friedman statistical test. The results show that the bidirectional models have lower errors than other models. Several error evaluation metrics are presented to compare all models, and finally, the superiority of bidirectional methods is determined. This research could be useful for organizations working against COVID-19 and determining their long-term plans. Copyright © 2021, The Authors. All rights reserved.

关键词： Coronavirus

The association for the advancement of artificial intelligence 2020 workshop program

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The association for the advancement of artificial intelligen...

作者： Bang, Grace Barash, Guy Bea, Ryan Cali, Jacques Castillo-Effen, Mauricio Chen, Xin Cynthia Chhaya, Niyati Dhoopar, Rohan Dumancic, Sebastijan Espinoza, Huáscar Farchi, Eitan Fioretto, Ferdinando Fuentetaja, Raquel Galley, Michel Geib, Christopher Hernández-Orallo, José Huang, Xiaowei Keren, Sarah Kim, Seokhwan Jaidka, Kokil Liu, Xiaomo Lu, Tyler Ma, Zhiqiang Mallah, Richard McDermid, John Michalowski, Martin Mirsky, Reuth Héigeartaigh, Seán Ó. Ramachandran, Deepak Segovia-Aguas, Javier Shaban-Nejad, Arash Shehory, Onn Shwartz, Vered Srivastava, Siddharth Talamadupula, Kartik Tang, Jian Zhang, Dell Zhang, Jian S&P Global. Western Digital University of Southampton United Kingdom Blue Prism Group PLC Lockheed Martin's Advanced Technology Laboratories ArlingtonVA United States University of Hong Kong Hong Kong Adobe Research Google Research Katholieke Universiteit Leuven Belgium Commissariat à ĺÉnergie Atomique France IBM Research Department of Electrical Engineering and Computer Science Syracuse University United States Universidad Carlos III de Madrid Spain Microsoft Research AI SIFT LLC Universitat Politècnica de València Spain Leverhulme Centre for the Future of Intelligence United Kingdom Department of Computer Science University of Liverpool United Kingdom National University of Singapore Singapore Harvard School of Engineering and Applied Sciences in the of Fields of Multiagent Environment Design and Goal Recognition Design Amazon Alexa AI Future of Life Institute United States University of York Assuring Autonomy International Program United Kingdom University of Minnesota School of Nursing MinneapolisMN United States University of Texas at Austin AustinTX United States Institut de Robòtica i Informàtica Industrial Spanish Council for Scientific Research Technical University of Catalonia Spain Oak Ridge National Laboratory Center for Biomedical Informatics Department of Pediatrics University of Tennessee Health Science Center United States Bar Ilan University Israel University of Washington SeattleWA United States Autonomous Agents and Intelligent Robots lab of the School of Computing Informatics Decision Systems Arizona State University United States DiDi AI Labs School of Industrial and System Engineering Georgia Institute of Technology United States University of London United Kingdom Microsoft Azure

The Association for the Advancement of Artificial Intelligence 2020 Workshop Program included twenty-three workshops covering a wide range of topics in artificial intelligence. This report contains the required reports, which were submitted by most, but not all, of the workshop chairs. Copyright © 2020, Association for the Advancement of Artificial Intelligence. All rights reserved.

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NTIRE 2020 challenge on perceptual extreme super-resolution: Methods and results

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arXiv 2020年

作者： Zhang, Kai Gu, Shuhang Timofte, Radu Shang, Taizhang Dai, Qiuju Zhu, Shengchen Yang, Tong Guo, Yandong Jo, Younghyun Yang, Sejong Kim, Seon Joo Zha, Lin Jiang, Jiande Gao, Xinbo Lu, Wen Liu, Jing Yoon, Kwangjin Jeon, Taegyun Akita, Kazutoshi Ooba, Takeru Ukita, Norimichi Luo, Zhipeng Yao, Yuehan Xu, Zhenyu He, Dongliang Wu, Wenhao Ding, Yukang Li, Chao Li, Fu Wen, Shilei Li, Jianwei Yang, Fuzhi Yang, Huan Fu, Jianlong Kim, Byung-Hoon Baek, JaeHyun Ye, Jong Chul Fan, Yuchen Huang, Thomas S. Lee, Junyeop Lee, Bokyeung Min, Jungki Kim, Gwantae Lee, Kanghyu Park, Jaihyun Mykhailych, Mykola Zhong, Haoyu Shi, Yukai Yang, Xiaojun Yang, Zhijing Lin, Liang Zhao, Tongtong Peng, Jinjia Wang, Huibing Jin, Zhi Wu, Jiahao Chen, Yifu Shang, Chenming Zhang, Huanrong Min, Jeongki Hrishikesh, P.S. Puthussery, Densen Jiji, C.V. Computer Vision Lab ETH Zurich Switzerland OPPO Research Yonsei University Korea Republic of Facebook United States Xidian University China China SI Analytics Co. Ltd. 441 Expo-ro Yuseong-gu Daejeon34051 Korea Republic of Japan Co. Ltd China Baidu Inc China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Peking University China State Key Laboratory of Digital Publishing Technology Founder Group Shanghai Jiao Tong University China Microsoft Research Beijing China Korea Republic of Amazon Web Services University of Illinois at Urbana-Champaign United States Korea University Korea Republic of *** Ltd Guangdong University of Technology China Sun Yat-sen University China Dalian Maritime University China School of Intelligent Systems Engineering Sun Yat-sen University China College of Engineering Trivandrum India

This paper reviews the NTIRE 2020 challenge on perceptual extreme super-resolution with focus on proposed solutions and results. The challenge task was to super-resolve an input image with a magnification factor ×16 based on a set of prior examples of low and corresponding high resolution images. The goal is to obtain a network design capable to produce high resolution results with the best perceptual quality and similar to the ground truth. The track had 280 registered participants, and 19 teams submitted the final results. They gauge the state-of-the-art in single image super-resolution. Copyright © 2020, The Authors. All rights reserved.

关键词： Optical resolving power

Deep learning methods for automatic evaluation of delayed enhancement-MRI. The results of the EMIDEC challenge

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arXiv 2021年

作者： Lalande, Alain Chen, Zhihao Pommier, Thibaut Decourselle, Thomas Qayyum, Abdul Salomon, Michel Ginhac, Dominique Skandarani, Youssef Boucher, Arnaud Brahim, Khawla de Bruijne, Marleen Camarasa, Robin Correia, Teresa M. Feng, Xue Girum, Kibrom B. Hennemuth, Anja Huellebrand, Markus Hussain, Raabid Ivantsits, Matthias Ma, Jun Meyer, Craig Sharma, Rishabh Shi, Jixi Tsekos, Nikolaos V. Varela, Marta Wang, Xiyue Yang, Sen Zhang, Hannu Zhang, Yichi Zhou, Yuncheng Zhuang, Xiahai Couturier, Raphael Meriaudeau, Fabrice ImViA laboratory University of Burgundy Dijon France MRI department University Hospital of Dijon Dijon France Femto-ST laboratory University of Franche-Comté Belfort France Cardiology department University Hospital of Dijon Dijon France CASIS Company Quetigny France National Engineering School of Sousse University of Sousse Sousse Tunisia LASEE laboratory National Engineering School of Monastir University of Monastir Monastir Tunisia Biomedical Imaging Group Rotterdam Erasmus MC Rotterdam Netherlands Department of Radiology and Nuclear Medicine Erasmus MC Rotterdam Netherlands Department of Computer Science University of Copenhagen Copenhagen Denmark Centre of Marine Sciences University of Algarve Faro Portugal School of Biomedical Engineering and Imaging Sciences King’s College London London United Kingdom Department of Biomedical Engineering University of Virginia Charlottesville United States Charité – Universitätsmedizin Berlin Berlin Germany Fraunhofer MEVIS Bremen Germany German Centre for Cardiovascular Research Berlin Germany Department of Mathematics Nanjing University of Science and Technology Nanjing China Data Analysis and Intelligent Systems Lab Department of Computer Science University of Houston Houston United States Medical Robotics and Imaging Lab Department of Computer Science University of Houston Houston United States National Heart and Lung Institute Imperial College London London United Kingdom College of Computer Science Sichuan University Chengdu China College of Biomedical Engineering Sichuan University Chengdu China School of Biological Science and Medical Engineering Beihang University Beijing China School of Data Science Fudan University Shanghai China

A key factor for assessing the state of the heart after myocardial infarction (MI) is to measure whether the myocardium segment is viable after reperfusion or revascularization therapy. Delayed enhancement-MRI or DE-MRI, which is performed several minutes after injection of the contrast agent, provides high contrast between viable and nonviable myocardium and is therefore a method of choice to evaluate the extent of MI. To automatically assess myocardial status, the results of the EMIDEC challenge that focused on this task are presented in this paper. The challenge’s main objectives were twofold. First, to evaluate if deep learning methods can distinguish between normal and pathological cases. Second, to automatically calculate the extent of myocardial infarction. The publicly available database consists of 150 exams divided into 50 cases with normal MRI after injection of a contrast agent and 100 cases with myocardial infarction (and then with a hyperenhanced area on DE-MRI), whatever their inclusion in the cardiac emergency department. Along with MRI, clinical characteristics are also provided. The obtained results issued from several works show that the automatic classification of an exam is a reachable task (the best method providing an accuracy of 0.92), and the automatic segmentation of the myocardium is possible. However, the segmentation of the diseased area needs to be improved, mainly due to the small size of these areas and the lack of contrast with the surrounding structures. © 2021, CC BY-NC-SA.

关键词： Cardiology