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arXiv 2017年

作者： Kushibar, Kaisar Valverde, Sergi González-Villà, Sandra Bernal, Jose Cabezas, Mariano Oliver, Arnau Lladó, Xavier Institute of Computer Vision and Robotics University of Girona Ed. P-IV Campus Montilivi University of Girona Girona17003 Spain

Sub-cortical brain structure segmentation in Magnetic Resonance Images (MRI) has attracted the interest of the research community for a long time because morphological changes in these structures are related to different neurodegenerative disorders. However, manual segmentation of these structures can be tedious and prone to variability, highlighting the need for robust automated segmentation methods. In this paper, we present a novel convolutional neural network based approach for accurate segmentation of the sub-cortical brain structures that combines both convolutional and prior spatial features for improving the segmentation accuracy. In order to increase the accuracy of the automated segmentation, we propose to train the network using a restricted sample selection to force the network to learn the most difficult parts of the structures. We evaluate the accuracy of the proposed method on the public MICCAI 2012 challenge and IBSR 18 datasets, comparing it with different available state-of-the-art methods and other recently proposed deep learning approaches. On the MICCAI 2012 dataset, our method shows an excellent performance comparable to the best challenge participant strategy, while performing significantly better than state-of-the-art techniques such as FreeSurfer and FIRST. On the IBSR 18 dataset, our method also exhibits a significant increase in the performance with respect to not only FreeSurfer and FIRST, but also comparable or better results than other recent deep learning approaches. Moreover, our experiments show that both the addition of the spatial priors and the restricted sampling strategy have a significant effect on the accuracy of the proposed method. In order to encourage the reproducibility and the use of the proposed method, a public version of our approach is available to download for the neuroimaging community. Copyright © 2017, The Authors. All rights reserved.

关键词： Convolution

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Natural user interfaces for human-drone multi-modal interaction

Natural user interfaces for human-drone multi-modal interact...

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2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

作者： Fernandez, Ramon A. Suarez Sanchez-Lopez, Jose Luis Sampedro, Carlos Bavle, Hriday Molina, Martin Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSIC-UPM Spain Spain

ISBN: (纸本)9781467393331

Personal drones are becoming part of every day life. To fully integrate them into society, it is crucial to design safe and intuitive ways to interact with these aerial systems. The recent advances on User-Centered Design (UCD) applied to Natural User Interfaces (NUIs) intend to make use of human innate features, such as speech, gestures and vision to interact with technology in the way humans would with one another. In this paper, a Graphical User Interface (GUI) and several NUI methods are studied and implemented, along with computer vision techniques, in a single software framework for aerial robotics called Aerostack which allows for intuitive and natural human-quadrotor interaction in indoor GPS-denied environments. These strategies include speech, body position, hand gesture and visual marker interactions used to directly command tasks to the drone. The NUIs presented are based on devices like the Leap Motion Controller, microphones and small size monocular on-board cameras which are unnoticeable to the user. Thanks to this UCD perspective, the users can choose the most intuitive and effective type of interaction for their application. Additionally, the strategies proposed allow for multi-modal interaction between multiple users and the drone by being able to integrate several of these interfaces in one single application as is shown in various real flight experiments performed with non-expert users. © 2016 IEEE.

关键词： Drones

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Globally optimal manhattan frame estimation in real-time

Globally optimal manhattan frame estimation in real-time

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2016 IEEE Conference on computer vision and Pattern Recognition, CVPR 2016

作者： Joo, Kyungdon Oh, Tae-Hyun Kim, Junsik Kweon, In So Robotics and Computer Vision Lab. KAIST Korea Republic of

ISBN: (纸本)9781467388511

Given a set of surface normals, we pose a Manhattan Frame (MF) estimation problem as a consensus set maximization that maximizes the number of inliers over the rotation search space. We solve this problem through a branchand-bound framework, which mathematically guarantees a globally optimal solution. However, the computational time of conventional branch-and-bound algorithms are intractable for real-time performance. In this paper, we propose a novel bound computation method within an efficient measurement domain for MF estimation, i.e., the extended Gaussian image (EGI). By relaxing the original problem, we can compute the bounds in real-time, while preserving global optimality. Furthermore, we quantitatively and qualitatively demonstrate the performance of the proposed method for synthetic and real-world data. We also show the versatility of our approach through two applications: extension to multiple MF estimation and video stabilization.

关键词： Problem solving

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Underwater multi-robot convoying using visual tracking by detection

arXiv

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arXiv 2017年

作者： Shkurti, Florian Chang, Wei-Di Henderson, Peter Islam, Md Jahidul Higuera, Juan Camilo Gamboa Li, Jimmy Manderson, Travis Xu, Anqi Dudek, Gregory Sattar, Junaed Centre for Intelligent Machines School of Computer Science McGill University Interactive Robotics and Vision Laboratory Department of Computer Science and Engineering University of Minnesota- Twin Cities Element AI

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which interleaves efficient model-based object detection with temporal filtering of image-based bounding box estimation. This approach has the important advantage of mitigating tracking drift (i.e. drifting away from the target object), which is a common symptom of model-free trackers and is detrimental to sustained convoying in practice. To illustrate our solution, we collected extensive footage of an underwater robot in ocean settings, and hand-annotated its location in each frame. Based on this dataset, we present an empirical comparison of multiple tracker variants, including the use of several convolutional neural networks, both with and without recurrent connections, as well as frequency-based model-free trackers. We also demonstrate the practicality of this tracking-by-detection strategy in real-world scenarios by successfully controlling a legged underwater robot in five degrees of freedom to follow another robot’s independent motion. Copyright © 2017, The Authors. All rights reserved.

关键词： Multipurpose robots

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A non-rigid map fusion-based rgb-depth slam method for endoscopic capsule robots

arXiv

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arXiv 2017年

作者： Turan, Mehmet Almalioglu, Yasin Araujo, Helder Konukoglu, Ender Sitti, Metin Max Planck Institute for Intelligent Systems Stuttgart Germany Computer Vision Laboratory ETH Zurich Switzerland Robotics Laboratory University of Coimbra Portugal

In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is considered as a minimally invasive novel diagnostic technology to inspect the entire GI tract and to diagnose various diseases and pathologies. Since the development of this technology, medical device companies and many groups have made significant progress to turn such passive capsule endoscopes into robotic active capsule endoscopes to achieve almost all functions of current active flexible endoscopes. However, the use of robotic capsule endoscopy still has some challenges. One such challenge is the precise localization of such active devices in 3D world, which is essential for a precise three-dimensional (3D) mapping of the inner organ. A reliable 3D map of the explored inner organ could assist the doctors to make more intuitive and correct diagnosis. In this paper, we propose to our knowledge for the first time in literature a visual simultaneous localization and mapping (SLAM) method specifically developed for endoscopic capsule robots. The proposed RGB-Depth SLAM method is capable of capturing comprehensive dense globally consistent surfel-based maps of the inner organs explored by an endoscopic capsule robot in real time. This is achieved by using dense frame-to-model camera tracking and windowed surfel-based fusion coupled with frequent model refinement through non-rigid surface deformations. Copyright © 2017, The Authors. All rights reserved.

关键词： Endoscopy

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Deep convolutional neural networks for brain image analysis on magnetic resonance imaging: a review

arXiv

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arXiv 2017年

作者： Bernal, Jose Kushibar, Kaisar Asfaw, Daniel S. Valverde, Sergi Oliver, Arnau Martí, Robert Lladó, Xavier Computer Vision and Robotics Institute Dept. of Computer Architecture and Technology University of Girona Ed. P-IV Av. Lluis Santaló s/n Girona17003 Spain

In recent years, deep convolutional neural networks (CNNs) have shown record-shattering performance in a variety of computer vision problems, such as visual object recognition, detection and segmentation. These methods have also been utilised in medical image analysis domain for lesion segmentation, anatomical segmentation and classification. We present an extensive literature review of CNN techniques applied in brain magnetic resonance imaging (MRI) analysis, focusing on the architectures, pre-processing, data-preparation and post-processing strategies available in these works. The aim of this study is three-fold. Our primary goal is to report how different CNN architectures have evolved, discuss state-of-the-art strategies, condense their results obtained using public datasets and examine their pros and cons. Second, this paper is intended to be a detailed reference of the research activity in deep CNN for brain MRI analysis. Finally, we present a perspective on the future of CNNs in which we hint some of the research directions in subsequent years. Copyright © 2017, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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Variational segmentation under variable illumination conditions 58

Variational segmentation under variable illumination conditi...

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58th International Symposium ELMAR, ELMAR 2016

作者： Ancuti, Codruta Orniana Computer Vision and Robotics Group University of Girona Spain MEO Universitatea Politehnica Timisoara Romania

ISBN: (纸本)9789531842211

When illumination conditions vary significantly, the task of segmentation becomes more challenging since the existing ambiguities increase considerably. In this paper we introduce an illumination invariant framework that can be applied as a preprocessing step to obtain consistent segmentation when the lit conditions are substantially changed. We aim for an optimal luminance value that blends effectively the chromatic information with the initial luminance while the existing local features of the original lightness are enhanced. Practically, the local information is minimized by constraining the new lightness distribution with the chromatic contrast of the original image. We demonstrate the novel strategy for one of the main segmentation classes: variational PDE segmentation. Comprehensive qualitative and quantitative experiments prove the effectiveness and utility of the novel approach. © 2016 Croatian Society Electronics in Marine - ELMAR.

关键词： Luminance

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Single image super resolution - When model adaptation matters

arXiv

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arXiv 2017年

作者： Liang, Yudong Timofte, Radu Wang, Jinjun Gong, Yihong Zheng, Nanning Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University China Computer Vision Laboratory Department of Information Technology and Electrical Engineering ETH Zürich Switzerland

In the recent years impressive advances were made for single image super-resolution. Deep learning is behind a big part of this success. Deep(er) architecture design and external priors modeling are the key ingredients. The internal contents of the low resolution input image is neglected with deep modeling despite the earlier works showing the power of using such internal priors. In this paper we propose a novel deep convolutional neural network carefully designed for robustness and efficiency at both learning and testing. Moreover, we propose a couple of model adaptation strategies to the internal contents of the low resolution input image and analyze their strong points and weaknesses. By trading runtime and using internal priors we achieve 0.1 up to 0.3dB PSNR improvements over best reported results on standard datasets. Our adaptation especially favors images with repetitive structures or under large resolutions. Moreover, it can be combined with other simple techniques, such as back-projection or enhanced prediction, for further improvements. Copyright © 2017, The Authors. All rights reserved.

关键词： Deep neural networks

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Common Limitations of Image Processing Metrics: A Picture Story

arXiv

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arXiv 2021年

作者： Reinke, Annika Tizabi, Minu D. Sudre, Carole H. Eisenmann, Matthias Rädsch, Tim Baumgartner, Michael Acion, Laura Antonelli, Michela Arbel, Tal Bakas, Spyridon Bankhead, Peter Benis, Arriel Blaschko, Matthew Buettner, Florian Cardoso, M. Jorge Chen, Jianxu Cheplygina, Veronika Christodoulou, Evangelia Cimini, Beth A. Collins, Gary S. Engelhardt, Sandy Farahani, Keyvan Ferrer, Luciana Galdran, Adrian van Ginneken, Bram Glocker, Ben Godau, Patrick Haase, Robert Hamprecht, Fred Hashimoto, Daniel A. Heckmann-Nötzel, Doreen Hirsch, Peter Hoffman, Michael M. Huisman, Merel Isensee, Fabian Jannin, Pierre Kahn, Charles E. Kainmueller, Dagmar Kainz, Bernhard Karargyris, Alexandros Karthikesalingam, Alan Kavur, A. Emre Kenngott, Hannes Kleesiek, Jens Kleppe, Andreas Koehler, Sven Kofler, Florian Kopp-Schneider, Annette Kooi, Thijs Kozubek, Michal Kreshuk, Anna Kurc, Tahsin Landman, Bennett A. Litjens, Geert Madani, Amin Maier-Hein, Klaus Martel, Anne L. Mattson, Peter Meijering, Erik Menze, Bjoern Moher, David Moons, Karel G.M. Müller, Henning Nichyporuk, Brennan Nickel, Felix Noyan, M. Alican Petersen, Jens Polat, Gorkem Rafelski, Susanne M. Rajpoot, Nasir Reyes, Mauricio Rieke, Nicola Riegler, Michael A. Rivaz, Hassan Saez-Rodriguez, Julio Sánchez, Clara I. Schroeter, Julien Saha, Anindo Selver, M. Alper Sharan, Lalith Shetty, Shravya Smeden, Maarten V.A.N. Stieltjes, Bram Summers, Ronald M. Taha, Abdel A. Tiulpin, Aleksei Tsaftaris, Sotirios A. Calster, Ben V.A.N. Varoquaux, Gaël Wiesenfarth, Manuel Yaniv, Ziv R. Jäger, Paul Maier-Hein, Lena Division of Intelligent Medical Systems and HI Helmholtz Imaging Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Intelligent Medical Systems Heidelberg Germany NCT Heidelberg DKFZ University Medical Center Heidelberg Germany MRC Unit for Lifelong Health and Ageing UCL Centre for Medical Image Computing Department of Computer Science University College London London United Kingdom School of Biomedical Engineering and Imaging Science King’s College London London United Kingdom Division of Medical Image Computing Heidelberg Germany Instituto de Cálculo CONICET – Universidad de Buenos Aires Buenos Aires Argentina Centre for Medical Image Computing University College London London United Kingdom McGill University Montréal Canada Division of Computational Pathology Dept of Pathology & Laboratory Medicine Indiana University School of Medicine IU Health Information and Translational Sciences Building Indianapolis United States University of Pennsylvania Richards Medical Research Laboratories FL7 PhiladelphiaPA United States Institute of Genetics and Cancer University of Edinburgh Edinburgh United Kingdom Department of Digital Medical Technologies Holon Institute of Technology Holon Israel European Federation for Medical Informatics Le Mont-sur-Lausanne Switzerland Center for Processing Speech and Images Department of Electrical Engineering KU Leuven Kasteelpark Arenberg 10 - box 2441 Leuven3001 Belgium Frankfurt/Mainz DKFZ UCT Frankfurt-Marburg Germany Heidelberg Germany Goethe University Frankfurt Department of Medicine Germany Goethe University Frankfurt Department of Informatics Germany Frankfurt Cancer Insititute Germany Leibniz-Institut für Analytische Wissenschaften – ISAS – e.V. Dortmund Germany Department of Computer Science IT University of Copenhagen Copenhagen Denmark Imaging Platform Broad Institute of MIT and Harvard CambridgeMA United States Centre for St

While the importance of automatic image analysis is continuously increasing, recent meta-research revealed major flaws with respect to algorithm validation. Performance metrics are particularly key for meaningful, objective, and transparent performance assessment and validation of the used automatic algorithms, but relatively little attention has been given to the practical pitfalls when using specific metrics for a given image analysis task. These are typically related to (1) the disregard of inherent metric properties, such as the behaviour in the presence of class imbalance or small target structures, (2) the disregard of inherent data set properties, such as the non-independence of the test cases, and (3) the disregard of the actual biomedical domain interest that the metrics should reflect. This living dynamically document has the purpose to illustrate important limitations of performance metrics commonly applied in the field of image analysis. In this context, it focuses on biomedical image analysis problems that can be phrased as image-level classification, semantic segmentation, instance segmentation, or object detection task. The current version is based on a Delphi process on metrics conducted by an international consortium of image analysis experts from more than 60 institutions worldwide. © 2021, CC BY.

关键词： Medical imaging

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Webvision challenge: Visual learning and understanding with web data

arXiv

引用

arXiv 2017年

作者： Li, Wen Wang, Limin Li, Wei Agustsson, Eirikur Berent, Jesse Gupta, Abhinav Sukthankar, Rahul van Gool, Luc Computer Vision Laboratory ETH Zurich Switzerland Google Research Zurich Switzerland Robotics Institute Carnegie Mellon University Pittsburgh United States Google Research United States

We present the 2017 Webvision Challenge, a public image recognition challenge designed for deep learning based on web images without instance-level human annotation. Following the spirit of previous vision challenges, such as ILSVRC [1], Places2 [2] and PASCAL VOC [3], which have played critical roles in the development of computer vision by contributing to the community with large scale annotated data for model designing and standardized benchmarking, we contribute with this challenge a large scale web images dataset, and a public competition with a workshop co-located with CVPR 2017. The Webvision dataset contains more than 2.4 million web images crawled from the Internet by using queries generated from the 1, 000 semantic concepts of the benchmark ILSVRC 2012 dataset. Meta information is also included. A validation set and test set containing human annotated images are also provided to facilitate algorithmic development. The 2017 Webvision challenge consists of two tracks, the image classification task on Webvision test set, and the transfer learning task on PASCAL VOC 2012 dataset. In this paper, we describe the details of data collection and annotation, highlight the characteristics of the dataset, and introduce the evaluation metrics. Copyright © 2017, The Authors. All rights reserved.

关键词： Image classification

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