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Saliency ranking for benthic survey using underwater images

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Saliency ranking for benthic survey using underwater images

International Conference on Control, Automation, robotics and vision (ICARCV)

作者： Matthew Johnson-Roberson Oscar Pizarro Stefan Williams Computational Vision and Active Perception Laboratory School of Computer Science and Communication Royal Institute of Technology Sweden ARC Centre of Excellence of Autonomous Systems Australian Centre of Field Robotics University of Sydney Australia

This paper presents a novel architecture for a classification system based on the visual saliency of images. The work is motivated by the difficulty of reviewing large numbers of images as a human operator in the context of Autonomous Underwater Vehicle (AUV) surveys. We formulate a feature space in which an algorithm operates over color and texture to determine saliency and illustrate how this can be used to find interesting or unusual images within a large data set. The saliency classification based on these general image features allows for overlays highlighting interesting benthos or geologic structures on large scale 3D seafloor reconstructions, quickly providing spatial context to human observers. These results are validated using a set of human trials in which images are classified into salient and non-salient categories by a number of test subjects. The trials show good agreement both between subjects and between the human labels and the automated classification system. The results of the automated technique are also compared directly to a more traditional SVM classification system showing favorable results for our system for generalizing to new environments.

关键词： Pixel Humans Visualization Entropy Image color analysis Indexes Context

Policy-Guided Lazy Search with Feedback for Task and Motion Planning

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arXiv 2022年

作者： Khodeir, Mohamed Sonwane, Atharv Hari, Ruthrash Shkurti, Florian Robot Vision and Learning Lab University of Toronto Robotics Institute Canada Dept. of Computer Science University of BITS Pilani India Dept. of Mathematical and Computational Sciences University of Toronto Canada

PDDLStream solvers have recently emerged as viable solutions for Task and Motion Planning (TAMP) problems, extending PDDL to problems with continuous action spaces. Prior work has shown how PDDLStream problems can be reduced to a sequence of PDDL planning problems, which can then be solved using off-the-shelf planners. However, this approach can suffer from long runtimes. In this paper we propose LAZY, a solver for PDDLStream problems that maintains a single integrated search over action skeletons, which gets progressively more geometrically informed, as samples of possible motions are lazily drawn during motion planning. We explore how learned models of goal-directed policies and current motion sampling data can be incorporated in LAZY to adaptively guide the task planner. We show that this leads to significant speed-ups in the search for a feasible solution evaluated over unseen test environments of varying numbers of objects, goals, and initial conditions. We evaluate our TAMP approach by comparing to existing solvers for PDDLStream problems on a range of simulated 7DoF rearrangement/manipulation problems. Code can be found at https://***/ learning-based-tamp. © 2022, CC BY.

关键词： Motion planning

Group-wise Inhibition based Feature Regularization for Robust Classification

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Group-wise Inhibition based Feature Regularization for Robus...

International Conference on computer vision (ICCV)

作者： Haozhe Liu Haoqian Wu Weicheng Xie Feng Liu Linlin Shen Computer Vision Institute College of Computer Science and Software Engineering SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society National Engineering Laboratory for Big Data System Computing Technology Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China

The convolutional neural network (CNN) is vulnerable to degraded images with even very small variations (e.g. corrupted and adversarial samples). One of the possible reasons is that CNN pays more attention to the most discriminative regions, but ignores the auxiliary features when learning, leading to the lack of feature diversity for final judgment. In our method, we propose to dynamically suppress significant activation values of CNN by group-wise inhibition, but not fixedly or randomly handle them when training. The feature maps with different activation distribution are then processed separately to take the feature independence into account. CNN is finally guided to learn richer discriminative features hierarchically for robust classification according to the proposed regularization. Our method is comprehensively evaluated under multiple settings, including classification against corruptions, adversarial attacks and low data regime. Extensive experimental results show that the proposed method can achieve significant improvements in terms of both robustness and generalization performances, when compared with the state-of-the-art methods. Code is available at https://***/LinusWu/TENET_Training.

关键词： Training computer vision Codes Heuristic algorithms Robustness Classification algorithms Convolutional neural networks

Towards efficient human-robot cooperation for socially-aware robot navigation in human-populated environments: the SNAPE framework

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Towards efficient human-robot cooperation for socially-aware...

IEEE International Conference on robotics and Automation (ICRA)

作者： A. Vega-Magro R. Gondkar L.J. Manso P. Núñez Robotics and Artificial Vision Lab. RoboLab Group University of Extremadura Spain Pune Institute of Computer Technology Pune University India College of Engineering and Physical Sciences Aston University Birmingham UK

It is widely accepted that in the future, robots will cooperate with humans in everyday tasks. Robots interacting with humans will require social awareness when performing their tasks which will require navigation. While navigating, robots should aim to avoid distressing people in order to maximize their chance of social acceptance. For instance, avoiding getting too close to people or disrupting interactions. Most research approaches these problems by planning socially accepted paths, however, in everyday situations, there are many examples where a simple path planner cannot solve all of the predicted robots’ navigation problems. For instance, requesting permission to interrupt a conversation if an alternative path cannot be determined requires deliberative skills. This article presents the Social Navigation framework for Autonomous robots in Populated Environments (SNAPE), where different software agents are integrated within a robotics cognitive architecture. SNAPE addresses action planning aimed at social-awareness navigation in realistic situations: it plans socially accepted paths and conversations to negotiate its trajectory to reach targets. In this article, the framework is evaluated in different use-cases where the robot, during its navigation, has to interact with different people in order to reach its goal. The results show that participants report that the robot’s behavior was realistic and human-like.

关键词： Navigation Conferences computer architecture Software agents Planning Trajectory Task analysis

Multiple sclerosis lesion synthesis in MRI using an encoder-decoder U-NET

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arXiv 2019年

作者： Salem, Mostafa Valverde, Sergi Cabezas, Mariano Pareto, Deborah Oliver, Arnau Salvi, Joaquim Rovira, Alex Llado, Xavier Research Institute of Computer Vision and Robotics University of Girona Girona17003 Spain Computer Science Department Faculty of Computers and Information Assiut University Egypt Magnetic Resonance Unit Dept of Radiology Vall d'Hebron University Hospital Spain

In this paper, we propose generating synthetic multiple sclerosis (MS) lesions on MRI images with the final aim to improve the performance of supervised machine learning algorithms, therefore avoiding the problem of the lack of available ground truth. We propose a two-input two-output fully convolutional neural network model for MS lesion synthesis in MRI images. The lesion information is encoded as discrete binary intensity level masks passed to the model and stacked with the input images. The model is trained end-to-end without the need for manually annotating the lesions in the training set. We then perform the generation of synthetic lesions on healthy images via registration of patient images, which are subsequently used for data augmentation to increase the performance for supervised MS lesion detection algorithms. Our pipeline is evaluated on MS patient data from an in-house clinical dataset and the public ISBI2015 challenge dataset. The evaluation is based on measuring the similarities between the real and the synthetic images as well as in terms of lesion detection performance by segmenting both the original and synthetic images individually using a state-of-the-art segmentation framework. We also demonstrate the usage of synthetic MS lesions generated on healthy images as data augmentation. We analyze a scenario of limited training data (one-image training) to demonstrate the effect of the data augmentation on both datasets. Our results significantly show the effectiveness of the usage of synthetic MS lesion images. For the ISBI2015 challenge, our one-image model trained using only a single image plus the synthetic data augmentation strategy showed a performance similar to that of other CNN methods that were fully trained using the entire training set, yielding a comparable human expert rater performance. Copyright © 2019, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

An improved SSD for small target detection 2021

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An improved SSD for small target detection

6th International Conference on Multimedia and Image Processing, ICMIP 2021

作者： Li, Xiang Luo, Haibo Key Laboratory of Opt-Electronic Information Processing Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China The Key Laboratory of Image Understanding and Computer Vision Shenyang Liaoning110016 China

ISBN: (纸本)9781450389167

SSD is one of heuristic one-stage target detection approaches. Although it has got impressive results in general target detection, it still struggles in small-size object detection and precise location. In this paper, we proposed an improved SSD which forces on the small-size target detection. We include a shallow and high resolution feature into the hierarchical detection feature which are used for prediction. Then, we fuse the detection features (including the shallow and high resolution one) as a feature pyramid through some convolution layers and unsample operations to pass information from deep features to the shallow ones, aiming to enrich the semantic information of the shallow features. To make the network easier to converge, we add a L2 normalization to the bottom detection feature of the feature pyramid to make a norm balance between each pyramid feature. The experimental results on the VEDAI dataset show that the proposed method has obtained impressive progress than the original SSD for the small targets detection. © 2021 ACM.

关键词： Object detection

A fully dense and globally consistent 3D map reconstruction approach for GI tract to enhance therapeutic relevance of the endoscopic capsule robot

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arXiv 2017年

作者： Turan, Mehmet Pilavci, Yusuf Yigit Jamiruddin, Redhwan Araujo, Helder Konukoglu, Ender Sitti, Metin Physical Intelligence Department Max-Planck Institute Stuttgart Germany Computer Vision Laboratory Eth Zentrum Zurich Switzerland Biomedical Engineering Department Martin-Luther Univeristy Halle-Wittenberg Halle Germany Robotics Institute Coimbro University

In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is emerging as a novel, minimally invasive diagnostic technology for inspection of the GI tract and diagnosis of a wide range of diseases and pathologies. Since the development of this technology, medical device companies and many research groups have made substantial progress in converting passive capsule endoscopes to robotic active capsule endoscopes with most of the functionality of current active flexible endoscopes. However, robotic capsule endoscopy still has some challenges. In particular, the use of such devices to generate a precise three-dimensional (3D) mapping of the entire inner organ remains an unsolved problem. Such global 3D maps of inner organs would help doctors to detect the location and size of diseased areas more accurately and intuitively, thus permitting more reliable diagnoses. To our knowledge, this paper presents the first complete pipeline for a complete 3D visual map reconstruction of the stomach. The proposed pipeline is modular and includes a preprocessing module, an image registration module, and a final shape-from-shading-based 3D reconstruction module;the 3D map is primarily generated by a combination of image stitching and shape-from-shading techniques, and is updated in a frame-by-frame iterative fashion via capsule motion inside the stomach. A comprehensive quantitative analysis of the proposed 3D reconstruction method is performed using an esophagus gastro duodenoscopy simulator, three different endoscopic cameras, and a 3D optical scanner. Copyright © 2017, The Authors. All rights reserved.

关键词： Endoscopy

Augmented Box Replay: Overcoming Foreground Shift for Incremental Object Detection

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Augmented Box Replay: Overcoming Foreground Shift for Increm...

International Conference on computer vision (ICCV)

作者： Yuyang Liu Yang Cong Dipam Goswami Xialei Liu Joost van de Weijer State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences South China University of Technology Computer Vision Center Barcelona VCIP CS Nankai University Department of Computer Science Universitat Autònoma de Barcelona

In incremental learning, replaying stored samples from previous tasks together with current task samples is one of the most efficient approaches to address catastrophic forgetting. However, unlike incremental classification, image replay has not been successfully applied to incremental object detection (IOD). In this paper, we identify the overlooked problem of foreground shift as the main reason for this. Foreground shift only occurs when replaying images of previous tasks and refers to the fact that their background might contain foreground objects of the current task. To overcome this problem, a novel and efficient Augmented Box Replay (ABR) method is developed that only stores and replays foreground objects and thereby circumvents the foreground shift problem. In addition, we propose an innovative Attentive RoI Distillation loss that uses spatial attention from region-of-interest (RoI) features to constrain current model to focus on the most important information from old model. ABR significantly reduces forgetting of previous classes while maintaining high plasticity in current classes. Moreover, it considerably reduces the storage requirements when compared to standard image replay. Comprehensive experiments on Pascal-VOC and COCO datasets support the state-of-the-art performance of our model 1 .

关键词：

FRT-PAD: Effective Presentation Attack Detection Driven by Face Related Task

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arXiv 2021年

作者： Zhang, Wentian Liu, Haozhe Liu, Feng Ramachandra, Raghavendra Busch, Christoph Computer Vision Institute Shenzhen University Shenzhen China Institute of Artificial Intelligence and Robotics for Society Shenzhen China King Abdullah University of Science and Technology Saudi Arabia Norwegian University of Science and Technology Gjøvik 2818 Norway

The robustness and generalization ability of Presentation Attack Detection (PAD) methods is critical to ensure the security of Face Recognition Systems (FRSs). However, in a real scenario, Presentation Attacks (PAs) are various and it is hard to predict the Presentation Attack Instrument (PAI) species that will be used by the attacker. Existing PAD methods are highly dependent on the limited training set and cannot generalize well to unknown PAI species. Unlike this specific PAD task, other face related tasks trained by huge amount of real faces (e.g. face recognition and attribute editing) can be effectively adopted into different application scenarios. Inspired by this, we propose to trade position of PAD and face related work in a face system and apply the free acquired prior knowledge from face related tasks to solve face PAD, so as to improve the generalization ability in detecting PAs. The proposed method, first introduces task specific features from other face related task, then, we design a Cross-Modal Adapter using a Graph Attention Network (GAT) to re-map such features to adapt to PAD task. Finally, face PAD is achieved by using the hierarchical features from a CNN-based PA detector and the re-mapped features. The experimental results show that the proposed method can achieve significant improvements in the complicated and hybrid datasets, when compared with the state-of-the-art methods. In particular, when training on the datasets OULU-NPU, CASIA-FASD, and Idiap Replay-Attack, we obtain HTER (Half Total Error Rate) of 5.48% for the testing dataset MSU-MFSD, outperforming the baseline by 7.39%. Copyright © 2021, The Authors. All rights reserved.

关键词： Face recognition