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12th International Symposium on Visual Computing, ISVC 2016

作者： Jensen, Morten B. Philipsen, Mark P. Moeslund, Thomas B. Trivedi, Mohan Visual Analysis of People Laboratory Aalborg University Aalborg Denmark Computer Vision and Robotics Research Laboratory UC San Diego La Jolla United States

ISBN: (纸本)9783319508313

Determining the optimal parameters for a given detection algorithm is not straightforward and what ends up as the final values is mostly based on experience and heuristics. In this paper we investigate the influence of three basic parameters in the widely used Aggregate Channel Features (ACF) object detector applied for traffic light detection. Additionally, we perform an exhaustive search for the optimal parameters for the night time data from the LISA Traffic Light Dataset. The optimized detector reaches an Area-Under-Curve of 66.63% on calculated precision-recall curve. © Springer International Publishing AG 2016.

关键词： Optimization

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Stereo Matching with Color and Monochrome Cameras in Low-light Conditions

Stereo Matching with Color and Monochrome Cameras in Low-lig...

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IEEE Conference on computer vision and Pattern Recognition

作者： Hae-Gon Jeon Joon-Young Lee Sunghoon Im Hyowon Ha In So Kweon Robotics and Computer Vision Lab. KAIST Adobe Research

ISBN: (纸本)9781467388528

Consumer devices with stereo cameras have become popular because of their low-cost depth sensing capability. However, those systems usually suffer from low imaging quality and inaccurate depth acquisition under low-light conditions. To address the problem, we present a new stereo matching method with a color and monochrome camera pair. We focus on the fundamental trade-off that monochrome cameras have much better light-efficiency than color-filtered cameras. Our key ideas involve compensating for the radiometric difference between two cross-spectral images and taking full advantage of complementary data. Consequently, our method produces both an accurate depth map and high-quality images, which are applicable for various depth-aware image processing. Our method is evaluated using various datasets and the performance of our depth estimation consistently outperforms state-of-the-art methods.

关键词： Cameras Image quality Stereo cameras Color Dataset Image processing

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Detection and localization with multi-scale models

Detection and localization with multi-scale models

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International Conference on Pattern Recognition

作者： Eshed Ohn-Bar Mohan M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego

ISBN: (纸本)9781509048489

Object detection and localization in images involve a multi-scale reasoning process. First, responses of object detectors are known to vary with image scale. Second, contextual relationships on a part-level, object-level, and scene-level appear at different scales of the image. This paper studies efficient modeling of these two components by training multi-scale template models. The input to the proposed algorithm involves image features computed at varying image scales, hence operating on volumes in the feature pyramid. The approach generalizes single-scale, local-region detection approaches (e.g. sliding window or region proposals), jointly learning detection and localization cues. Extending the common single-scale detection to a multi-scale volume allows learning scale-specific models as well as analyzing the importance of contextual information at different scales. Experimental analysis on the PASCAL VOC dataset shows the method to considerably improve both detection and localization performance for different type of features, histogram of oriented gradients and deep convolutional neural network features.

关键词： Feature extraction Training Automobiles Pipelines Computational modeling Analytical models Image resolution

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What makes an on-road object important?

What makes an on-road object important?

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International Conference on Pattern Recognition

作者： Eshed Ohn-Bar Mohan M. Trivedi Computer Vision and Robotics Research Laboratory University of California San Diego

ISBN: (纸本)9781509048489

Human drivers continuously attend to important scene elements in order to safely and smoothly navigate in intricate environments and under uncertainty. This paper develops a human-centric framework for object recognition by analyzing a notion of object importance, as measured in a spatio-temporal context of driving a vehicle. Given a video, a main research question in this paper is - which of the surrounding agents are most important? The answer inherently requires complex reasoning over the current driving task, object properties, scene context, intent, and possible future actions. Therefore, we find that various spatio-temporal cues are relevant for the importance classification task. Furthermore, we demonstrate the usefulness of the importance annotations in evaluating vision algorithms (specifically, for the task of object detection) in an application where trust in automation is imperative and errors are costly. Finally, we show that importance-guided training of object detection models results in improved detection performance of surrounding objects of higher importance. Hence, such models may be better suited for use in representing safety-critical situations, predicting surrounding agents' intentions, and in human-robot interactivity. The dataset and code will be made publicly available.

关键词： Context Predictive models Navigation Training Computational modeling Three-dimensional displays Visualization

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Improving automated multiple sclerosis lesion segmentation with a cascaded 3D convolutional neural network approach

arXiv

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arXiv 2017年

作者： Valverde, Sergi Cabezas, Mariano Roura, Eloy González-Villà, Sandra Pareto, Deborah Vilanova, Joan C. Ramió-Torrentà, Lluís Rovira, Àlex Oliver, Arnau Lladó, Xavier Research institute of Computer Vision and Robotics University of Girona Spain Magnetic Resonance Unit Dept of Radiology Vall d’Hebron University Hospital Spain Girona Magnetic Resonance Center Spain Multiple Sclerosis and Neuroimmunology Unit Dr. Josep Trueta University Hospital Spain

In this paper, we present a novel automated method for White Matter (WM) lesion segmentation of Multiple Sclerosis (MS) patient images. Our approach is based on a cascade of two 3D patch-wise convolutional neural networks (CNN). The first network is trained to be more sensitive revealing possible candidate lesion voxels while the second network is trained to reduce the number of misclassified voxels coming from the first network. This cascaded CNN architecture tends to learn well from small sets of training data, which can be very interesting in practice, given the difficulty to obtain manual label annotations and the large amount of available unlabeled Magnetic Resonance Imaging (MRI) data. We evaluate the accuracy of the proposed method on the public MS lesion segmentation challenge MICCAI2008 dataset, comparing it with respect to other state-of-the-art MS lesion segmentation tools. Furthermore, the proposed method is also evaluated on two private MS clinical datasets, where the performance of our method is also compared with different recent public available state-of-the-art MS lesion segmentation methods. At the time of writing this paper, our method is the best ranked approach on the MICCAI2008 challenge, outperforming the rest of 60 participant methods when using all the available input modalities (T1-w, T2-w and FLAIR), while still in the top-rank (3rd position) when using only T1-w and FLAIR modalities. On clinical MS data, our approach exhibits a significant increase in the accuracy segmenting of WM lesions when compared with the rest of evaluated methods, highly correlating (r ≥ 0.97) also with the expected lesion volume. Copyright © 2017, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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Standardized Assessment of Automatic Segmentation of White Matter Hyperintensities and Results of the WMH Segmentation Challenge

arXiv

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arXiv 2019年

作者： Kuijf, Hugo J. Biesbroek, J. Matthijs Bresser, Jeroen de Heinen, Rutger Andermatt, Simon Bento, Mariana Berseth, Matt Belyaev, Mikhail Cardoso, M. Jorge Casamitjana, Adrià Collins, D. Louis Dadar, Mahsa Georgiou, Achilleas Ghafoorian, Mohsen Jin, Dakai Khademi, April Knight, Jesse Li, Hongwei Lladó, Xavier Luna, Miguel Mahmood, Qaiser McKinley, Richard Mehrtash, Alireza Ourselin, Sébastien Park, Bo-yong Park, Hyunjin Park, Sang Hyun Pezold, Simon Puybareau, Elodie Rittner, Leticia Sudre, Carole H. Valverde, Sergi Vilaplana, Verónica Wiest, Roland Xu, Yongchao Xu, Ziyue Zeng, Guodong Zhang, Jianguo Zheng, Guoyan Chen, Christopher Flier, Wiesje van der Barkhof, Frederik Viergever, Max A. Biessels, Geert Jan Image Sciences Institute UMC Utrecht Utrecht University Netherlands Brain Center Rudolf Magnus UMC Utrecht Utrecht University Netherlands Department of Radiology UMC Utrecht Department of Radiology LUMC Leiden Netherlands Department of Biomedical Engineering University of Basel Allschwil Switzerland Radiology and Clinical Neuroscience Hotchkiss Brain Institute University of Calgary AB Canada NLP Logix Skolkovo Institute of Science and Technology School of Biomedical Engineering and Imaging Sciences King’s College London Centre for Medical Image Computing University College London Signal Theory and Communications Department Universitat Politècnica de Catalunya BarcelonaTech Barcelona Spain McGill University Canada Computational Statistics and Machine Learning MSc University College London TomTom Amsterdam Netherlands Department of Radiology and Imaging Science National Institutes of Health United States Ryerson University Canada University of Guelph Canada Sun Yat-sen University University of Dundee Technical University of Munich Research institute of Computer Vision and Robotics University of Girona Spain Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Korea Republic of Pakistan Institute of Nuclear Science and Technology Support Center for Advanced Neuroimaging Institute for Diagnostic and Interventional Neuroradiology Inselspital University of Bern Switzerland Electrical and Computer Engineering Department University of British Columbia Vancouver Department of Radiology Brigham and Women’s Hospital Harvard Medical School Boston School of Biomedical Engineering and Imaging Sciences King’s College London Suwon Korea Republic of School of Electronic and Electrical Engineering Sungkyunkwan University Suwon Korea Republic of France School of Electrical and Computer Engineering University of Campinas SP Brazil School of Biomedical Engineering and Imaging Sciences King’s College London Centre for Medical I

Quantification of cerebral white matter hyperintensities (WMH) of presumed vascular origin is of key importance in many neurological research studies. Currently, measurements are often still obtained from manual segmentations on brain MR images, which is a laborious procedure. Automatic WMH segmentation methods exist, but a standardized comparison of the performance of such methods is lacking. We organized a scientific challenge, in which developers could evaluate their method on a standardized multi-center/-scanner image dataset, giving an objective comparison: the WMH Segmentation Challenge (https://***/).Sixty T1+FLAIR images from three MR scanners were released with manual WMH segmentations for training. A test set of 110 images from five MR scanners was used for evaluation. Segmentation methods had to be containerized and submitted to the challenge organizers. Five evaluation metrics were used to rank the methods: (1) Dice similarity coefficient, (2) modified Hausdorff distance (95th percentile), (3) absolute log-transformed volume difference, (4) sensitivity for detecting individual lesions, and (5) F1-score for individual lesions. Additionally, methods were ranked on their inter-scanner *** participants submitted their method for evaluation. This paper provides a detailed analysis of the results. In brief, there is a cluster of four methods that rank significantly better than the other methods, with one clear winner. The inter-scanner robustness ranking shows that not all methods generalize to unseen *** challenge remains open for future submissions and provides a public platform for method evaluation. Copyright © 2019, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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Hidden Hands: Tracking Hands with an Occlusion Aware Tracker

Hidden Hands: Tracking Hands with an Occlusion Aware Tracker

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IEEE Conference on computer vision and Pattern Recognition Workshops

作者： Akshay Rangesh Eshed Ohn-Bar Mohan M. Trivedi Computer Vision and Robotics Research Lab University of California San Diego La Jolla CA

This work presents an occlusion aware hand tracker to reliably track both hands of a person using a monocular RGB camera. To demonstrate its robustness, we evaluate the tracker on a challenging, occlusion-ridden naturalistic driving dataset, where hand motions of a driver are to be captured reliably. The proposed framework additionally encodes and learns tracklets corresponding to complex (yet frequently occurring) hand interactions offline, and makes an informed choice during data association. This provides positional information of the left and right hands with no intrusion (through complete or partial occlusions) over long, unconstrained video sequences in an online manner. The tracks thus obtained may find use in domains such as human activity analysis, gesture recognition, and higher-level semantic categorization.

关键词： Tracking Detectors Vehicles Reliability Cameras Feature extraction Conferences

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Planning feasible and safe paths online for autonomous underwater vehicles in unknown environments

Planning feasible and safe paths online for autonomous under...

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Juan David Hernandez Mark Moll Eduard Vidal Marc Carreras Lydia E. Kavraki Underwater Vision and Robotics Research Center (CIRS) University of Girona Spain Department of Computer Science at Rice University Houston TX USA

ISBN: (纸本)9781509037636

We present a framework for planning collision-free and safe paths online for autonomous underwater vehicles (AUVs) in unknown environments. We build up on our previous work and propose an improved approach. While preserving its main modules (mapping, planning and mission handler), the framework now considers motion constraints to plan feasible paths, i.e., those that meet vehicle's motion capabilities. The new framework also incorporates a risk function to avoid navigating close to nearby obstacles, and reuses the last best known solution to eliminate time-consuming pruning routines. To evaluate this approach, we use the Sparus II AUV, a torpedo-shaped vehicle performing autonomous missions in a 2-dimensional workspace. We validate the framework's new features by solving tasks in both simulation and real-world in-water trials and comparing results with our previous approach.

关键词： Planning Navigation Path planning Underwater autonomous vehicles Differential equations Vehicle dynamics

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Object proposal using 3D point cloud for DRC-HUBO+

Object proposal using 3D point cloud for DRC-HUBO+

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2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Seunghak Shin Inwook Shim Jiyung Jung Yunsu Bok Jun-Ho Oh In So Kweon Dep. of EE Robotics and Computer Vision Labortory Daejeon Korea Naver Labs Seongnam Korea Dep. of ME Humanoid Research Center Daejeon Korea

ISBN: (纸本)9781509037636

We present an object proposal method which utilizes the 3D data obtained from a depth sensor as well as the color information of images. Our object proposal method is designed to improve the performance of the object detection for a mobile robot equipped with a camera and a laser scanner. Compared to traditional object proposal methods using only 2D images, the proposed method provides much less number of candidate windows for object detection. We show less than 100 object proposal windows per image using the proposed method result in high recall tested on the public dataset. Our method presents object proposals in 3D space as well as in 2D image thus it can further be applied to following tasks for mobile robots such as 3D location and pose estimation of the target object after successful object detection. We validate our method using the real-world object detection dataset for outdoor mobile robots captured during the DRC Finals 2015 and the public dataset for comparison with the previous methods.

关键词： Proposals Three-dimensional displays Robot sensing systems Cameras Object detection Image color analysis

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Robust face recognition using key-point descriptors 10

Robust face recognition using key-point descriptors

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10th International Conference on computer vision Theory and Applications, VISAPP 2015

作者： Klemm, Soeren Andreu, Yasmina Henriquez, Pedro Matuszewski, Bogdan J. Robotics and Computer Vision Research Laboratory School of Computing Engineering and Physical Sciences University of Central Lancashire Preston United Kingdom

ISBN: (纸本)9789897580901

Key-point based techniques have demonstrated a good performance for recognition of various objects in numerous computer vision applications. This paper investigates the use of some of the most popular key-point descriptors for face recognition. The emphasis is put on the experimental performance evaluation of the key-point based face recognition methods against some of the most popular and best performing techniques, utilising both global (Eigenfaces) and local (LBP, Gabor filters) information extracted from the whole face image. Most of the results reported in literature so far, on the use of the key-points descriptors for the face recognition, concluded that the methods based on processing of the full face image have somewhat better performances than methods using exclusively key-points. The results reported in this paper suggest that the performance of the key-point based methods could be at least comparable to the leading "whole face" methods and are often better suited to handle face recognition in practical applications, as they do not require face image co-registration, and perform well even with significantly occluded faces.

关键词： Face recognition

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