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arXiv 2023年

作者： Luo, Cheng Song, Siyang Xie, Weicheng Spitale, Micol Ge, Zongyuan Shen, Linlin Gunes, Hatice Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China Department of Computer Science University of Nottingham Ningbo China Ningbo315100 China Computer Sciences University of Exeter ExeterEX4 4PY United Kingdom Department of Computer Science and Technology University of Cambridge CambridgeCB3 0FT United Kingdom Airdoc-Monash Research Centre Monash University Faculty of IT Monash University Melbourne Australia

In dyadic interaction, predicting the listener’s facial reactions is challenging as different reactions could be appropriate in response to the same speaker’s behaviour. Previous approaches predominantly treated this task as an interpolation or fitting problem, emphasizing deterministic outcomes but ignoring the diversity and uncertainty of human facial reactions. Furthermore, these methods often failed to model short-range and long-range dependencies within the interaction context, leading to issues in the synchrony and appropriateness of the generated facial reactions. To address these limitations, this paper reformulates the task as an extrapolation or prediction problem, and proposes an novel framework (called ReactFace) to generate multiple different but appropriate facial reactions from a speaker behaviour rather than merely replicating the corresponding listener facial behaviours. Our ReactFace generates multiple different but appropriate photo-realistic human facial reactions by: (i) learning an appropriate facial reaction distribution representing multiple different but appropriate facial reactions;and (ii) synchronizing the generated facial reactions with the speaker verbal and non-verbal behaviours at each time stamp, resulting in realistic 2D facial reaction sequences. Experimental results demonstrate the effectiveness of our approach in generating multiple diverse, synchronized, and appropriate facial reactions from each speaker’s behaviour. The quality of the generated facial reactions is intimately tied to the speaker’s speech and facial expressions, achieved through our novel speaker-listener interaction modules. Our code is made publicly available at https://***/lingjivoo/ReactFace. Copyright © 2023, The Authors. All rights reserved.

关键词： Extrapolation

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Assisting Visually Impaired People using Autonomous Navigation System and computer vision for Grocery Shopping

Assisting Visually Impaired People using Autonomous Navigati...

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2022 IEEE International Conference on Electro Information Technology, eIT 2022

作者： Miralles, Patricia Sanchez Gonzalez, Laura Fernandez Yu, Xinrui Saniie, Jafar Illinois Institute of Technology Embedded Computing and Signal Processing Department of Electrical and Computer Engineering Research Laboratory ChicagoIL60616 United States Universidad Politécnica de Madrid E.T.S.I. Industriales Madrid Spain Universidad Politécnica de Madrid E.T.S.I. Telecommunications Madrid Spain

ISBN: (纸本)9781665480093

Visually impaired people face lots of challenges when doing daily tasks like grocery shopping. Hence, a grocery shopping navigation assistant that covers the shopping preparation, the route creation, the navigation through the store and the product identification has been designed. In this paper we present the design flow of a novel system using the Internet of Things (IoT) and computer vision (CV) to assist people with visual impairment (PVI) for grocery shopping. The system starts with assisting the user creating his shopping list using the personal smart phone and Speech-to-Text (STT). Then, the system accesses the database of grocery store to optimizes the route for locating the items in the shopping list with minimal time and effort. Once the route is created and the user is in the store, the smart phone physical navigation system starts using landmarks-QR codes and using Text-to-Speech (TTS) for guidance. When the user is correctly placed, the product recognition starts and TTS is used to fetch the product. © 2022 IEEE.

关键词： computer vision

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ORF-Net: Deep Omni-supervised Rib Fracture Detection from Chest CT Scans

arXiv

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arXiv 2022年

作者： Chai, Zhizhong Lin, Huangjing Luo, Luyang Heng, Pheng-Ann Chen, Hao Imsight AI Research Lab Shenzhen China Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Hong Kong Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Department of Computer Science and Engineering The Hong Kong University of Science and Technology Hong Kong Hong Kong

Most of the existing object detection works are based on the bounding box annotation: each object has a precise annotated box. However, for rib fractures, the bounding box annotation is very labor-intensive and time-consuming because radiologists need to investigate and annotate the rib fractures on a slice-by-slice basis. Although a few studies have proposed weakly-supervised methods or semi-supervised methods, they could not handle different forms of supervision simultaneously. In this paper, we proposed a novel omni-supervised object detection network, which can exploit multiple different forms of annotated data to further improve the detection performance. Specifically, the proposed network contains an omni-supervised detection head, in which each form of annotation data corresponds to a unique classification branch. Furthermore, we proposed a dynamic label assignment strategy for different annotated forms of data to facilitate better learning for each branch. Moreover, we also design a confidence-aware classification loss to emphasize the samples with high confidence and further improve the model’s performance. Extensive experiments conducted on the testing dataset show our proposed method outperforms other state-of-the-art approaches consistently, demonstrating the efficacy of deep omni-supervised learning on improving rib fracture detection performance. Copyright © 2022, The Authors. All rights reserved.

关键词： Object detection

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Training-free image style alignment for self-adapting domain shift on handheld ultrasound devices

arXiv

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arXiv 2024年

作者： Zeng, Hongye Zou, Ke Chen, Zhihao Gao, Yuchong Chen, Hongbo Zhang, Haibin Zhou, Kang Wang, Meng Goh, Rick Siow Mong Liu, Yong Jiang, Chang Zheng, Rui Fu, Huazhu School of Information Science and Technology ShanghaiTech University Shanghai China Shanghai Advanced Research Institute Chinese Academy of Sciences Shanghai China University of Chinese Academy of Sciences Beijing China National Key Laboratory of Fundamental Science on Synthetic Vision College of Computer Science Sichuan University Chengdu China College of Intelligence and Computing Tianjin University Tianjin China Department of Computer Science and Engineering The Chinese University of Hong Kong Hong Kong Beth Israel Deaconess Medical Center Harvard Medical School Boston United States Institute of High Performance Computing Agency for Science Technology and Research Singapore Singapore Department of Orthopedics Zhongshan Hospital Fudan University Shanghai China Shanghai Engineering Research Center of Intelligent Vision and Imaging Shanghai China

Handheld ultrasound devices face usage limitations due to user inexperience and cannot benefit from supervised deep learning without extensive expert annotations. Moreover, the models trained on standard ultrasound device data are constrained by training data distribution and perform poorly when directly applied to handheld device data. In this study, we propose the Training-free Image Style Alignment (TISA) framework to align the style of handheld device data to those of standard devices. The proposed TISA can directly infer handheld device images without extra training and is suited for clinical applications. We show that TISA performs better and more stably in medical detection and segmentation tasks for handheld device data. We further validate TISA as the clinical model for automatic measurements of spinal curvature and carotid intima-media thickness. The automatic measurements agree well with manual measurements made by human experts and the measurement errors remain within clinically acceptable ranges. We demonstrate the potential for TISA to facilitate automatic diagnosis on handheld ultrasound devices and expedite their eventual widespread use. © 2024, CC BY-NC-SA.

关键词： Deep learning

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Adaptive Robust Invariant Extended Kalman filtering for Biped Robot

Adaptive Robust Invariant Extended Kalman filtering for Bipe...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Gao, Chengzhi Xie, Ye Zhu, Shiqiang Huang, Guanyu Kong, Lingyu Xie, Anhuan Gu, Jason Zhang, Dan Shao, Jun Qian, Haofu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Zhejiang University Zhejiang Hangzhou311100 China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada York University North YorkM3J 1P3 Canada School of Mechanical Engineering Zhejiang University Hangzhou310007 China

ISBN: (纸本)9781665481090

The precise estimation of system states is essential for the locomotion control of biped robots to maintain balance. Currently, the estimation of system states is either based on vision data that is susceptible to the environment, or fusing data from Inertial Measurement Unit (IMU) and the kinematic calculation. Invariant Extended Kalman Filtering (IEKF) is one of the most successful fusing algorithms to estimate system state. Generally, in IEKF, the noise covariance of system state is assumed to be known. However, the noise covariance of contact point for biped is not available since the ground-contact situation normally varies and not previously known. This paper presents a new fusing algorithm-Adaptive Robust Invariant Extended Kalman Filtering (ARIEKF) to adaptively adjust the noise parameter of contact point. The proposed algorithm applied the principle of robust estimation to resist outlier effects of state, and introduced an adaptive factor for the noise covariance of state to control its outlying disturbance influences. This paper firstly completed the full state estimation of biped robot using the theory of Lie groups and invariant observer. Then, the adaptive scale factor evaluated by three-segment approach was adopted to adjust the noise covariance of contact point. Finally, both IEKF and proposed ARIEKF are applied to our biped robot-Cosmos and the accuracy of two algorithms are compared. The mean square errors of the velocity of two algorithms were evaluated using the measurements from motion capture system. Experiments demonstrated that the mean square errors of the velocity are decreased 50 percent when compared with IEKF. © 2022 IEEE.

关键词： Mean square error

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Classifying Cover Crop Residue from RGB Images: A Simple SVM versus a SVM Ensemble

Classifying Cover Crop Residue from RGB Images: A Simple SVM...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Parth C. Upadhyay Lokesh Karanam John A. Lory Guilherme N. DeSouza Vision-Guided and Intelligent Robotics (ViGIR) Laboratory Department of Electrical Engineering and Computer Science (EECS) Division of Plant Sciences University of Missouri Columbia MO

ISBN: (纸本)9781728190495

Plant-derived crop residue on soil surface provides many important advantages including preventing erosion and conserving soil moisture. In that sense, making accurate determination on the percent of crop residue cover using RGB images can be a fundamental tool in protecting the soil. In our research, we approach the determination of such percentages as a classification problem, and in this paper, we compare two of these approaches. Both approaches relied on support vector machines (SVM) as the classifier of choice, and the same set of features, which were selected in our previous studies on the same topic. In this paper we developed a SVM ensemble with a hierarchical structure and compared it against a single, multi-class SVM classifier. In the SVM ensemble framework, four two-class SVMs and one five-class SVM were combined in sequence to better separate adjacent levels of residue cover. The rationale of the ensemble was to allow each of the two-class SVMs to find the hyperplanes that maximize the margin between the corresponding two consecutive classes. Then, based on the distance of the samples to these hyperplanes, probabilistic estimates of the data-point belonging to the class were computed and added as extra inputs for the last SVM. In order to enhance the performance of the ensemble, other considerations such as the use of Grid Search method for optimizing the hyperparameters were employed in the tuning of the SVMs. Numerical experiments were conducted over a dataset of 4,400 images, which were collected from 88 locations in 40 row crop fields in five Missouri counties between mid-April and early July in 2018 and 2019. The images were collected using a camera mounted on a tripod, with a spatial resolution of 0.014 cm pixel- 1 GSD (Ground Sampling Distance). The experiments highlighted the better performance of the proposed hierarchical ensemble classifier, which achieved a cross-validation accuracy of 86.3 % vs an accuracy of 80.4 % for the single SVM, whil

关键词： Support vector machines Measurement Training Search methods Soil moisture Crops Probabilistic logic

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FLAME 3 Dataset: Unleashing the Power of Radiometric Thermal UAV Imagery for Wildfire Management

arXiv

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arXiv 2024年

作者： Hopkins, Bryce O’Neill, Leo Marinaccio, Michael Rowell, Eric Parsons, Russell Flanary, Sarah Nazim, Irtija Seielstad, Carl Afghah, Fatemeh Holcombe Department of Electrical and Computer Engineering Clemson University ClemsonSC United States Pacific Southwest Research Station US Forest Services ReddingCA United States Desert Research Institute RenoNV United States US Forest Service Rocky Mountain Research Station Fire Sciences Laboratory MissoulaMT United States Department of Mechanical Engineering Clemson University ClemsonSC United States Department of Forest Management University of Montana MissoulaMT United States

The increasing accessibility of radiometric thermal imaging sensors for unmanned aerial vehicles (UAVs) offers significant potential for advancing AI-driven aerial wildfire management. Radiometric imaging provides per-pixel temperature estimates, a valuable improvement over non-radiometric data that requires irradiance measurements to be converted into visible images using RGB color palettes. Despite its benefits, this technology has been underutilized largely due to a lack of available data for researchers. This study addresses this gap by introducing methods for collecting and processing synchronized visual spectrum and radiometric thermal imagery using UAVs at prescribed fires. The included imagery processing pipeline drastically simplifies and partially automates each step from data collection to neural network input. Further, we present the FLAME 3 dataset, the first comprehensive collection of side-by-side visual spectrum and radiometric thermal imagery of wildland fires. Building on our previous FLAME 1 and FLAME 2 datasets, FLAME 3 includes radiometric thermal Tag Image File Format (TIFFs) and nadir thermal plots, providing a new data type and collection method [1], [2]. This dataset aims to spur a new generation of machine learning models utilizing radiometric thermal imagery, potentially trivializing tasks such as aerial wildfire detection, segmentation, and assessment. A single-burn subset of FLAME 3 for computer vision applications is available on Kaggle here, with the full 6 burn set available to readers upon request. Copyright © 2024, The Authors. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Generalization-Enhanced Few-Shot Object Detection in Remote Sensing

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IEEE Transactions on Circuits and Systems for Video Technology 2025年第6期35卷 5445-5460页

作者： Lin, Hui Li, Nan Yao, Pengjuan Dong, Kexin Guo, Yuhan Hong, Danfeng Zhang, Ying Wen, Congcong China Academy of Electronics and Information Technology Beijing100846 China China Meteorological Administration National Satellite Meteorological Center Innovation Center for FengYun Meteorological Satellite Beijing100081 China Tsinghua University State Key Laboratory of Hydroscience and Engineering Department of Hydraulic Engineering Beijing100084 China Chinese Academy of Sciences Aerospace Information Research Institute Beijing100094 China University of Chinese Academy of Sciences School of Electronic Electrical and Communication Engineering Beijing100049 China University of Science and Technology Beijing School of Automation and Electrical Engineering Beijing100083 China New York University Abu Dhabi Department of Electrical and Computer Engineering Abu Dhabi United Arab Emirates University of Science and Technology of China Anhui China

Object detection is a fundamental task in computer vision that involves accurately locating and classifying objects within images or video frames. In remote sensing, this task is particularly challenging due to the high resolution, multi-scale features, and diverse ground object characteristics inherent in satellite and UAV imagery. These challenges necessitate more advanced approaches for effective object detection in such environments. While deep learning methods have achieved remarkable success in remote sensing object detection, they typically rely on large amounts of labeled data. Acquiring sufficient labeled data, particularly for novel or rare objects, is both challenging and time-consuming in remote sensing scenarios, limiting the generalization capabilities of existing models. To address these challenges, few-shot learning (FSL) has emerged as a promising approach, aiming to enable models to learn new classes from limited labeled examples. Building on this concept, few-shot object detection (FSOD) specifically targets object detection challenges in data-limited conditions. However, the generalization capability of FSOD models, particularly in remote sensing, is often constrained by the complex and diverse characteristics of the objects present in such environments. In this paper, we propose the Generalization-Enhanced Few-Shot Object Detection (GE-FSOD) model to improve the generalization capability in remote sensing FSOD tasks. Our model introduces three key innovations: the Cross-Level Fusion Pyramid Attention Network (CFPAN) for enhanced multi-scale feature representation, the Multi-Stage Refinement Region Proposal Network (MRRPN) for more accurate region proposals, and the Generalized Classification Loss (GCL) for improved classification performance in few-shot scenarios. GE-FSOD demonstrates superior robustness and accuracy in remote sensing FSOD tasks through these enhancements. Extensive experiments on the DIOR and NWPU VHR-10 datasets show that our

关键词： Labeled data

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Shifting More Attention to Breast Lesion Segmentation in Ultrasound Videos

arXiv

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arXiv 2023年

作者： Lin, Junhao Dai, Qian Zhu, Lei Fu, Huazhu Wang, Qiong Li, Weibin Rao, Wenhao Huang, Xiaoyang Wang, Liansheng School of Informatics Xiamen University Xiamen China Guangzhou China Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology Hong Kong Institute of High Performance Computing Agency for Science Technology and Research Singapore Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China School of Medicine Xiamen University Xiamen China

Breast lesion segmentation in ultrasound (US) videos is essential for diagnosing and treating axillary lymph node metastasis. However, the lack of a well-established and large-scale ultrasound video dataset with high-quality annotations has posed a persistent challenge for the research community. To overcome this issue, we meticulously curated a US video breast lesion segmentation dataset comprising 572 videos and 34,300 annotated frames, covering a wide range of realistic clinical scenarios. Furthermore, we propose a novel frequency and localization feature aggregation network (FLA-Net) that learns temporal features from the frequency domain and predicts additional lesion location positions to assist with breast lesion segmentation. We also devise a localization-based contrastive loss to reduce the lesion location distance between neighboring video frames within the same video and enlarge the location distances between frames from different ultrasound videos. Our experiments on our annotated dataset and two public video polyp segmentation datasets demonstrate that our proposed FLA-Net achieves state-of-the-art performance in breast lesion segmentation in US videos and video polyp segmentation while significantly reducing time and space complexity. Our model and dataset are available at https://***/jhlDet/FLA-Net. Copyright © 2023, The Authors. All rights reserved.

关键词： Location

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Adaptive Block Elevation Mapping for Large-scale Scene

Adaptive Block Elevation Mapping for Large-scale Scene

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IEEE International Conference on Robotics and Biomimetics

作者： Yang Zhou Shiqiang Zhu Huang Huang Yuehua Li Jason Gu Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou China Beijing Institute of Control Engineering Beijing China Beijing Research Institute of Zhejiang Laboratory Beijing China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada

ISBN: (纸本)9781665481106

Dense map that contains the surrounding geometry and vision information of a robot is widely used for path planning, navigation, obstacle avoidance and other applications. Considering the performance of the processing unit mounted on the robot is limited, mapping algorithm has to make compromise by sacrificing speed and precision. It will be more challenging when the dense mapping scene is very large because the memory consumption will be greatly increased and the map is difficult to be extended if beyonding the initial map. To suppress the negative impact from the increased map scale, we proposed a novel block mapping approach to generate the dense map in large scale of scene. In this work, the elevation map is selected as the base dense map. The entire elevation map is segmented into numerous block maps of which size is much smaller than that of the entire map. The present moment of lidar and vision measurements are used to generate the local elevation map. The local elevation map is used to update block maps which are adaptively generated along the motion trajectory. A memory-disk interaction mechanism, which the block maps will be loaded to memory or saved to local disk when needed, is introduced. Our block mapping approach is tested on the KITTI datasets, and the results demonstrate that the mapping approach can stably operate in a large scale of scene with a much smaller consumption of memory.

关键词： Geometry Laser radar Navigation Motion segmentation Memory management Robot sensing systems Trajectory

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