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28th British Machine vision Conference, BMVC 2017

作者： Hirzer, Martin Arth, Clemens Roth, Peter M. Lepetit, Vincent Institute of Computer Graphics and Vision Graz University of Technology Austria Laboratoire Bordelais de Recherche en Informatique University of Bordeaux France

ISBN: (纸本)190172560X

In this paper, we present a new 3D tracking approach for self-localization in urban environments. In particular, we build on existing tracking approaches (i.e., visual odometry tracking and SLAM), additionally using the information provided by 2.5D maps of the environment. Since this combination is not straightforward, we adopt ideas from semantic segmentation to find a better alignment between the pose estimated by the tracker and the 2.5D model. Specifically, we show that introducing edges as semantic classes is highly beneficial for our task. In this way, we can reduce tracker inaccuracies and prevent drifting, thus increasing the tracker’s stability. We evaluate our approach for two different challenging scenarios, also showing that it is generally applicable in different application domains and that we are not limited to a specific tracking method. © 2017. The copyright of this document resides with its authors.

关键词： Semantics

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Performance Analysis of a Cloud Computing System using Queuing Model with Correlated Task Reneging

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Journal of Physics: Conference Series 2021年第1期2091卷

作者： Rakesh Kumar Bhavneet Singh Soodan Godlove Suila Kuaban Piotr Czekalski Sapana Sharma School of Mathematics Shri Mata Vaishno Devi University Katra Jammu and Kashmir 182320 India Department of Mathematics and Statistics Namibia University of Science and Technology Private Bag 13388 Windhoek Namibia 13 Jackson Kaujeua Street Windhoek Namibia Institute of Theoretical and Applied Informatics Polish Academy of Sciences Baltycka 5 44-100 Gliwice Poland Department of Computer Graphics Vision and Digital Systems Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Department of Mathematics Cluster University of Jammu Jammu and Kashmir

Queuing theory has been extensively used in the modelling and performance analysis of cloud computing systems. The phenomenon of the task (or request) reneging, that is, the dropping of requests from the request queue often occur in cloud computing systems, and it is important to consider it when developing performance evaluations models for cloud computing infrastructures. Majority of studies in the performance evaluation of cloud computing data centres with the use of queuing theory do not consider the fact that the tasks could be removed from queue without being serviced. The removal of tasks from the queue could be due to the user impatience, execution deadline expiration, security reasons, or as an active queue management strategy. The reneging could be correlated in nature, that is, if a request is dropped (or reneged) at any time epoch, and then there is a probability that a request may or may not be dropped at the next time epoch. This kind of dropping (or reneging) of requests is referred to as correlated request reneging. In this paper we have modelled a cloud computing infrastructure with correlated request reneging using queuing theory. An M/M/1/N queuing model with correlated reneging has been used to study the performance analysis of the load balancing server of a cloud computing system. The steady-state as well as the transient performance analyses have been carried out. Important measures of performance like average queue size, average delay, probability of task blocking, and the probability of no waiting in the queue are studied. Finally, some comparisons are performed which describe the effect of correlated task reneging over simple exponential reneging.

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Accurate camera registration in urban environments using high-level feature matching 28

Accurate camera registration in urban environments using hig...

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28th British Machine vision Conference, BMVC 2017

作者： Armagan, Anil Hirzer, Martin Roth, Peter M. Lepetit, Vincent Institute of Computer Graphics and Vision Graz University of Technology Graz Austria Laboratoire Bordelais de Recherche en Informatique Université de Bordeaux Bordeaux France

ISBN: (纸本)190172560X

We propose a method for accurate camera pose estimation in urban environments from single images and 2D maps made of the surrounding buildings’ outlines. Our approach bridges the gap between learning-based approaches and geometric approaches: We use recent semantic segmentation techniques for extracting the buildings’ edges and the façades’ normals in the images and minimal solvers [14] to compute the camera pose accurately and robustly. We propose two such minimal solvers: one based on three correspondences of buildings’ corners from the image and the 2D map and another one based on two corner correspondences plus one façade correspondence. We show on a challenging dataset that, compared to recent state-of-the-art [1], this approach is both, faster and more accurate. © 2017. The copyright of this document resides with its authors.

关键词： Bridge approaches

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EXTRACTION OF BUILDINGS IN VHR SAR IMAGES USING FULLY CONVOLUTION NEURAL NETWORKS

EXTRACTION OF BUILDINGS IN VHR SAR IMAGES USING FULLY CONVOL...

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IEEE International Geoscience and Remote Sensing Symposium

作者： Muhammad Shahzad Michael Maurer Friedrich Fraundorfer Yuanyuan Wang Xiao Xiang Zhu Signal Processing in Earth Observation (SiPEO) Technische Universität München (TUM) Munich Germany Technical University of Graz (TU Graz) Institute for Computer Graphics and Vision (ICG) Graz Austria

Modern spaceborne synthetic aperture radar (SAR) sensors, such as TerraSAR-X/TanDEM-X and COSMO-SkyMed, can deliver very high resolution (VHR) data beyond the inherent spatial scales (on the order of 1m) of buildings, constituting invaluable data source for large-scale urban mapping. Processing this VHR data with advanced interferometric techniques, such as SAR tomography (TomoSAR), enables the generation of 3-D (or even 4-D) TomoSAR point clouds from space. In this paper, we present a novel and generic workflow that exploits these TomoSAR point clouds in a way that is capable to automatically produce benchmark annotated (buildings/non-buildings) SAR datasets. These annotated datasets (building masks) have been utilized to construct and train the state-of-the-art deep Fully Convolution Neural Networks with an additional Conditional Random Field represented as a Recurrent Neural Network to detect building regions in a single VHR SAR image. The results of building detection are illustrated and validated over TerraSAR-X VHR spotlight SAR image covering approximately 39 km~2 - almost the whole city of Berlin - with mean pixel accuracies of around 93.84%.

关键词： Synthetic aperture radar Buildings Three-dimensional displays Training Urban areas Tomography Network architecture

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POLCOVID: a multicenter multiclass chest X-ray database (Poland, 2020-2021)

arXiv

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arXiv 2022年

作者： Suwalska, Aleksandra Tobiasz, Joanna Prazuch, Wojciech Socha, Marek Foszner, Pawel Piotrowski, Damian Gruszczynska, Katarzyna Sliwinska, Magdalena Walecki, Jerzy Popiela, Tadeusz Przybylski, Grzegorz Nowak, Mateusz Fiedor, Piotr Pawlowska, Malgorzata Flisiak, Robert Simon, Krzysztof Zapolska, Gabriela Gizycka, Barbara Szurowska, Edyta Marczyk, Michal Cieszanowski, Andrzej Polanska, Joanna Oronowicz-Jaskowiak, Agnieszka Golebiewski, Bogumil Sliwinska, Magdalena Rataj, Mateusz Chmielarz, Przemyslaw Tur, Adrianna Drabik, Grzegorz Kozub, Justyna Kozanecka, Anna Hildebrandt, Sebastian Krutul-Walenciej, Katarzyna Baron, Jan Jaroszewicz, Jerzy Walecki, Jerzy Wasilewski, Piotr Mazur, Samuel Klaude, Krzysztof Rataj, Katarzyna Golębiewski, Bogumil Pawlowska, Malgorzata Rabiko, Piotr Rajewski, Pawel Gizycka, Barbara Blewaska, Piotr Sznajder, Katarzyna Plesniak, Robert Department of Data Science and Engineering Silesian University of Technology Gliwice Poland Department of Computer Graphics Vision and Digital Systems Silesian University of Technology Gliwice Poland Department of Infectious Diseases and Hepatology Medical University of Silesia Katowice Poland Department of Radiology and Nuclear Medicine Medical University of Silesia Katowice Poland Department of Diagnostic Imaging Voivodship Specialist Hospital Wroclaw Poland Department of Diagnostic Radiology Central Clinical Hospital The Ministry of Internal Affairs and Administration Warsaw Poland Department of Radiology Jagiellonian University Medical College Krakow Poland Department of Lung Diseases Cancer and Tuberculosis Kujawsko-Pomorskie Pulmonology Center Bydgoszcz Poland Department of Radiology Silesian Hospital Cieszyn Poland Department of General and Transplantation Surgery Medical University of Warsaw Warsaw Poland Department of Infectious Diseases and Hepatology Collegium Medicum in Bydgoszcz Nicolaus Copernicus University Torun Poland Department of Infectious Diseases and Hepatology Medical University of Bialystok Bialystok Poland Department of Infectious Diseases and Hepatology Wroclaw Medical University Wroclaw Poland Department of Radiology Czerniakowski Hospital Warsaw Poland Department of Imaging Diagnostics MEGREZ Hospital Tychy Poland 2nd Department of Radiology Medical University of Gdansk Poland Yale Cancer Center Yale School of Medicine New HavenCT United States Department of Radiology I The Maria Sklodowska-Curie National Research Institute of Oncology Warsaw Poland The Maria Sklodowska-Curie National Research Institute of Oncology Warsaw Poland Voivodship Specialist Hospital Wroclaw Poland Prognostic Specialist Clinic Knurow Poland Collegium Medicum of the Jagiellonian University Krakow Poland Medical University of Silesia Katowice Poland Central Clinical Hospital of the Ministry of Interior in Warsaw Warsaw Poland Collegium Medicum

The outbreak of the SARS-CoV-2 pandemic has put healthcare systems worldwide to their limits, resulting in increased waiting time for diagnosis and required medical assistance. With chest radiographs (CXR) being one of the most common COVID-19 diagnosis methods, many artificial intelligence tools for image-based COVID-19 detection have been developed, often trained on a small number of images from COVID-19-positive patients. Thus, the need for high-quality and well-annotated CXR image databases increased. This paper introduces POLCOVID dataset, containing chest X-ray (CXR) images of patients with COVID-19 or other-type pneumonia, and healthy individuals gathered from 15 Polish hospitals. The original radiographs are accompanied by the preprocessed images limited to the lung area and the corresponding lung masks obtained with the segmentation model. Moreover, the manually created lung masks are provided for a part of POLCOVID dataset and the other four publicly available CXR image collections. POLCOVID dataset can help in pneumonia or COVID-19 diagnosis, while the set of matched images and lung masks may serve for the development of lung segmentation solutions. © 2022, CC BY.

关键词： COVID-19

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ALCN: Adaptive local contrast normalization for robust object detection and 3D pose estimation 28

ALCN: Adaptive local contrast normalization for robust objec...

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28th British Machine vision Conference, BMVC 2017

作者： Rad, Mahdi Roth, Peter M. Lepetit, Vincent Institute of Computer Graphics and Vision Graz University of Technology Graz Austria Laboratoire Bordelais de Recherche en Informatique Université de Bordeaux Bordeaux France

ISBN: (纸本)190172560X

To be robust to illumination changes when detecting objects in images, the current trend is to train a Deep Network with training images captured under many different lighting conditions. Unfortunately, creating such a training set is very cumbersome, or sometimes even impossible, for some applications such as 3D pose estimation of specific objects, which is the application we focus on in this paper. We therefore propose a novel illumination normalization method that lets us learn to detect objects and estimate their 3D pose under challenging illumination conditions from very few training samples. Our key insight is that normalization parameters should adapt to the input image. In particular, we realized this via a Convolutional Neural Network trained to predict the parameters of a generalization of the Difference-of-Gaussians method. We show that our method significantly outperforms standard normalization methods and demonstrate it on two challenging 3D detection and pose estimation problems. © 2017. The copyright of this document resides with its authors.

关键词： Object detection

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Robot Localisation and 3D Position Estimation Using a Free-Moving Camera and Cascaded Convolutional Neural Networks

Robot Localisation and 3D Position Estimation Using a Free-M...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Justinas Miseikis Patrick Knobelreiter Inka Brijacak Saeed Yahyanejad Kyrre Glette Ole Jakob Elle Jim Torresen Department of Informatics Universitv of Oslo Oslo Norway Institute of computer Graphics and Vision Graz University of Technology Graz Austria Joanneum Research - Robotics Klagenfurt am Worthersee Austria The Intervention Centre Oslo University Hospital Oslo Norway

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are calibrated in relation to each other and often the reconfiguration of the system is not possible, or extra manual work is required. We present a deep learning based approach to remove the constraint of having the need for the robot and the vision sensor to be fixed and calibrated in relation to each other. The system learns the visual cues of the robot body and is able to localise it, as well as estimate the position of robot joints in 3D space by just using a 2D color image. The method uses a cascaded convolutional neural network, and we present the structure of the network, describe our own collected dataset, explain the network training and achieved results. A fully trained system shows promising results in providing an accurate mask of where the robot is located and a good estimate of its joints positions in 3D. The accuracy is not good enough for visual servoing applications yet, however, it can be sufficient for general safety and some collaborative tasks not requiring very high precision. The main benefit of our method is the possibility of the vision sensor to move freely. This allows it to be mounted on moving objects, for example, a body of the person or a mobile robot working in the same environment as the robots are operating in.

关键词： Robot kinematics Robot sensing systems Collision avoidance vision sensors Cameras Three-dimensional displays

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Robot Localisation and 3D Position Estimation Using a Free-Moving Camera and Cascaded Convolutional Neural Networks

arXiv

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arXiv 2018年

作者： Mišeikis, Justinas Knöbelreiter, Patrick Brijacak, Inka Yahyanejad, Saeed Glette, Kyrre Elle, Ole Jakob Torresen, Jim Department of Informatics University of Oslo Oslo Norway Institute of Computer Graphics and Vision Graz University of Technology Graz Austria Joanneum Research - Robotics Klagenfurt am Wörthersee Austria Intervention Centre Oslo University Hospital Oslo Norway

— Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are calibrated in relation to each other and often the reconfiguration of the system is not possible, or extra manual work is required. We present a deep learning based approach to remove the constraint of having the need for the robot and the vision sensor to be fixed and calibrated in relation to each other. The system learns the visual cues of the robot body and is able to localise it, as well as estimate the position of robot joints in 3D space by just using a 2D color image. The method uses a cascaded convolutional neural network, and we present the structure of the network, describe our own collected dataset, explain the network training and achieved results. A fully trained system shows promising results in providing an accurate mask of where the robot is located and a good estimate of its joints positions in 3D. The accuracy is not good enough for visual servoing applications yet, however, it can be sufficient for general safety and some collaborative tasks not requiring very high precision. The main benefit of our method is the possibility of the vision sensor to move freely. This allows it to be mounted on moving objects, for example, a body of the person or a mobile robot working in the same environment as the robots are operating in. Copyright © 2018, The Authors. All rights reserved.

关键词： Convolution

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Semantic 3D reconstruction with finite element bases 28

Semantic 3D reconstruction with finite element bases

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28th British Machine vision Conference, BMVC 2017

作者： Richard, Audrey Vogel, Christoph Bláha, Maroš Pock, Thomas Schindler, Konrad Photogrammetry and Remote Sensing ETH Zurich Switzerland Institute of Computer Graphics and Vision TU Graz Austria Austrian Institute of Technology Austria

ISBN: (纸本)190172560X

We propose a novel framework for the discretisation of multi-label problems on arbitrary, continuous domains. Our work bridges the gap between general FEM discretisations, and labeling problems that arise in a variety of computer vision tasks, including for instance those derived from the generalised Potts model. Starting from the popular formulation of labeling as a convex relaxation by functional lifting, we show that FEM discretisation is valid for the most general case, where the regulariser is anisotropic and non-metric. While our findings are generic and applicable to different vision problems, we demonstrate their practical implementation in the context of semantic 3D reconstruction, where such regularisers have proved particularly beneficial. The proposed FEM approach leads to a smaller memory footprint as well as faster computation, and it constitues a very simple way to enable variable, adaptive resolution within the same model. © 2017. The copyright of this document resides with its authors.

关键词： Semantics

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DeepPrior++: Improving Fast and Accurate 3D Hand Pose Estimation 16

DeepPrior++: Improving Fast and Accurate 3D Hand Pose Estima...

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16th IEEE International Conference on computer vision Workshops, ICCVW 2017

作者： Oberweger, Markus Lepetit, Vincent Institute for Computer Graphics and Vision Graz University of Technology Austria Laboratoire Bordelais de Recherche en Informatique Universite de Bordeaux France

ISBN: (纸本)9781538610343

DeepPrior [18] is a simple approach based on Deep Learning that predicts the joint 3D locations of a hand given a depth map. Since its publication early 2015, it has been outperformed by several impressive works. Here we show that with simple improvements: adding ResNet layers, data augmentation, and better initial hand localization, we achieve better or similar performance than more sophisticated recent methods on the three main benchmarks (NYU, ICVL, MSRA) while keeping the simplicity of the original method. Our new implementation is available at https://***/moberweger/deep-prior-pp. © 2017 IEEE.

关键词： Benchmarking

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