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Fast perception, planning, and execution for a robotic butler: Wheeled humanoid m-hubo

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arXiv 2020年

作者： Lee, Moonyoung Heo, Yujin Park, Jinyong Yang, Hyun-Dae Jang, Ho-Deok Benz, Philipp Park, Hyunsub Kweon, In So Oh, Jun-Ho Humanoid Robot Research Center Department of Mechanical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon34141 Korea Republic of Robotics and Computer Vision Laboratory Department of Electrical Engineering Korea Advanced Institute of Science and Technology 291 Daehak-ro Yuseong-gu Daejeon34141 Korea Republic of

As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerous trajectories that often are sub-optimal, extending the execution time. To address this issue, we propose a unique strategy of integrating a 3D object detection pipeline with a kinematically optimal manipulation planner to significantly increase speed performance at runtime. In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task. The proposed system was evaluated and demonstrated in a real-world environment setup as well as in public exhibition. Copyright © 2020, The Authors. All rights reserved.

关键词： Mobile robots

Image Restoration for Terahertz Image Based on Complex-Valued Deconvolution 8

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Image Restoration for Terahertz Image Based on Complex-Value...

8th Asia-Pacific Conference on Antennas and Propagation, APCAP 2019

作者： Ning, Wei Qi, Feng Wang, Jinkuan Northeastern University School of Computer Science and Engineering Shenyang110169 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang110016 China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China

ISBN: (纸本)9781665400541

According to the unique characteristics of terahertz (THz) waves, THz imaging has become a hot topic in widely application areas. However, the imaging resolution is constrained by its long wavelength. Generally, the deconvolution is always used to reconstruct the object function. In this paper, a method that combining the classic deconvolution algorithm with the complex-value data processing is investigated. It is posed that the proposed complex-number deconvolution achieves better performance compared to the real-valued deconvolution. © 2019 IEEE.

关键词： Deconvolution

Anchor-based spatio-temporal attention 3D convolutional networks for dynamic 3D point cloud sequences

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arXiv 2020年

作者： Wang, Guangming Chen, Muyao Liu, Hanwen Yang, Yehui Liu, Zhe Wang, Hesheng The Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China The Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai200240 China The Department of Computer Science and Technology University of Cambridge

With the rapid development of measurwement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning methods for dynamic 3D point cloud sequences are underexplored. Therefore, developing efficient and accurate perception method compatible with these advanced instruments is pivotal to autonomous driving and service robots. An Anchor-based Spatio-Temporal Attention 3D Convolution operation (ASTA3DConv) is proposed in this paper to process dynamic 3D point cloud sequences. The proposed convolution operation builds a regular receptive field around each point by setting several virtual anchors around each point. The features of neighborhood points are firstly aggregated to each anchor based on the spatio-temporal attention mechanism. Then, anchor-based 3D convolution is adopted to aggregate these anchors' features to the core points. The proposed method makes better use of the structured information within the local region and learns spatio-temporal embedding features from dynamic 3D point cloud sequences. Anchor-based Spatio-Temporal Attention 3D Convolutional Neural Networks (ASTA3DCNNs) are built for classification and segmentation tasks based on the proposed ASTA3DConv and evaluated on action recognition and semantic segmentation tasks. The experiments and ablation studies on MSRAction3D and Synthia datasets demonstrate the superior performance and effectiveness of our method for dynamic 3D point cloud sequences. Our method achieves the state-of-the-art performance among the methods with dynamic 3D point cloud sequences as input on MSRAction3D and Synthia datasets. Copyright © 2020, The Authors. All rights reserved.

关键词： Embeddings

Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model

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arXiv 2020年

作者： Gonzalez, Daniel J. Harry Asada, H. Robotics Research Center Department of Electrical Engineering and Computer Science United States Military Academy West PointNY10996 United States d’Arbeloff Laboratory for Information Systems and Technology Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States

The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unlike quadrupedal robots, the XRL cannot command the human’s limbs to coordinate quadrupedal locomotion. Using a pair of Rimless Wheel models, it is shown that the systems coupled with a spring and damper converge to the desired 25% phase difference. A Poincaré return map was generated using numerical simulation to examine the convergence properties to different coupler design parameters, and initial conditions. The Dynamically Coupled Double Rimless Wheel system was physically realized with a spring and dashpot chosen from the theoretical results, and initial experiments indicate that the desired synchronization properties may be achieved within several steps using this set of passive components alone. Copyright © 2020, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

Recent Advances in Triboelectric Nanogenerators: From Technological Progress to Commercial Applications

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ACS Nano 2023年第12期17卷 11087-11219页

作者： Choi, Dongwhi Lee, Younghoon Lin, Zong-Hong Cho, Sumin Kim, Miso Ao, Chi Kit Soh, Siowling Sohn, Changwan Jeong, Chang Kyu Lee, Jeongwan Lee, Minbaek Lee, Seungah Ryu, Jungho Parashar, Parag Cho, Yujang Ahn, Jaewan Kim, Il-Doo Jiang, Feng Lee, Pooi See Khandelwal, Gaurav Kim, Sang-Jae Kim, Hyun Soo Song, Hyun-Cheol Kim, Minje Nah, Junghyo Kim, Wook Menge, Habtamu Gebeyehu Park, Yong Tae Xu, Wei Hao, Jianhua Park, Hyosik Lee, Ju-Hyuck Lee, Dong-Min Kim, Sang-Woo Park, Ji Young Zhang, Haixia Zi, Yunlong Guo, Ru Cheng, Jia Yang, Ze Xie, Yannan Lee, Sangmin Chung, Jihoon Oh, Il-Kwon Kim, Ji-Seok Cheng, Tinghai Gao, Qi Cheng, Gang Gu, Guangqin Shim, Minseob Jung, Jeehoon Yun, Changwoo Zhang, Chi Liu, Guoxu Chen, Yufeng Kim, Suhan Chen, Xiangyu Hu, Jun Pu, Xiong Guo, Zi Hao Wang, Xudong Chen, Jun Xiao, Xiao Xie, Xing Jarin, Mourin Zhang, Hulin Lai, Ying-Chih He, Tianyiyi Kim, Hakjeong Park, Inkyu Ahn, Junseong Huynh, Nghia Dinh Yang, Ya Wang, Zhong Lin Baik, Jeong Min Choi, Dukhyun Kyung Hee University Gyeonggi Yongin17104 Korea Republic of Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology 77 Massachusetts Avenue CambridgeMA02139 United States Department of Mechanical Engineering Soft Robotics Research Center Seoul National University Seoul08826 Korea Republic of Department of Mechanical Engineering Gachon University Seongnam13120 Korea Republic of Department of Biomedical Engineering National Taiwan University Taipei10617 Taiwan Frontier Research Center on Fundamental and Applied Sciences of Matters National Tsing Hua University Hsinchu30013 Taiwan School of Advanced Materials Science & Engineering Sungkyunkwan University Suwon16419 Korea Republic of Sungkyunkwan University 2066 Seobu-ro Gyeonggi Suwon16419 Korea Republic of Department of Chemical and Biomolecular Engineering National University of Singapore 4 Engineering Drive 4 117585 Singapore Division of Advanced Materials Engineering Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Jeonbuk National University 567 Baekje-daero Jeonbuk Jeonju54896 Korea Republic of Department of Physics Inha University 100 Inha-ro Incheon22212 Korea Republic of School of Materials Science & Engineering Yeungnam University Gyeongbuk Gyeongsan38541 Korea Republic of 291 Daehak-ro Daejeon34141 Korea Republic of School of Materials Science and Engineering Nanyang Technological University 50 Nanyang Avenue 639798 Singapore Institute of Flexible Electronics Technology of Tsinghua Zhejiang Jiaxing314000 China Nanomaterials and System Lab Major of Mechatronics Engineering Faculty of Applied Energy System Jeju National University Jeju632-43 Korea Republic of School of Engineering University of Glasgow GlasgowG128QQ United Kingdom Seoul02792 Korea Republic of Department of Physics Inha University Incheon22212 Korea Republic of Suwon16419 Korea Republic of Department of

Serious climate changes and energy-related environmental problems are currently critical issues in the world. In order to reduce carbon emissions and save our environment, renewable energy harvesting technologies will serve as a key solution in the near future. Among them, triboelectric nanogenerators (TENGs), which is one of the most promising mechanical energy harvesters by means of contact electrification phenomenon, are explosively developing due to abundant wasting mechanical energy sources and a number of superior advantages in a wide availability and selection of materials, relatively simple device configurations, and low-cost processing. Significant experimental and theoretical efforts have been achieved toward understanding fundamental behaviors and a wide range of demonstrations since its report in 2012. As a result, considerable technological advancement has been exhibited and it advances the timeline of achievement in the proposed roadmap. Now, the technology has reached the stage of prototype development with verification of performance beyond the lab scale environment toward its commercialization. In this review, distinguished authors in the world worked together to summarize the state of the art in theory, materials, devices, systems, circuits, and applications in TENG fields. The great research achievements of researchers in this field around the world over the past decade are expected to play a major role in coming to fruition of unexpectedly accelerated technological advances over the next decade. © 2023 The Authors. Published by American Chemical Society

关键词： Nanogenerators

Common and Rare Fundus Diseases Identification Using vision-Language Foundation Model with Knowledge of Over 400 Diseases

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arXiv 2024年

作者： Wang, Meng Lin, Tian Lin, Aidi Yu, Kai Peng, Yuanyuan Wang, Lianyu Chen, Cheng Zou, Ke Liang, Huiyu Chen, Man Yao, Xue Zhang, Meiqin Huang, Binwei Zheng, Chaoxin Zhang, Peixin Chen, Wei Luo, Yilong Chen, Yifan Xia, Honghe Shi, Tingkun Zhang, Qi Guo, Jinming Chen, Xiaolin Wang, Jingcheng Chung Tham, Yih Liu, Dianbo Wong, Wendy Thakur, Sahil Fenner, Beau Fang, Danqi Liu, Siying Liu, Qingyun Huang, Yuqiang Zeng, Hongqiang Meng, Yanda Zhou, Yukun Jiang, Zehua Qiu, Minghui Zhang, Changqing Chen, Xinjian Wang, Sophia Y. Lee, Cecilia S. Sobrin, Lucia Cheung, Carol Y. Pang, Chi Pui Keane, Pearse A. Cheng, Ching-Yu Chen, Haoyu Fu, Huazhu Centre for Innovation & Precision Eye Health Yong Loo Lin School of Medicine National University of Singapore Singapore117549 Singapore Department of Ophthalmology Yong Loo Lin School of Medicine National University of Singapore Singapore117549 Singapore Joint Shantou International Eye Center Shantou University Chinese University of Hong Kong Guangdong Shantou515041 China Department of Radiology University of Pennsylvania PhiladelphiaPA19104 United States School of Biomedical Engineering Anhui Medical University Anhui Hefei230032 China College of Computer Science and Technology Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing211100 China Center of Advanced Medical Computing and Analysis Massachusetts General Hospital Harvard Medical School BostonMA02114 United States National Key Laboratory of Fundamental Science on Synthetic Vision College of Computer Science Sichuan University Sichuan Chengdu610065 China Big Vision Medical Technology Ltd. Suzhou China Singapore Eye Research Institute Singapore National Eye Centre Singapore Duke-NUS Medical School Singapore Department of Ophthalmology and Visual Sciences The Chinese University of Hong Kong 999077 Hong Kong Shenzhen Longgang E.N.T Hospital Guangdong Shenzhen518172 China Dongguan Songshan Lake Central Hospital Guangdong Dongguan523326 China Department of Computer Science University of Exeter ExeterEX4 4RN United Kingdom Centre for Medical Image Computing University College London London United Kingdom NIHR Biomedical Research Centre Moorfields Eye Hospital NHS Foundation Trust London United Kingdom Institute of Ophthalmology University College London London United Kingdom Tsinghua Medicine of Tsinghua University Beijing100084 China School of Clinical Medicine Beijing Tsinghua Changgung Hospital Beijing102218 China Foshan Aier Eye Hospital Guangdong Foshan528000 China College of Intelligence and Computing Tianjin University Tianjin300350 China School of Electr

Previous foundation models for retinal images were pre-trained with limited disease categories and knowledge base. Here we introduce RetiZero, a vision-language foundation model that leverages knowledge from over 400 fundus diseases. For RetiZero's pre-training, we compiled 341,896 fundus images paired with text descriptions, sourced from public datasets, ophthalmic literature, and online resources, encompassing a diverse range of diseases across multiple ethnicities and countries. RetiZero exhibits superior performance in several downstream tasks, including zero-shot disease recognition, image-to-image retrieval, and internal- and cross-domain disease identification. In zero-shot scenarios, RetiZero achieves Top5 accuracy scores of 0.8430 for 15 fundus diseases and 0.7561 for 52 fundus diseases. For image retrieval, it achieves Top5 scores of 0.9500 and 0.8860 for the same disease sets, respectively. Clinical evaluations show that RetiZero's Top3 zero-shot performance surpasses the average of 19 ophthalmologists from Singapore, China, and the United States. Furthermore, RetiZero significantly enhances clinicians' accuracy in diagnosing fundus disease. These findings underscore the value of integrating the RetiZero foundation model into clinical settings, where a variety of fundus diseases are encountered. © 2024, CC0.

关键词： Ophthalmology

Fusion of metadata and dermoscopic images for melanoma detection: Deep learning and feature importance analysis

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information Fusion 2025年

作者： Misbah Ahmad Imran Ahmed Abdellah Chehri Gwangill Jeon Centre for Machine Vision Bristol Robotics Laboratory University of West of England Frenchy Campus Bristol BS16 1QY Bristol UK Department of Animal and Agriculture Hartpury University Hartpury House Gloucester GL19 3BE Gloucestershire UK School of Computing and Information Science Anglia Ruskin University East Road Cambridge CB1 1PT Cambridgeshire UK Department of Mathematics and Computer Science Royal Military College of Canada (RMC) P.O. Box 17000 Station Forces Kingston K7K 7B4 Ontario Canada Department of Embedded Systems Engineering Incheon National University 119 Academy-ro Incheon 22012 Incheon Republic of Korea

In the era of smart healthcare, integrating multimodal data is essential for improving diagnostic accuracy and enabling personalized care. This study presented a deep learning-based multimodal approach for melanoma detection, leveraging both dermoscopic images and clinical metadata to enhance classification performance. The proposed model integrated a multi-layer convolutional neural network (CNN) to extract image features and combined them with structured metadata, including patient age, gender, and lesion location, through feature-level fusion. The fusion process occurred at the final CNN layer, where high-dimensional image feature vectors were concatenated with processed metadata. The metadata was handled separately through a fully connected neural network comprising multiple dense layers. The final fused representation was passed through additional dense layers, culminating in a classification layer that outputted the probability of melanoma presence. The model was trained end-to-end using the SIIM-ISIC dataset, allowing it to learn a joint representation of image and metadata features for optimal classification. Various data augmentation techniques were applied to dermoscopic images to mitigate class imbalance and improve model robustness. Additionally, exploratory data analysis (EDA) and feature importance analysis were conducted to assess the contribution of each metadata feature to the overall classification. Our fusion-based deep learning architecture outperformed single-modality models, boosting classification accuracy. The presented model achieved an accuracy of 94.5% and an overall F1-score of 0.94, validating its effectiveness in melanoma detection. This study aims to highlight the potential of deep learning-based multimodal fusion in enhancing diagnostic precision, offering a scalable and reliable solution for improved melanoma detection in smart healthcare systems.

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Why is the Winner the Best?

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Why is the Winner the Best?

Conference on computer vision and Pattern Recognition (CVPR)

作者： M. Eisenmann A. Reinke V. Weru M. D. Tizabi F. Isensee T. J. Adler S. Ali V. Andrearczyk M. Aubreville U. Baid S. Bakas N. Balu S. Bano J. Bernal S. Bodenstedt A. Casella V. Cheplygina M. Daum M. De Bruijne A. Depeursinge R. Dorent J. Egger D. G. Ellis S. Engelhardt M. Ganz N. Ghatwary G. Girard P. Godau A. Gupta L. Hansen K. Harada M. Heinrich N. Heller A. Hering A. Huaulmé P. Jannin A. E. Kavur O. Kodym M. Kozubek J. Li H. Li J. Ma C. Martín-Isla B. Menze A. Noble V. Oreiller N. Padoy S. Pati K. Payette T. Rädsch J. Rafael-Patiño V. Singh Bawa S. Speidel C. H. Sudre K. Van Wijnen M. Wagner D. Wei A. Yamlahi M. H. Yap C. Yuan M. Zenk A. Zia D. Zimmerer D. Aydogan B. Bhattarai L. Bloch R. Brüngel J. Cho C. Choi Q. Dou I. Ezhov C. M. Friedrich C. Fuller R. R. Gaire A. Galdran Á. García Faura M. Grammatikopoulou S. Hong M. Jahanifar I. Jang A. Kadkhodamohammadi I. Kang F. Kofler S. Kondo H. Kuijf M. Li M. Luu T. Martinčič P. Morais M. A. Naser B. Oliveira D. Owen S. Pang J. Park S. Park S. Płotka E. Puybareau N. Rajpoot K. Ryu N. Saeed A. Shephard P. Shi D. Štepec R. Subedi G. Tochon H. R. Torres H. Urien J. L. Vilaça K. A. Wahid H. Wang J. Wang L. Wang X. Wang B. Wiestler M. Wodzinski F. Xia J. Xie Z. Xiong S. Yang Y. Yang Z. Zhao K. Maier-Hein P. F. Jäger A. Kopp-Schneider L. Maier-Hein Division of Intelligent Medical Systems German Cancer Research Center (DKFZ) Heidelberg Germany Helmholtz Imaging German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Mathematics and Computer Science Heidelberg University Heidelberg Germany Division of Biostatistics German Cancer Research Center (DKFZ) Heidelberg Germany Division of Medical Image Computing German Cancer Research Center (DKFZ) Heidelberg Germany Faculty of Engineering and Physical Sciences School of Computing University of Leeds Leeds UK Institute of Informatics School of Management HES-SO Valais-Wallis University of Applied Sciences and Arts Western Switzerland Sierre Switzerland Department of Nuclear Medicine and Molecular Imaging Lausanne University Hospital Lausanne Switzerland Technische Hochschule Ingolstadt Ingolstadt Germany Center for Artificial Intelligence and Data Science for Integrated Diagnostics (AI2D) and Center for Biomedical Image Computing and Analytics (CBICA) University of Pennsylvania Philadelphia PA USA Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology Perelman School of Medicine University of Pennsylvania Philadelphia PA USA Department of Radiology University of Washington Seattle WA USA Department of Computer Science Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK Universitat Autònoma de Barcelona & Computer Vision Center Barcelona Spain Division of Translational Surgical Oncology National Center for Tumor Diseases (NCT/UCC) Dresden Dresden Germany Department of Advanced Robotics Istituto Italiano di Tecnologia Italy Department of Electronics Information and Bioengineering Politecnico di Milano Milan Italy IT University of Copenhagen Copenhagen Denmark Department of General Visceral and Transplantation Surgery Heidelberg University Hospital Heidelberg Germany Department of Radiology and Nuc

International benchmarking competitions have become fundamental for the comparative performance assessment of image analysis methods. However, little attention has been given to investigating what can be learnt from these competitions. Do they really generate scientific progress? What are common and successful participation strategies? What makes a solution superior to a competing method? To address this gap in the literature, we performed a multicenter study with all 80 competitions that were conducted in the scope of IEEE ISBI 2021 and MICCAI 2021. Statistical analyses performed based on comprehensive descriptions of the submitted algorithms linked to their rank as well as the underlying participation strategies revealed common characteristics of winning solutions. These typically include the use of multi-task learning (63%) and/or multi-stage pipelines (61%), and a focus on augmentation (100%), image preprocessing (97%), data curation (79%), and post-processing (66%). The “typical” lead of a winning team is a computer scientist with a doctoral degree, five years of experience in biomedical image analysis, and four years of experience in deep learning. Two core general development strategies stood out for highly-ranked teams: the reflection of the metrics in the method design and the focus on analyzing and handling failure cases. According to the organizers, 43% of the winning algorithms exceeded the state of the art but only 11% completely solved the respective domain problem. The insights of our study could help researchers (1) improve algorithm development strategies when approaching new problems, and (2) focus on open research questions revealed by this work.

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Evaluation of techniques for automated classification and artery quantification of the circle of Willis on TOF-MRA images: The CROWN challenge

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Medical Image Analysis 2025年

作者： Iris N. Vos Ynte M. Ruigrok Edwin Bennink Mireille R.E. Velthuis Barbara Paic Maud E.H. Ophelders Myrthe A.D. Buser Bas H.M. van der Velden Geng Chen Matthieu Coupet Félix Dumais Adrian Galdran Zhang Junyi Wei Liu Ting Ma Madhu S. Nair Mathieu Naudin Preena K.P. Keerthi A.S. Pillai Pengcheng Shi Hugo J. Kuijf Image Sciences Institute UMC Utrecht Utrecht The Netherlands Department of Neurology and Neurosurgery University Medical Center Utrecht Utrecht The Netherlands Department of Radiology University Medical Center Utrecht Utrecht The Netherlands Princess Máxima Center for Pediatric Oncology 3584 CS Utrecht The Netherlands Suzhou Institute of Biomedical Engineering and Technology Chinese Academy of Sciences Suzhou China Jinan Guoke Medical Technology Development Co. Ltd Jinan China XLIM Laboratory University of Poitiers UMR CNRS 7252 Poitiers France I3M Common Laboratory CNRS-Siemens University and Hospital of Poitiers Poitiers France Department of Computer Sciences Université de Sherbrooke Sherbrooke Canada Universitat Pompeu Fabra Barcelona Spain School of Electronic & Information Engineering Suzhou University of Science and Technology Suzhou China Electronic & Information Engineering School Harbin Institute of Technology (Shenzhen) Shenzhen China Artificial Intelligence & Computer Vision Lab Department of Computer Science Cochin University of Science and Technology (CUSAT) Kochi 682022 Kerala India University Hospital CHU Poitiers 86000 France DACTIM-MIS/LMA Laboratory University of Poitiers UMR CNRS 7348 Poitiers 86000 France

Assessing risk factors for intracranial aneurysm (IA) development on images is crucial for early detection of high-risk cases. IAs often form at bifurcations within the circle of Willis (CoW), but manual assessment of these arteries is both time-consuming and susceptible to inconsistencies. Previous studies on imaging markers for IA development lack sufficient evidence for clinical implications, highlighting the need for automated methods to assess CoW morphology. No systematic approach currently exists to identify the best methodological strategies. To address this, we organized a scientific challenge to compare various techniques against a clinical reference standard. Participants were tasked with (1) automated classification of CoW anatomical variants and (2) automated prediction of CoW artery diameters and bifurcation angles. We provided 300 TOF-MRA scans for training and another 300 for testing, all manually annotated. Submissions were evaluated using balanced accuracy, mean absolute error, and Pearson correlation coefficient metrics. This paper provides a detailed analysis of the results from six participating teams. The findings show that various methods may be suitable for automated CoW assessment, but that these need further improvement to meet clinical standards. The challenge remains open for future submissions, offering a benchmark for new techniques.

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