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SR-LSTM: State refinement for LSTM towards pedestrian trajectory prediction

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arXiv 2019年

作者： Zhang, Pu Ouyang, Wanli Zhang, Pengfei Xue, Jianru Zheng, Nanning Institute of Artificial Intelligence and Robotics Xian Jiaotong University China University of Sydney SenseTime Computer Vision Research Group Australia

In crowd scenarios, reliable trajectory prediction of pedestrians requires insightful understanding of their social behaviors. These behaviors have been well investigated by plenty of studies, while it is hard to be fully expressed by hand-craft rules. Recent studies based on LSTM networks have shown great ability to learn social behaviors. However, many of these methods rely on previous neighboring hidden states but ignore the important current intention of the neighbors. In order to address this issue, we propose a data-driven state refinement module for LSTM network (SR-LSTM), which activates the utilization of the current intention of neighbors, and jointly and iteratively refines the current states of all participants in the crowd through a message passing mechanism. To effectively extract the social effect of neighbors, we further introduce a social-aware information selection mechanism consisting of an element-wise motion gate and a pedestrian-wise attention to select useful message from neighboring pedestrians. Experimental results on two public datasets, i.e. ETH and UCY, demonstrate the effectiveness of our proposed SR-LSTM and we achieves state-of-the-art results. Copyright © 2019, The Authors. All rights reserved.

关键词： Iterative methods

Efficient MedSAMs: Segment Anything in Medical Images on Laptop

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arXiv 2024年

作者： Ma, Jun Li, Feifei Kim, Sumin Asakereh, Reza Le, Bao-Hiep Nguyen-Vu, Dang-Khoa Pfefferle, Alexander Wei, Muxin Gao, Ruochen Lyu, Donghang Yang, Songxiao Purucker, Lennart Marinov, Zdravko Staring, Marius Lu, Haisheng Dao, Thuy Thanh Ye, Xincheng Li, Zhi Brugnara, Gianluca Vollmuth, Philipp Foltyn-Dumitru, Martha Cho, Jaeyoung Mahmutoglu, Mustafa Ahmed Bendszus, Martin Pflüger, Irada Rastogi, Aditya Ni, Dong Yang, Xin Zhou, Guang-Quan Wang, Kaini Heller, Nicholas Papanikolopoulos, Nikolaos Weight, Christopher Tong, Yubing Udupa, Jayaram K. Patrick, Cahill J. Wang, Yaqi Zhang, Yifan Contijoch, Francisco McVeigh, Elliot Ye, Xin He, Shucheng Haase, Robert Pinetz, Thomas Radbruch, Alexander Krause, Inga Kobler, Erich He, Jian Tang, Yucheng Yang, Haichun Huo, Yuankai Luo, Gongning Kushibar, Kaisar Amankulov, Jandos Toleshbayev, Dias Mukhamejan, Amangeldi Egger, Jan Pepe, Antonio Gsaxner, Christina Luijten, Gijs Fujita, Shohei Kikuchi, Tomohiro Wiestler, Benedikt Kirschke, Jan S. de la Rosa, Ezequiel Bolelli, Federico Lumetti, Luca Grana, Costantino Xie, Kunpeng Wu, Guomin Puladi, Behrus Martín-Isla, Carlos Lekadir, Karim Campello, Victor M. Shao, Wei Brisbane, Wayne Jiang, Hongxu Wei, Hao Yuan, Wu Li, Shuangle Zhou, Yuyin Wang, Bo AI Collaborative Centre University Health Network Department of Laboratory Medicine and Pathobiology University of Toronto Vector Institute Toronto Canada Peter Munk Cardiac Centre University Health Network Toronto Canada Toronto General Hospital Research Institute University Health Network Department of Computer Science University of Toronto University Health Network Vector Institute Toronto Canada University of Science Vietnam National University Ho Chi Minh City Viet Nam Institute of Computer Science University of Freiburg Freiburg Germany School of Medicine and Health Harbin Institute of Technology Harbin China Division of Image Processing Department of Radiology Leiden University Medical Center Leiden Netherlands Department of System and Control Engineering School of Engineering Institute of Science Tokyo Formerly Tokyo Institute of Technology Tokyo Japan Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe Germany School of Information and Communication Engineering University of Electronic Science and Technology of China Chengdu China School of Electrical Engineering and Computer Science University of Queensland Brisbane Australia School of Cyberspace Hangzhou Dianzi University Hangzhou China Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Division for Computational Radiology and Clinical AI The Department of Neuroradiology University Hospital Bonn Germany Department of Neuroradiology Heidelberg University Hospital Heidelberg Germany Division for Computational Radiology and Clinical AI Department of Neuroradiology University Hospital Bonn Germany School of Biomedical Engineering Shenzhen University Shenzhen China School of Biological Science and Medical Engineering Southeast University Nanjing China Department of Urology Cleveland Clinic Cleveland United States Department of Computer Science University of Minnesota Minneapolis United St

Promptable segmentation foundation models have emerged as a transformative approach to addressing the diverse needs in medical images, but most existing models require expensive computing, posing a big barrier to their adoption in clinical practice. In this work, we organized the first international competition dedicated to promptable medical image segmentation, featuring a large-scale dataset spanning nine common imaging modalities from over 20 different institutions. The top teams developed lightweight segmentation foundation models and implemented an efficient inference pipeline that substantially reduced computational requirements while maintaining state-of-the-art segmentation accuracy. Moreover, the post-challenge phase advanced the algorithms through the design of performance booster and reproducibility tasks, resulting in improved algorithms and validated reproducibility of the winning solution. Furthermore, the best-performing algorithms have been incorporated into the open-source software with a user-friendly interface to facilitate clinical adoption. The data and code are publicly available to foster the further development of medical image segmentation foundation models and pave the way for impactful real-world applications. © 2024, CC BY-NC-SA.

关键词： Open source software

Conditional sequential modulation for efficient global image retouching

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arXiv 2020年

作者： He, Jingwen Liu, Yihao Qiao, Yu Dong, Chao ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China SIAT Branch Shenzhen Institute of Artificial Intelligence Robotics for Society Korea Republic of University of Chinese Academy of Sciences China

Photo retouching aims at enhancing the aesthetic visual quality of images that suffer from photographic defects such as over/under exposure, poor contrast, inharmonious saturation. Practically, photo retouching can be accomplished by a series of image processing operations. In this paper, we investigate some commonly-used retouching operations and mathematically find that these pixel-independent operations can be approximated or formulated by multi-layer perceptrons (MLPs). Based on this analysis, we propose an extremely light-weight framework - Conditional Sequential Retouching Network (CSRNet) - for efficient global image retouching. CSRNet consists of a base network and a condition network. The base network acts like an MLP that processes each pixel independently and the condition network extracts the global features of the input image to generate a condition vector. To realize retouching operations, we modulate the intermediate features using Global Feature Modulation (GFM), of which the parameters are transformed by condition vector. Benefiting from the utilization of 1×1 convolution, CSRNet only contains less than 37k trainable parameters, which is orders of magnitude smaller than existing learning-based methods. Extensive experiments show that our method achieves state-of-the-art performance on the benchmark MIT-Adobe FiveK dataset quantitively and qualitatively. Code is available at https://***/hejingwenhejingwen/CSRNet. Copyright © 2020, The Authors. All rights reserved.

关键词： Pixels

P1AC: Revisiting Absolute Pose From a Single Affine Correspondence

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arXiv 2020年

作者： Ventura, Jonathan Kukelova, Zuzana Sattler, Torsten Baráth, Dániel Department of Computer Science & Software Engineering Cal Poly San Luis Obispo United States Visual Recognition Group Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Computer Vision and Geometry Group ETH Zürich Switzerland

Affine correspondences have traditionally been used to improve feature matching over wide baselines. While recent work has successfully used affine correspondences to solve various relative camera pose estimation problems, less attention has been given to their use in absolute pose estimation. We introduce the first general solution to the problem of estimating the pose of a calibrated camera given a single observation of an oriented point and an affine correspondence. The advantage of our approach (P1AC) is that it requires only a single correspondence, in comparison to the traditional point-based approach (P3P), significantly reducing the combinatorics in robust estimation. P1AC provides a general solution that removes restrictive assumptions made in prior work and is applicable to large-scale image-based localization. We propose a minimal solution to the P1AC problem and evaluate our novel solver on synthetic data, showing its numerical stability and performance under various types of noise. On standard image-based localization benchmarks we show that P1AC achieves more accurate results than the widely used P3P algorithm. Code for our method is available at https://***/jonathanventura/P1AC/. © 2020, CC BY.

关键词：

Robust text line detection in equipment nameplate images

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Robust text line detection in equipment nameplate images

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Lai, Jiangyu Guo, Lanqing Qiao, Yu Chen, Xiaolong Zhang, Zhengfu Liu, Canping Li, Ying Fu, Bin Guangzhou Power Supply Bureau Co. Ltd. Guangzhou China ShenZhen Key Lab of Computer Vision and Pattern Recognition SIATSenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781728163215

Scene text detection for equipment nameplates in the wild is important for equipment inspection robot since it enables inspection robot to take specific actions for different equipment's. Although text detection in images has achieved great progress in recent years, the detection for equipment nameplates faces several challenges such as extreme illumination and distortion which significantly decrease the detection performance. In this paper, we propose a deep text detection model Robust Text Line Detection (RTLD) for locating word level text instances in equipment cards. Specifically, the proposed model first employs a corner detection module to determine the four corner points of each nameplate, and then a carefully designed image transformed module transforms the irregular nameplate region into a rectangular region. Finally, text detection module is introduced to locate every word level text instance in the transformed images. We conduct extensive experiments to examine our proposed methods on real equipment nameplate images. Our model achieves 91.2% precision and 92.6% recall on Equipment Nameplate Dataset. The experimental results demonstrate the effectiveness of our models. © 2019 IEEE.

关键词： Nameplates

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

Orientation robust scene text recognition in natural scene

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Orientation robust scene text recognition in natural scene

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Chen, Xiaolong Zhang, Zhengfu Qiao, Yu Lai, Jiangyu Jiang, Jian Zhang, Zeyu Fu, Bin Guangzhou Power Supply Bureau Co. Ltd. Guangzhou China ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781728163215

In recent years, scene text recognition has achieved significant improvement and various state-of-the-art recognition approaches have been proposed. This paper focused on recognizing text in natural photos of equipment nameplates, which has wide applications in industrial automations. This task only receives little attentions in previous works. The challenge of this problem comes from multi-orientation, curved, noisy and blurry text patches in equipment nameplates. To address this problem, we propose a deep model for text recognition in multi-oriented nameplates, namely, Orientation Robust Scene Text Recognition (ORSTR). Specifically, our model employs a rectification module to transform curved, distorted or multi-orientation text to near-horizontal text with a carefully designed rectification module. Once the near-horizontal text has been generated, recognition network will output the predictions of text patches. Our scene text recognition model achieves 90.8% recognition accuracy on equipment nameplate dataset which outperforms previous scene text recognition model (CRNN) about 0.8%. Several extensive experiments have been conducted to verify the effectiveness of our model. © 2019 IEEE.

关键词： Nameplates

The equipment nameplate dataset for scene text detection and recognition

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The equipment nameplate dataset for scene text detection and...

2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Chen, Xiaolong Zhang, Zhengfu Qiao, Yu Zhang, Pu Guo, Lanqing Chen, Wenrui Chen, Chen Fu, Bin Guangzhou Power Supply Bureau Co. Ltd. Guangzhou China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781728163215

In this paper, we introduce the Equipment Nameplate Dataset, a large dataset for scene text detection and recognition. Natural images in this dataset are taken in the wild and thus this dataset includes various intra-class inconsistency such as ill illumination conditions and partly occluded, which makes our dataset more challenging than other datasets. In order to make people train detection and recognition model separately, we annotate our dataset not only word instance, but also text region by using rectangle bounding boxes. Some detailed statistics information about our dataset will be given so that people can use them to analyse and develop their own models. Moreover, we use our dataset to test some famous detection and recognition models and present the corresponding results in order to make researcher compare them with their own models. Dataset will be publicly available on the website. © 2019 IEEE.

关键词： computer vision

Group shift pointwise convolution for volumetric medical image segmentation

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arXiv 2021年

作者： He, Junjun Ye, Jin Li, Cheng Song, Diping Chen, Wanli Wang, Shanshan Gu, Lixu Qiao, Yu School of Biomedical Engineering Shanghai Jiao Tong University Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Shenzhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China Shanghai AI Lab Shanghai China Paul C. Lauterbur Research Center for Biomedical Imaging Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China The Chinese University of Hong Kong Hong Kong Peng Cheng Laboratory Guangdong Shenzhen China Pazhou Lab Guangdong Guangzhou China

Recent studies have witnessed the effectiveness of 3D convolutions on segmenting volumetric medical images. Compared with the 2D counterparts, 3D convolutions can capture the spatial context in three dimensions. Nevertheless, models employing 3D convolutions introduce more trainable parameters and are more computationally complex, which may lead easily to model overfitting especially for medical applications with limited available training data. This paper aims to improve the effectiveness and efficiency of 3D convolutions by introducing a novel Group Shift Pointwise Convolution (GSP-Conv). GSP-Conv simplifies 3D convolutions into pointwise ones with 1 × 1 × 1 kernels, which dramatically reduces the number of model parameters and FLOPs (e.g. 27× fewer than 3D convolutions with 3 × 3 × 3 kernels). Naïve pointwise convolutions with limited receptive fields cannot make full use of the spatial image context. To address this problem, we propose a parameter-free operation, Group Shift (GS), which shifts the feature maps along different spatial directions in an elegant way. With GS, pointwise convolutions can access features from different spatial locations, and the limited receptive fields of pointwise convolutions can be compensated. We evaluate the proposed methods on two datasets, PROMISE12 and BraTS18. Results show that our method, with substantially decreased model complexity, achieves comparable or even better performance than models employing 3D convolutions. Copyright © 2021, The Authors. All rights reserved.

关键词： Convolution