8,174 research outputs found
MedGAN: Medical Image Translation using GANs
Image-to-image translation is considered a new frontier in the field of
medical image analysis, with numerous potential applications. However, a large
portion of recent approaches offers individualized solutions based on
specialized task-specific architectures or require refinement through
non-end-to-end training. In this paper, we propose a new framework, named
MedGAN, for medical image-to-image translation which operates on the image
level in an end-to-end manner. MedGAN builds upon recent advances in the field
of generative adversarial networks (GANs) by merging the adversarial framework
with a new combination of non-adversarial losses. We utilize a discriminator
network as a trainable feature extractor which penalizes the discrepancy
between the translated medical images and the desired modalities. Moreover,
style-transfer losses are utilized to match the textures and fine-structures of
the desired target images to the translated images. Additionally, we present a
new generator architecture, titled CasNet, which enhances the sharpness of the
translated medical outputs through progressive refinement via encoder-decoder
pairs. Without any application-specific modifications, we apply MedGAN on three
different tasks: PET-CT translation, correction of MR motion artefacts and PET
image denoising. Perceptual analysis by radiologists and quantitative
evaluations illustrate that the MedGAN outperforms other existing translation
approaches.Comment: 16 pages, 8 figure
Data-Driven Grasp Synthesis - A Survey
We review the work on data-driven grasp synthesis and the methodologies for
sampling and ranking candidate grasps. We divide the approaches into three
groups based on whether they synthesize grasps for known, familiar or unknown
objects. This structure allows us to identify common object representations and
perceptual processes that facilitate the employed data-driven grasp synthesis
technique. In the case of known objects, we concentrate on the approaches that
are based on object recognition and pose estimation. In the case of familiar
objects, the techniques use some form of a similarity matching to a set of
previously encountered objects. Finally for the approaches dealing with unknown
objects, the core part is the extraction of specific features that are
indicative of good grasps. Our survey provides an overview of the different
methodologies and discusses open problems in the area of robot grasping. We
also draw a parallel to the classical approaches that rely on analytic
formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic
Learning to Predict Image-based Rendering Artifacts with Respect to a Hidden Reference Image
Image metrics predict the perceived per-pixel difference between a reference
image and its degraded (e. g., re-rendered) version. In several important
applications, the reference image is not available and image metrics cannot be
applied. We devise a neural network architecture and training procedure that
allows predicting the MSE, SSIM or VGG16 image difference from the distorted
image alone while the reference is not observed. This is enabled by two
insights: The first is to inject sufficiently many un-distorted natural image
patches, which can be found in arbitrary amounts and are known to have no
perceivable difference to themselves. This avoids false positives. The second
is to balance the learning, where it is carefully made sure that all image
errors are equally likely, avoiding false negatives. Surprisingly, we observe,
that the resulting no-reference metric, subjectively, can even perform better
than the reference-based one, as it had to become robust against
mis-alignments. We evaluate the effectiveness of our approach in an image-based
rendering context, both quantitatively and qualitatively. Finally, we
demonstrate two applications which reduce light field capture time and provide
guidance for interactive depth adjustment.Comment: 13 pages, 11 figure
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
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