Online Visual Robot Tracking and Identification using Deep LSTM Networks

Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online visionbased detection, tracking and identification of robots with a known and identical appearance. Our method runs in realtime on the limited hardware of the observer robot. Unlike previous works addressing robot tracking and identification, we use a data-driven approach based on recurrent neural networks to learn relations between sequential inputs and outputs. We formulate the data association problem as multiple classification problems. A deep LSTM network was trained on a simulated dataset and fine-tuned on small set of real data. Experiments on two challenging datasets, one synthetic and one real, which include long-term occlusions, show promising results.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. IROS RoboCup Best Paper Awar

Driver Distraction Identification with an Ensemble of Convolutional Neural Networks

The World Health Organization (WHO) reported 1.25 million deaths yearly due to road traffic accidents worldwide and the number has been continuously increasing over the last few years. Nearly fifth of these accidents are caused by distracted drivers. Existing work of distracted driver detection is concerned with a small set of distractions (mostly, cell phone usage). Unreliable ad-hoc methods are often used.In this paper, we present the first publicly available dataset for driver distraction identification with more distraction postures than existing alternatives. In addition, we propose a reliable deep learning-based solution that achieves a 90% accuracy. The system consists of a genetically-weighted ensemble of convolutional neural networks, we show that a weighted ensemble of classifiers using a genetic algorithm yields in a better classification confidence. We also study the effect of different visual elements in distraction detection by means of face and hand localizations, and skin segmentation. Finally, we present a thinned version of our ensemble that could achieve 84.64% classification accuracy and operate in a real-time environment.Comment: arXiv admin note: substantial text overlap with arXiv:1706.0949

Image-based quantitative analysis of gold immunochromatographic strip via cellular neural network approach

"(c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works."Gold immunochromatographic strip assay provides a rapid, simple, single-copy and on-site way to detect the presence or absence of the target analyte. This paper aims to develop a method for accurately segmenting the test line and control line of the gold immunochromatographic strip (GICS) image for quantitatively determining the trace concentrations in the specimen, which can lead to more functional information than the traditional qualitative or semi-quantitative strip assay. The canny operator as well as the mathematical morphology method is used to detect and extract the GICS reading-window. Then, the test line and control line of the GICS reading-window are segmented by the cellular neural network (CNN) algorithm, where the template parameters of the CNN are designed by the switching particle swarm optimization (SPSO) algorithm for improving the performance of the CNN. It is shown that the SPSO-based CNN offers a robust method for accurately segmenting the test and control lines, and therefore serves as a novel image methodology for the interpretation of GICS. Furthermore, quantitative comparison is carried out among four algorithms in terms of the peak signal-to-noise ratio. It is concluded that the proposed CNN algorithm gives higher accuracy and the CNN is capable of parallelism and analog very-large-scale integration implementation within a remarkably efficient time

Online real-time crowd behavior detection in video sequences

Automatically detecting events in crowded scenes is a challenging task in Computer Vision. A number of offline approaches have been proposed for solving the problem of crowd behavior detection, however the offline assumption limits their application in real-world video surveillance systems. In this paper, we propose an online and real-time method for detecting events in crowded video sequences. The proposed approach is based on the combination of visual feature extraction and image segmentation and it works without the need of a training phase. A quantitative experimental evaluation has been carried out on multiple publicly available video sequences, containing data from various crowd scenarios and different types of events, to demonstrate the effectiveness of the approach

Context based mixture model for cell phase identification in automated fluorescence microscopy

BACKGROUND: Automated identification of cell cycle phases of individual live cells in a large population captured via automated fluorescence microscopy technique is important for cancer drug discovery and cell cycle studies. Time-lapse fluorescence microscopy images provide an important method to study the cell cycle process under different conditions of perturbation. Existing methods are limited in dealing with such time-lapse data sets while manual analysis is not feasible. This paper presents statistical data analysis and statistical pattern recognition to perform this task. RESULTS: The data is generated from Hela H2B GFP cells imaged during a 2-day period with images acquired 15 minutes apart using an automated time-lapse fluorescence microscopy. The patterns are described with four kinds of features, including twelve general features, Haralick texture features, Zernike moment features, and wavelet features. To generate a new set of features with more discriminate power, the commonly used feature reduction techniques are used, which include Principle Component Analysis (PCA), Linear Discriminant Analysis (LDA), Maximum Margin Criterion (MMC), Stepwise Discriminate Analysis based Feature Selection (SDAFS), and Genetic Algorithm based Feature Selection (GAFS). Then, we propose a Context Based Mixture Model (CBMM) for dealing with the time-series cell sequence information and compare it to other traditional classifiers: Support Vector Machine (SVM), Neural Network (NN), and K-Nearest Neighbor (KNN). Being a standard practice in machine learning, we systematically compare the performance of a number of common feature reduction techniques and classifiers to select an optimal combination of a feature reduction technique and a classifier. A cellular database containing 100 manually labelled subsequence is built for evaluating the performance of the classifiers. The generalization error is estimated using the cross validation technique. The experimental results show that CBMM outperforms all other classifies in identifying prophase and has the best overall performance. CONCLUSION: The application of feature reduction techniques can improve the prediction accuracy significantly. CBMM can effectively utilize the contextual information and has the best overall performance when combined with any of the previously mentioned feature reduction techniques

3D time series analysis of cell shape using Laplacian approaches

Background: Fundamental cellular processes such as cell movement, division or food uptake critically depend on cells being able to change shape. Fast acquisition of three-dimensional image time series has now become possible, but we lack efficient tools for analysing shape deformations in order to understand the real three-dimensional nature of shape changes. Results: We present a framework for 3D+time cell shape analysis. The main contribution is three-fold: First, we develop a fast, automatic random walker method for cell segmentation. Second, a novel topology fixing method is proposed to fix segmented binary volumes without spherical topology. Third, we show that algorithms used for each individual step of the analysis pipeline (cell segmentation, topology fixing, spherical parameterization, and shape representation) are closely related to the Laplacian operator. The framework is applied to the shape analysis of neutrophil cells. Conclusions: The method we propose for cell segmentation is faster than the traditional random walker method or the level set method, and performs better on 3D time-series of neutrophil cells, which are comparatively noisy as stacks have to be acquired fast enough to account for cell motion. Our method for topology fixing outperforms the tools provided by SPHARM-MAT and SPHARM-PDM in terms of their successful fixing rates. The different tasks in the presented pipeline for 3D+time shape analysis of cells can be solved using Laplacian approaches, opening the possibility of eventually combining individual steps in order to speed up computations