Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects

In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and reconstructing their 3D shape in real time. We use a multiple model fitting approach where each object can move independently from the background and still be effectively tracked and its shape fused over time using only the information from pixels associated with that object label. Previous attempts to deal with dynamic scenes have typically considered moving regions as outliers, and consequently do not model their shape or track their motion over time. In contrast, we enable the robot to maintain 3D models for each of the segmented objects and to improve them over time through fusion. As a result, our system can enable a robot to maintain a scene description at the object level which has the potential to allow interactions with its working environment; even in the case of dynamic scenes.Comment: International Conference on Robotics and Automation (ICRA) 2017, http://visual.cs.ucl.ac.uk/pubs/cofusion, https://github.com/martinruenz/co-fusio

On Using Physical Analogies for Feature and Shape Extraction in Computer Vision

There is a rich literature of approaches to image feature extraction in computer vision. Many sophisticated approaches exist for low- and high-level feature extraction but can be complex to implement with parameter choice guided by experimentation, but impeded by speed of computation. We have developed new ways to extract features based on notional use of physical paradigms, with parameterisation that is more familiar to a scientifically-trained user, aiming to make best use of computational resource. We describe how analogies based on gravitational force can be used for low-level analysis, whilst analogies of water flow and heat can be deployed to achieve high-level smooth shape detection. These new approaches to arbitrary shape extraction are compared with standard state-of-art approaches by curve evolution. There is no comparator operator to our use of gravitational force. We also aim to show that the implementation is consistent with the original motivations for these techniques and so contend that the exploration of physical paradigms offers a promising new avenue for new approaches to feature extraction in computer vision

Automatic segmentation of the left ventricle cavity and myocardium in MRI data

A novel approach for the automatic segmentation has been developed to extract the epi-cardium and endo-cardium boundaries of the left ventricle (lv) of the heart. The developed segmentation scheme takes multi-slice and multi-phase magnetic resonance (MR) images of the heart, transversing the short-axis length from the base to the apex. Each image is taken at one instance in the heart's phase. The images are segmented using a diffusion-based filter followed by an unsupervised clustering technique and the resulting labels are checked to locate the (lv) cavity. From cardiac anatomy, the closest pool of blood to the lv cavity is the right ventricle cavity. The wall between these two blood-pools (interventricular septum) is measured to give an approximate thickness for the myocardium. This value is used when a radial search is performed on a gradient image to find appropriate robust segments of the epi-cardium boundary. The robust edge segments are then joined using a normal spline curve. Experimental results are presented with very encouraging qualitative and quantitative results and a comparison is made against the state-of-the art level-sets method

An Automatic Level Set Based Liver Segmentation from MRI Data Sets

A fast and accurate liver segmentation method is a challenging work in medical image analysis area. Liver segmentation is an important process for computer-assisted diagnosis, pre-evaluation of liver transplantation and therapy planning of liver tumors. There are several advantages of magnetic resonance imaging such as free form ionizing radiation and good contrast visualization of soft tissue. Also, innovations in recent technology and image acquisition techniques have made magnetic resonance imaging a major tool in modern medicine. However, the use of magnetic resonance images for liver segmentation has been slow when we compare applications with the central nervous systems and musculoskeletal. The reasons are irregular shape, size and position of the liver, contrast agent effects and similarities of the gray values of neighbor organs. Therefore, in this study, we present a fully automatic liver segmentation method by using an approximation of the level set based contour evolution from T2 weighted magnetic resonance data sets. The method avoids solving partial differential equations and applies only integer operations with a two-cycle segmentation algorithm. The efficiency of the proposed approach is achieved by applying the algorithm to all slices with a constant number of iteration and performing the contour evolution without any user defined initial contour. The obtained results are evaluated with four different similarity measures and they show that the automatic segmentation approach gives successful results

Statistical Model of Shape Moments with Active Contour Evolution for Shape Detection and Segmentation

This paper describes a novel method for shape representation and robust image segmentation. The proposed method combines two well known methodologies, namely, statistical shape models and active contours implemented in level set framework. The shape detection is achieved by maximizing a posterior function that consists of a prior shape probability model and image likelihood function conditioned on shapes. The statistical shape model is built as a result of a learning process based on nonparametric probability estimation in a PCA reduced feature space formed by the Legendre moments of training silhouette images. A greedy strategy is applied to optimize the proposed cost function by iteratively evolving an implicit active contour in the image space and subsequent constrained optimization of the evolved shape in the reduced shape feature space. Experimental results presented in the paper demonstrate that the proposed method, contrary to many other active contour segmentation methods, is highly resilient to severe random and structural noise that could be present in the data