Deep Projective 3D Semantic Segmentation

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so far. Recent attempts, based on 3D deep learning approaches (3D-CNNs), have achieved below-expected results. Such methods require voxelizations of the underlying point cloud data, leading to decreased spatial resolution and increased memory consumption. Additionally, 3D-CNNs greatly suffer from the limited availability of annotated datasets. In this paper, we propose an alternative framework that avoids the limitations of 3D-CNNs. Instead of directly solving the problem in 3D, we first project the point cloud onto a set of synthetic 2D-images. These images are then used as input to a 2D-CNN, designed for semantic segmentation. Finally, the obtained prediction scores are re-projected to the point cloud to obtain the segmentation results. We further investigate the impact of multiple modalities, such as color, depth and surface normals, in a multi-stream network architecture. Experiments are performed on the recent Semantic3D dataset. Our approach sets a new state-of-the-art by achieving a relative gain of 7.9 %, compared to the previous best approach.Comment: Submitted to CAIP 201

Multi-dataset Training for Medical Image Segmentation as a Service

Deep Learning tools are widely used for medical image segmentation. The results produced by these techniques depend to a great extent on the data sets used to train the used network. Nowadays many cloud service providers offer the required resources to train networks and deploy deep learning networks. This makes the idea of segmentation as a cloud-based service attractive. In this paper we study the possibility of training, a generalized configurable, Keras U-Net to test the feasibility of training with images acquired, with specific instruments, to perform predictions on data from other instruments. We use, as our application example, the segmentation of Optic Disc and Cup which can be applied to glaucoma detection. We use two publicly available data sets (RIM-One V3 and DRISHTI) to train either independently or combining their data.Ministerio de Economía y Competitividad TEC2016-77785-

CNN for Very Fast Ground Segmentation in Velodyne LiDAR Data

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach is used for segmentation of the sparse point cloud into ground and non-ground points. The LiDAR data are represented as a multi-channel 2D signal where the horizontal axis corresponds to the rotation angle and the vertical axis the indexes channels (i.e. laser beams). Multiple topologies of relatively shallow CNNs (i.e. 3-5 convolutional layers) are trained and evaluated using a manually annotated dataset we prepared. The results show significant improvement of performance over the state-of-the-art method by Zhang et al. in terms of speed and also minor improvements in terms of accuracy.Comment: ICRA 2018 submissio

TPU Cloud-Based Generalized U-Net for Eye Fundus Image Segmentation

Medical images from different clinics are acquired with different instruments and settings. To perform segmentation on these images as a cloud-based service we need to train with multiple datasets to increase the segmentation independency from the source. We also require an ef cient and fast segmentation network. In this work these two problems, which are essential for many practical medical imaging applications, are studied. As a segmentation network, U-Net has been selected. U-Net is a class of deep neural networks which have been shown to be effective for medical image segmentation. Many different U-Net implementations have been proposed.With the recent development of tensor processing units (TPU), the execution times of these algorithms can be drastically reduced. This makes them attractive for cloud services. In this paper, we study, using Google's publicly available colab environment, a generalized fully con gurable Keras U-Net implementation which uses Google TPU processors for training and prediction. As our application problem, we use the segmentation of Optic Disc and Cup, which can be applied to glaucoma detection. To obtain networks with a good performance, independently of the image acquisition source, we combine multiple publicly available datasets (RIM-One V3, DRISHTI and DRIONS). As a result of this study, we have developed a set of functions that allow the implementation of generalized U-Nets adapted to TPU execution and are suitable for cloud-based service implementation.Ministerio de Economía y Competitividad TEC2016-77785-