5,009 research outputs found
Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization
Many robotics applications require precise pose estimates despite operating
in large and changing environments. This can be addressed by visual
localization, using a pre-computed 3D model of the surroundings. The pose
estimation then amounts to finding correspondences between 2D keypoints in a
query image and 3D points in the model using local descriptors. However,
computational power is often limited on robotic platforms, making this task
challenging in large-scale environments. Binary feature descriptors
significantly speed up this 2D-3D matching, and have become popular in the
robotics community, but also strongly impair the robustness to perceptual
aliasing and changes in viewpoint, illumination and scene structure. In this
work, we propose to leverage recent advances in deep learning to perform an
efficient hierarchical localization. We first localize at the map level using
learned image-wide global descriptors, and subsequently estimate a precise pose
from 2D-3D matches computed in the candidate places only. This restricts the
local search and thus allows to efficiently exploit powerful non-binary
descriptors usually dismissed on resource-constrained devices. Our approach
results in state-of-the-art localization performance while running in real-time
on a popular mobile platform, enabling new prospects for robotics research.Comment: CoRL 2018 Camera-ready (fix typos and update citations
Deep Lesion Graphs in the Wild: Relationship Learning and Organization of Significant Radiology Image Findings in a Diverse Large-scale Lesion Database
Radiologists in their daily work routinely find and annotate significant
abnormalities on a large number of radiology images. Such abnormalities, or
lesions, have collected over years and stored in hospitals' picture archiving
and communication systems. However, they are basically unsorted and lack
semantic annotations like type and location. In this paper, we aim to organize
and explore them by learning a deep feature representation for each lesion. A
large-scale and comprehensive dataset, DeepLesion, is introduced for this task.
DeepLesion contains bounding boxes and size measurements of over 32K lesions.
To model their similarity relationship, we leverage multiple supervision
information including types, self-supervised location coordinates and sizes.
They require little manual annotation effort but describe useful attributes of
the lesions. Then, a triplet network is utilized to learn lesion embeddings
with a sequential sampling strategy to depict their hierarchical similarity
structure. Experiments show promising qualitative and quantitative results on
lesion retrieval, clustering, and classification. The learned embeddings can be
further employed to build a lesion graph for various clinically useful
applications. We propose algorithms for intra-patient lesion matching and
missing annotation mining. Experimental results validate their effectiveness.Comment: Accepted by CVPR2018. DeepLesion url adde
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