A Unified Framework for Mutual Improvement of SLAM and Semantic Segmentation

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be different previously, we show that by making use of the intermediate results of the two modules, their performance can be enhanced at the same time. Our framework is able to handle both the instantaneous motion and long-term changes of instances in localization with the help of the segmentation result, which also benefits from the refined 3D pose information. We conduct experiments on various datasets, and prove that our framework works effectively on improving the precision and robustness of the two tasks and outperforms existing localization and segmentation algorithms.Comment: 7 pages, 5 figures.This work has been accepted by ICRA 2019. The demo video can be found at https://youtu.be/Bkt53dAehj

Motion Artifact Reduction in Breast Dynamic Infrared Imaging

Dynamic infrared imaging is a promising technique in breast oncology. In this study a QWIP infrared camera is used to acquire a sequence of consecutive thermal images of the patient's breast for 10 s. Information on the local blood perfusion is obtained from the spectral analysis of the time series at each image pixel. Due to respiratory and motion artifacts, the direct comparison of the temperature values that a pixel assumes along the sequence becomes difficult. In fact, the small temperature changes due to blood perfusion, of the order of 10-50 mK, which constitute the signal of interest in the time domain, are superimposed onto large temperature fluctuations due to the subject's motion, which represent noise. To improve the time series signal-to-noise ratio, and, as a consequence, enhance the specificity and sensitivity of the dynamic infrared examination, it is important to realign the thermal images of the acquisition sequence thus reducing motion artifacts. In a previous study we demonstrated that a registration algorithm based on fiducial points is suitable to both clinical applications and research, when associated with a proper set of skin markers. In this paper, we quantitatively evaluate the performance of different marker sets by means of a model that allows for estimating the signal-to-noise ratio increment due to registration, and we conclude that a 12-marker set is a good compromise between motion artifact reduction and the time required to prepare the patien