Categorization of indoor places by combining local binary pattern histograms of range and reflectance data from laser range finders

This paper presents an approach to categorize typical places in indoor environments using 3D scans provided by a laser range finder. Examples of such places are offices, laboratories, or kitchens. In our method, we combine the range and reflectance data from the laser scan for the final categorization of places. Range and reflectance images are transformed into histograms of local binary patterns and combined into a single feature vector. This vector is later classified using support vector machines. The results of the presented experiments demonstrate the capability of our technique to categorize indoor places with high accuracy. We also show that the combination of range and reflectance information improves the final categorization results in comparison with a single modality

Deep Semantic Classification for 3D LiDAR Data

Robots are expected to operate autonomously in dynamic environments. Understanding the underlying dynamic characteristics of objects is a key enabler for achieving this goal. In this paper, we propose a method for pointwise semantic classification of 3D LiDAR data into three classes: non-movable, movable and dynamic. We concentrate on understanding these specific semantics because they characterize important information required for an autonomous system. Non-movable points in the scene belong to unchanging segments of the environment, whereas the remaining classes corresponds to the changing parts of the scene. The difference between the movable and dynamic class is their motion state. The dynamic points can be perceived as moving, whereas movable objects can move, but are perceived as static. To learn the distinction between movable and non-movable points in the environment, we introduce an approach based on deep neural network and for detecting the dynamic points, we estimate pointwise motion. We propose a Bayes filter framework for combining the learned semantic cues with the motion cues to infer the required semantic classification. In extensive experiments, we compare our approach with other methods on a standard benchmark dataset and report competitive results in comparison to the existing state-of-the-art. Furthermore, we show an improvement in the classification of points by combining the semantic cues retrieved from the neural network with the motion cues.Comment: 8 pages to be published in IROS 201

SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud

In this paper, we address semantic segmentation of road-objects from 3D LiDAR point clouds. In particular, we wish to detect and categorize instances of interest, such as cars, pedestrians and cyclists. We formulate this problem as a point- wise classification problem, and propose an end-to-end pipeline called SqueezeSeg based on convolutional neural networks (CNN): the CNN takes a transformed LiDAR point cloud as input and directly outputs a point-wise label map, which is then refined by a conditional random field (CRF) implemented as a recurrent layer. Instance-level labels are then obtained by conventional clustering algorithms. Our CNN model is trained on LiDAR point clouds from the KITTI dataset, and our point-wise segmentation labels are derived from 3D bounding boxes from KITTI. To obtain extra training data, we built a LiDAR simulator into Grand Theft Auto V (GTA-V), a popular video game, to synthesize large amounts of realistic training data. Our experiments show that SqueezeSeg achieves high accuracy with astonishingly fast and stable runtime (8.7 ms per frame), highly desirable for autonomous driving applications. Furthermore, additionally training on synthesized data boosts validation accuracy on real-world data. Our source code and synthesized data will be open-sourced

LO-Net: Deep Real-time Lidar Odometry

We present a novel deep convolutional network pipeline, LO-Net, for real-time lidar odometry estimation. Unlike most existing lidar odometry (LO) estimations that go through individually designed feature selection, feature matching, and pose estimation pipeline, LO-Net can be trained in an end-to-end manner. With a new mask-weighted geometric constraint loss, LO-Net can effectively learn feature representation for LO estimation, and can implicitly exploit the sequential dependencies and dynamics in the data. We also design a scan-to-map module, which uses the geometric and semantic information learned in LO-Net, to improve the estimation accuracy. Experiments on benchmark datasets demonstrate that LO-Net outperforms existing learning based approaches and has similar accuracy with the state-of-the-art geometry-based approach, LOAM

An Advanced Conceptual Diagnostic Healthcare Framework for Diabetes and Cardiovascular Disorders

The data mining along with emerging computing techniques have astonishingly influenced the healthcare industry. Researchers have used different Data Mining and Internet of Things (IoT) for enrooting a programmed solution for diabetes and heart patients. However, still, more advanced and united solution is needed that can offer a therapeutic opinion to individual diabetic and cardio patients. Therefore, here, a smart data mining and IoT (SMDIoT) based advanced healthcare system for proficient diabetes and cardiovascular diseases have been proposed. The hybridization of data mining and IoT with other emerging computing techniques is supposed to give an effective and economical solution to diabetes and cardio patients. SMDIoT hybridized the ideas of data mining, Internet of Things, chatbots, contextual entity search (CES), bio-sensors, semantic analysis and granular computing (GC). The bio-sensors of the proposed system assist in getting the current and precise status of the concerned patients so that in case of an emergency, the needful medical assistance can be provided. The novelty lies in the hybrid framework and the adequate support of chatbots, granular computing, context entity search and semantic analysis. The practical implementation of this system is very challenging and costly. However, it appears to be more operative and economical solution for diabetes and cardio patients.Comment: 11 PAGE

Classification and Retrieval of Digital Pathology Scans: A New Dataset

In this paper, we introduce a new dataset, \textbf{Kimia Path24}, for image classification and retrieval in digital pathology. We use the whole scan images of 24 different tissue textures to generate 1,325 test patches of size 1000$\times$1000 (0.5mm$\times$0.5mm). Training data can be generated according to preferences of algorithm designer and can range from approximately 27,000 to over 50,000 patches if the preset parameters are adopted. We propose a compound patch-and-scan accuracy measurement that makes achieving high accuracies quite challenging. In addition, we set the benchmarking line by applying LBP, dictionary approach and convolutional neural nets (CNNs) and report their results. The highest accuracy was 41.80\% for CNN.Comment: Accepted for presentation at Workshop for Computer Vision for Microscopy Image Analysis (CVMI 2017) @ CVPR 2017, Honolulu, Hawai