24,049 research outputs found
Deep Tracking: Seeing Beyond Seeing Using Recurrent Neural Networks
This paper presents to the best of our knowledge the first end-to-end object
tracking approach which directly maps from raw sensor input to object tracks in
sensor space without requiring any feature engineering or system identification
in the form of plant or sensor models. Specifically, our system accepts a
stream of raw sensor data at one end and, in real-time, produces an estimate of
the entire environment state at the output including even occluded objects. We
achieve this by framing the problem as a deep learning task and exploit
sequence models in the form of recurrent neural networks to learn a mapping
from sensor measurements to object tracks. In particular, we propose a learning
method based on a form of input dropout which allows learning in an
unsupervised manner, only based on raw, occluded sensor data without access to
ground-truth annotations. We demonstrate our approach using a synthetic dataset
designed to mimic the task of tracking objects in 2D laser data -- as commonly
encountered in robotics applications -- and show that it learns to track many
dynamic objects despite occlusions and the presence of sensor noise.Comment: Published in The Thirtieth AAAI Conference on Artificial Intelligence
(AAAI-16), Video: https://youtu.be/cdeWCpfUGWc, Code:
http://mrg.robots.ox.ac.uk/mrg_people/peter-ondruska
MILD-Net: Minimal Information Loss Dilated Network for Gland Instance Segmentation in Colon Histology Images
The analysis of glandular morphology within colon histopathology images is an
important step in determining the grade of colon cancer. Despite the importance
of this task, manual segmentation is laborious, time-consuming and can suffer
from subjectivity among pathologists. The rise of computational pathology has
led to the development of automated methods for gland segmentation that aim to
overcome the challenges of manual segmentation. However, this task is
non-trivial due to the large variability in glandular appearance and the
difficulty in differentiating between certain glandular and non-glandular
histological structures. Furthermore, a measure of uncertainty is essential for
diagnostic decision making. To address these challenges, we propose a fully
convolutional neural network that counters the loss of information caused by
max-pooling by re-introducing the original image at multiple points within the
network. We also use atrous spatial pyramid pooling with varying dilation rates
for preserving the resolution and multi-level aggregation. To incorporate
uncertainty, we introduce random transformations during test time for an
enhanced segmentation result that simultaneously generates an uncertainty map,
highlighting areas of ambiguity. We show that this map can be used to define a
metric for disregarding predictions with high uncertainty. The proposed network
achieves state-of-the-art performance on the GlaS challenge dataset and on a
second independent colorectal adenocarcinoma dataset. In addition, we perform
gland instance segmentation on whole-slide images from two further datasets to
highlight the generalisability of our method. As an extension, we introduce
MILD-Net+ for simultaneous gland and lumen segmentation, to increase the
diagnostic power of the network.Comment: Initial version published at Medical Imaging with Deep Learning
(MIDL) 201
Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy
With the advent of agriculture 3.0 and 4.0, researchers are increasingly
focusing on the development of innovative smart farming and precision
agriculture technologies by introducing automation and robotics into the
agricultural processes. Autonomous agricultural field machines have been
gaining significant attention from farmers and industries to reduce costs,
human workload, and required resources. Nevertheless, achieving sufficient
autonomous navigation capabilities requires the simultaneous cooperation of
different processes; localization, mapping, and path planning are just some of
the steps that aim at providing to the machine the right set of skills to
operate in semi-structured and unstructured environments. In this context, this
study presents a low-cost local motion planner for autonomous navigation in
vineyards based only on an RGB-D camera, low range hardware, and a dual layer
control algorithm. The first algorithm exploits the disparity map and its depth
representation to generate a proportional control for the robotic platform.
Concurrently, a second back-up algorithm, based on representations learning and
resilient to illumination variations, can take control of the machine in case
of a momentaneous failure of the first block. Moreover, due to the double
nature of the system, after initial training of the deep learning model with an
initial dataset, the strict synergy between the two algorithms opens the
possibility of exploiting new automatically labeled data, coming from the
field, to extend the existing model knowledge. The machine learning algorithm
has been trained and tested, using transfer learning, with acquired images
during different field surveys in the North region of Italy and then optimized
for on-device inference with model pruning and quantization. Finally, the
overall system has been validated with a customized robot platform in the
relevant environment
- …