24,049 research outputs found

    Deep Tracking: Seeing Beyond Seeing Using Recurrent Neural Networks

    Full text link
    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

    Get PDF
    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

    Get PDF
    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
    • …
    corecore