Grounding semantics in robots for Visual Question Answering

In this thesis I describe an operational implementation of an object detection and description system that incorporates in an end-to-end Visual Question Answering system and evaluated it on two visual question answering datasets for compositional language and elementary visual reasoning

Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping

This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground

ASTErIsM - Application of topometric clustering algorithms in automatic galaxy detection and classification

We present a study on galaxy detection and shape classification using topometric clustering algorithms. We first use the DBSCAN algorithm to extract, from CCD frames, groups of adjacent pixels with significant fluxes and we then apply the DENCLUE algorithm to separate the contributions of overlapping sources. The DENCLUE separation is based on the localization of pattern of local maxima, through an iterative algorithm which associates each pixel to the closest local maximum. Our main classification goal is to take apart elliptical from spiral galaxies. We introduce new sets of features derived from the computation of geometrical invariant moments of the pixel group shape and from the statistics of the spatial distribution of the DENCLUE local maxima patterns. Ellipticals are characterized by a single group of local maxima, related to the galaxy core, while spiral galaxies have additional ones related to segments of spiral arms. We use two different supervised ensemble classification algorithms, Random Forest, and Gradient Boosting. Using a sample of ~ 24000 galaxies taken from the Galaxy Zoo 2 main sample with spectroscopic redshifts, and we test our classification against the Galaxy Zoo 2 catalog. We find that features extracted from our pipeline give on average an accuracy of ~ 93%, when testing on a test set with a size of 20% of our full data set, with features deriving from the angular distribution of density attractor ranking at the top of the discrimination power.Comment: 20 pages, 13 Figures, 8 Tables, Accepted for publication in the Monthly Notices of the Royal Astronomical Societ

Identification of Topological Features in Renal Tumor Microenvironment Associated with Patient Survival

Motivation As a highly heterogeneous disease, the progression of tumor is not only achieved by unlimited growth of the tumor cells, but also supported, stimulated, and nurtured by the microenvironment around it. However, traditional qualitative and/or semi-quantitative parameters obtained by pathologist’s visual examination have very limited capability to capture this interaction between tumor and its microenvironment. With the advent of digital pathology, computerized image analysis may provide a better tumor characterization and give new insights into this problem. Results We propose a novel bioimage informatics pipeline for automatically characterizing the topological organization of different cell patterns in the tumor microenvironment. We apply this pipeline to the only publicly available large histopathology image dataset for a cohort of 190 patients with papillary renal cell carcinoma obtained from The Cancer Genome Atlas project. Experimental results show that the proposed topological features can successfully stratify early- and middle-stage patients with distinct survival, and show superior performance to traditional clinical features and cellular morphological and intensity features. The proposed features not only provide new insights into the topological organizations of cancers, but also can be integrated with genomic data in future studies to develop new integrative biomarkers