20,851 research outputs found
LabelFusion: A Pipeline for Generating Ground Truth Labels for Real RGBD Data of Cluttered Scenes
Deep neural network (DNN) architectures have been shown to outperform
traditional pipelines for object segmentation and pose estimation using RGBD
data, but the performance of these DNN pipelines is directly tied to how
representative the training data is of the true data. Hence a key requirement
for employing these methods in practice is to have a large set of labeled data
for your specific robotic manipulation task, a requirement that is not
generally satisfied by existing datasets. In this paper we develop a pipeline
to rapidly generate high quality RGBD data with pixelwise labels and object
poses. We use an RGBD camera to collect video of a scene from multiple
viewpoints and leverage existing reconstruction techniques to produce a 3D
dense reconstruction. We label the 3D reconstruction using a human assisted
ICP-fitting of object meshes. By reprojecting the results of labeling the 3D
scene we can produce labels for each RGBD image of the scene. This pipeline
enabled us to collect over 1,000,000 labeled object instances in just a few
days. We use this dataset to answer questions related to how much training data
is required, and of what quality the data must be, to achieve high performance
from a DNN architecture
Lifting GIS Maps into Strong Geometric Context for Scene Understanding
Contextual information can have a substantial impact on the performance of
visual tasks such as semantic segmentation, object detection, and geometric
estimation. Data stored in Geographic Information Systems (GIS) offers a rich
source of contextual information that has been largely untapped by computer
vision. We propose to leverage such information for scene understanding by
combining GIS resources with large sets of unorganized photographs using
Structure from Motion (SfM) techniques. We present a pipeline to quickly
generate strong 3D geometric priors from 2D GIS data using SfM models aligned
with minimal user input. Given an image resectioned against this model, we
generate robust predictions of depth, surface normals, and semantic labels. We
show that the precision of the predicted geometry is substantially more
accurate other single-image depth estimation methods. We then demonstrate the
utility of these contextual constraints for re-scoring pedestrian detections,
and use these GIS contextual features alongside object detection score maps to
improve a CRF-based semantic segmentation framework, boosting accuracy over
baseline models
Multi-stage Suture Detection for Robot Assisted Anastomosis based on Deep Learning
In robotic surgery, task automation and learning from demonstration combined
with human supervision is an emerging trend for many new surgical robot
platforms. One such task is automated anastomosis, which requires bimanual
needle handling and suture detection. Due to the complexity of the surgical
environment and varying patient anatomies, reliable suture detection is
difficult, which is further complicated by occlusion and thread topologies. In
this paper, we propose a multi-stage framework for suture thread detection
based on deep learning. Fully convolutional neural networks are used to obtain
the initial detection and the overlapping status of suture thread, which are
later fused with the original image to learn a gradient road map of the thread.
Based on the gradient road map, multiple segments of the thread are extracted
and linked to form the whole thread using a curvilinear structure detector.
Experiments on two different types of sutures demonstrate the accuracy of the
proposed framework.Comment: Submitted to ICRA 201
Towards multiple 3D bone surface identification and reconstruction using few 2D X-ray images for intraoperative applications
This article discusses a possible method to use a small number, e.g. 5, of conventional 2D X-ray images to reconstruct multiple 3D bone surfaces intraoperatively. Each bone’s edge contours in X-ray images are automatically identified. Sparse 3D landmark points of each bone are automatically reconstructed by pairing the 2D X-ray images. The reconstructed landmark point distribution on a surface is approximately optimal covering main characteristics of the surface. A statistical shape model, dense point distribution model (DPDM), is then used to fit the reconstructed optimal landmarks vertices to reconstruct a full surface of each bone separately. The reconstructed surfaces can then be visualised and manipulated by surgeons or used by surgical robotic systems
RGBD Datasets: Past, Present and Future
Since the launch of the Microsoft Kinect, scores of RGBD datasets have been
released. These have propelled advances in areas from reconstruction to gesture
recognition. In this paper we explore the field, reviewing datasets across
eight categories: semantics, object pose estimation, camera tracking, scene
reconstruction, object tracking, human actions, faces and identification. By
extracting relevant information in each category we help researchers to find
appropriate data for their needs, and we consider which datasets have succeeded
in driving computer vision forward and why.
Finally, we examine the future of RGBD datasets. We identify key areas which
are currently underexplored, and suggest that future directions may include
synthetic data and dense reconstructions of static and dynamic scenes.Comment: 8 pages excluding references (CVPR style
NiftyNet: a deep-learning platform for medical imaging
Medical image analysis and computer-assisted intervention problems are
increasingly being addressed with deep-learning-based solutions. Established
deep-learning platforms are flexible but do not provide specific functionality
for medical image analysis and adapting them for this application requires
substantial implementation effort. Thus, there has been substantial duplication
of effort and incompatible infrastructure developed across many research
groups. This work presents the open-source NiftyNet platform for deep learning
in medical imaging. The ambition of NiftyNet is to accelerate and simplify the
development of these solutions, and to provide a common mechanism for
disseminating research outputs for the community to use, adapt and build upon.
NiftyNet provides a modular deep-learning pipeline for a range of medical
imaging applications including segmentation, regression, image generation and
representation learning applications. Components of the NiftyNet pipeline
including data loading, data augmentation, network architectures, loss
functions and evaluation metrics are tailored to, and take advantage of, the
idiosyncracies of medical image analysis and computer-assisted intervention.
NiftyNet is built on TensorFlow and supports TensorBoard visualization of 2D
and 3D images and computational graphs by default.
We present 3 illustrative medical image analysis applications built using
NiftyNet: (1) segmentation of multiple abdominal organs from computed
tomography; (2) image regression to predict computed tomography attenuation
maps from brain magnetic resonance images; and (3) generation of simulated
ultrasound images for specified anatomical poses.
NiftyNet enables researchers to rapidly develop and distribute deep learning
solutions for segmentation, regression, image generation and representation
learning applications, or extend the platform to new applications.Comment: Wenqi Li and Eli Gibson contributed equally to this work. M. Jorge
Cardoso and Tom Vercauteren contributed equally to this work. 26 pages, 6
figures; Update includes additional applications, updated author list and
formatting for journal submissio
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