Novelty Detection for Robot Neotaxis

The ability of a robot to detect and respond to changes in its environment is potentially very useful, as it draws attention to new and potentially important features. We describe an algorithm for learning to filter out previously experienced stimuli to allow further concentration on novel features. The algorithm uses a model of habituation, a biological process which causes a decrement in response with repeated presentation. Experiments with a mobile robot are presented in which the robot detects the most novel stimulus and turns towards it (`neotaxis').Comment: 7 pages, 5 figures. In Proceedings of the Second International Conference on Neural Computation, 200

A Real-Time Novelty Detector for a Mobile Robot

Recognising new or unusual features of an environment is an ability which is potentially very useful to a robot. This paper demonstrates an algorithm which achieves this task by learning an internal representation of `normality' from sonar scans taken as a robot explores the environment. This model of the environment is used to evaluate the novelty of each sonar scan presented to it with relation to the model. Stimuli which have not been seen before, and therefore have more novelty, are highlighted by the filter. The filter has the ability to forget about features which have been learned, so that stimuli which are seen only rarely recover their response over time. A number of robot experiments are presented which demonstrate the operation of the filter.Comment: 8 pages, 6 figures. In Proceedings of EUREL European Advanced Robotics Systems Masterclass and Conference, 200

ConceptMap: Mining noisy web data for concept learning

We attack the problem of learning concepts automatically from noisy Web image search results. The idea is based on discovering common characteristics shared among subsets of images by posing a method that is able to organise the data while eliminating irrelevant instances. We propose a novel clustering and outlier detection method, namely Concept Map (CMAP). Given an image collection returned for a concept query, CMAP provides clusters pruned from outliers. Each cluster is used to train a model representing a different characteristics of the concept. The proposed method outperforms the state-of-the-art studies on the task of learning from noisy web data for low-level attributes, as well as high level object categories. It is also competitive with the supervised methods in learning scene concepts. Moreover, results on naming faces support the generalisation capability of the CMAP framework to different domains. CMAP is capable to work at large scale with no supervision through exploiting the available sources. © 2014 Springer International Publishing

IMAGE UNDERSTANDING OF MOLAR PREGNANCY BASED ON ANOMALIES DETECTION

Cancer occurs when normal cells grow and multiply without normal control. As the cells multiply, they form an area of abnormal cells, known as a tumour. Many tumours exhibit abnormal chromosomal segregation at cell division. These anomalies play an important role in detecting molar pregnancy cancer. Molar pregnancy, also known as hydatidiform mole, can be categorised into partial (PHM) and complete (CHM) mole, persistent gestational trophoblastic and choriocarcinoma. Hydatidiform moles are most commonly found in women under the age of 17 or over the age of 35. Hydatidiform moles can be detected by morphological and histopathological examination. Even experienced pathologists cannot easily classify between complete and partial hydatidiform moles. However, the distinction between complete and partial hydatidiform moles is important in order to recommend the appropriate treatment method. Therefore, research into molar pregnancy image analysis and understanding is critical. The hypothesis of this research project is that an anomaly detection approach to analyse molar pregnancy images can improve image analysis and classification of normal PHM and CHM villi. The primary aim of this research project is to develop a novel method, based on anomaly detection, to identify and classify anomalous villi in molar pregnancy stained images. The novel method is developed to simulate expert pathologists’ approach in diagnosis of anomalous villi. The knowledge and heuristics elicited from two expert pathologists are combined with the morphological domain knowledge of molar pregnancy, to develop a heuristic multi-neural network architecture designed to classify the villi into their appropriated anomalous types. This study confirmed that a single feature cannot give enough discriminative power for villi classification. Whereas expert pathologists consider the size and shape before textural features, this thesis demonstrated that the textural feature has a higher discriminative power than size and shape. The first heuristic-based multi-neural network, which was based on 15 elicited features, achieved an improved average accuracy of 81.2%, compared to the traditional multi-layer perceptron (80.5%); however, the recall of CHM villi class was still low (64.3%). Two further textural features, which were elicited and added to the second heuristic-based multi-neural network, have improved the average accuracy from 81.2% to 86.1% and the recall of CHM villi class from 64.3% to 73.5%. The precision of the multi-neural network II has also increased from 82.7% to 89.5% for normal villi class, from 81.3% to 84.7% for PHM villi class and from 80.8% to 86% for CHM villi class. To support pathologists to visualise the results of the segmentation, a software tool, Hydatidiform Mole Analysis Tool (HYMAT), was developed compiling the morphological and pathological data for each villus analysis