3,016 research outputs found
Object segmentation in depth maps with one user click and a synthetically trained fully convolutional network
With more and more household objects built on planned obsolescence and
consumed by a fast-growing population, hazardous waste recycling has become a
critical challenge. Given the large variability of household waste, current
recycling platforms mostly rely on human operators to analyze the scene,
typically composed of many object instances piled up in bulk. Helping them by
robotizing the unitary extraction is a key challenge to speed up this tedious
process. Whereas supervised deep learning has proven very efficient for such
object-level scene understanding, e.g., generic object detection and
segmentation in everyday scenes, it however requires large sets of per-pixel
labeled images, that are hardly available for numerous application contexts,
including industrial robotics. We thus propose a step towards a practical
interactive application for generating an object-oriented robotic grasp,
requiring as inputs only one depth map of the scene and one user click on the
next object to extract. More precisely, we address in this paper the middle
issue of object seg-mentation in top views of piles of bulk objects given a
pixel location, namely seed, provided interactively by a human operator. We
propose a twofold framework for generating edge-driven instance segments.
First, we repurpose a state-of-the-art fully convolutional object contour
detector for seed-based instance segmentation by introducing the notion of
edge-mask duality with a novel patch-free and contour-oriented loss function.
Second, we train one model using only synthetic scenes, instead of manually
labeled training data. Our experimental results show that considering edge-mask
duality for training an encoder-decoder network, as we suggest, outperforms a
state-of-the-art patch-based network in the present application context.Comment: This is a pre-print of an article published in Human Friendly
Robotics, 10th International Workshop, Springer Proceedings in Advanced
Robotics, vol 7. The final authenticated version is available online at:
https://doi.org/10.1007/978-3-319-89327-3\_16, Springer Proceedings in
Advanced Robotics, Siciliano Bruno, Khatib Oussama, In press, Human Friendly
Robotics, 10th International Workshop,
Hybrid LSTM and Encoder-Decoder Architecture for Detection of Image Forgeries
With advanced image journaling tools, one can easily alter the semantic
meaning of an image by exploiting certain manipulation techniques such as
copy-clone, object splicing, and removal, which mislead the viewers. In
contrast, the identification of these manipulations becomes a very challenging
task as manipulated regions are not visually apparent. This paper proposes a
high-confidence manipulation localization architecture which utilizes
resampling features, Long-Short Term Memory (LSTM) cells, and encoder-decoder
network to segment out manipulated regions from non-manipulated ones.
Resampling features are used to capture artifacts like JPEG quality loss,
upsampling, downsampling, rotation, and shearing. The proposed network exploits
larger receptive fields (spatial maps) and frequency domain correlation to
analyze the discriminative characteristics between manipulated and
non-manipulated regions by incorporating encoder and LSTM network. Finally,
decoder network learns the mapping from low-resolution feature maps to
pixel-wise predictions for image tamper localization. With predicted mask
provided by final layer (softmax) of the proposed architecture, end-to-end
training is performed to learn the network parameters through back-propagation
using ground-truth masks. Furthermore, a large image splicing dataset is
introduced to guide the training process. The proposed method is capable of
localizing image manipulations at pixel level with high precision, which is
demonstrated through rigorous experimentation on three diverse datasets
Learning to Segment Breast Biopsy Whole Slide Images
We trained and applied an encoder-decoder model to semantically segment
breast biopsy images into biologically meaningful tissue labels. Since
conventional encoder-decoder networks cannot be applied directly on large
biopsy images and the different sized structures in biopsies present novel
challenges, we propose four modifications: (1) an input-aware encoding block to
compensate for information loss, (2) a new dense connection pattern between
encoder and decoder, (3) dense and sparse decoders to combine multi-level
features, (4) a multi-resolution network that fuses the results of
encoder-decoders run on different resolutions. Our model outperforms a
feature-based approach and conventional encoder-decoders from the literature.
We use semantic segmentations produced with our model in an automated diagnosis
task and obtain higher accuracies than a baseline approach that employs an SVM
for feature-based segmentation, both using the same segmentation-based
diagnostic features.Comment: Added more WSI images in appendi
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