Segmentation of articular cartilage and early osteoarthritis based on the fuzzy soft thresholding approach driven by modified evolutionary ABC optimization and local statistical aggregation

Articular cartilage assessment, with the aim of the cartilage loss identification, is a crucial task for the clinical practice of orthopedics. Conventional software (SW) instruments allow for just a visualization of the knee structure, without post processing, offering objective cartilage modeling. In this paper, we propose the multiregional segmentation method, having ambitions to bring a mathematical model reflecting the physiological cartilage morphological structure and spots, corresponding with the early cartilage loss, which is poorly recognizable by the naked eye from magnetic resonance imaging (MRI). The proposed segmentation model is composed from two pixel's classification parts. Firstly, the image histogram is decomposed by using a sequence of the triangular fuzzy membership functions, when their localization is driven by the modified artificial bee colony (ABC) optimization algorithm, utilizing a random sequence of considered solutions based on the real cartilage features. In the second part of the segmentation model, the original pixel's membership in a respective segmentation class may be modified by using the local statistical aggregation, taking into account the spatial relationships regarding adjacent pixels. By this way, the image noise and artefacts, which are commonly presented in the MR images, may be identified and eliminated. This fact makes the model robust and sensitive with regards to distorting signals. We analyzed the proposed model on the 2D spatial MR image records. We show different MR clinical cases for the articular cartilage segmentation, with identification of the cartilage loss. In the final part of the analysis, we compared our model performance against the selected conventional methods in application on the MR image records being corrupted by additive image noise.Web of Science117art. no. 86

DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain circumstances. However, some problems are still not well solved, for example, how to tackle the moving objects in the dynamic environments, how to make the robots truly understand the surroundings and accomplish advanced tasks. In this paper, a robust semantic visual SLAM towards dynamic environments named DS-SLAM is proposed. Five threads run in parallel in DS-SLAM: tracking, semantic segmentation, local mapping, loop closing, and dense semantic map creation. DS-SLAM combines semantic segmentation network with moving consistency check method to reduce the impact of dynamic objects, and thus the localization accuracy is highly improved in dynamic environments. Meanwhile, a dense semantic octo-tree map is produced, which could be employed for high-level tasks. We conduct experiments both on TUM RGB-D dataset and in the real-world environment. The results demonstrate the absolute trajectory accuracy in DS-SLAM can be improved by one order of magnitude compared with ORB-SLAM2. It is one of the state-of-the-art SLAM systems in high-dynamic environments. Now the code is available at our github: https://github.com/ivipsourcecode/DS-SLAMComment: 7 pages, accepted at the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). Now the code is available at our github: https://github.com/ivipsourcecode/DS-SLA

SegICP: Integrated Deep Semantic Segmentation and Pose Estimation

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed and robustness, we present SegICP, a novel integrated solution to object recognition and pose estimation. SegICP couples convolutional neural networks and multi-hypothesis point cloud registration to achieve both robust pixel-wise semantic segmentation as well as accurate and real-time 6-DOF pose estimation for relevant objects. Our architecture achieves 1cm position error and <5^\circ$ angle error in real time without an initial seed. We evaluate and benchmark SegICP against an annotated dataset generated by motion capture.Comment: IROS camera-read

A multi-view approach to cDNA micro-array analysis

The official published version can be obtained from the link below.Microarray has emerged as a powerful technology that enables biologists to study thousands of genes simultaneously, therefore, to obtain a better understanding of the gene interaction and regulation mechanisms. This paper is concerned with improving the processes involved in the analysis of microarray image data. The main focus is to clarify an image's feature space in an unsupervised manner. In this paper, the Image Transformation Engine (ITE), combined with different filters, is investigated. The proposed methods are applied to a set of real-world cDNA images. The MatCNN toolbox is used during the segmentation process. Quantitative comparisons between different filters are carried out. It is shown that the CLD filter is the best one to be applied with the ITE.This work was supported in part by the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant GR/S27658/01, the National Science Foundation of China under Innovative Grant 70621001, Chinese Academy of Sciences under Innovative Group Overseas Partnership Grant, the BHP Billiton Cooperation of Australia Grant, the International Science and Technology Cooperation Project of China under Grant 2009DFA32050 and the Alexander von Humboldt Foundation of Germany