A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics

We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave radars operating in the 76--81GHz range are an appealing alternative to lidars, cameras and other sensors operating in the near visual spectrum. Radar has been made more widely available in new packaging classes, more convenient for robotics and its longer wavelengths have the ability to bypass visual clutter such as fog, dust, and smoke. We begin by covering radar principles as they relate to robotics. We then review the relevant new research across a broad spectrum of robotics applications beginning with motion estimation, localization, and mapping. We then cover object detection and classification, and then close with an analysis of current datasets and calibration techniques that provide entry points into radar research.Comment: 19 Pages, 11 Figures, 2 Tables, TRO Submission pendin

Retinal Fundus Image Analysis for Diagnosis of Glaucoma: A Comprehensive Survey

© 2016 IEEE. The rapid development of digital imaging and computer vision has increased the potential of using the image processing technologies in ophthalmology. Image processing systems are used in standard clinical practices with the development of medical diagnostic systems. The retinal images provide vital information about the health of the sensory part of the visual system. Retinal diseases, such as glaucoma, diabetic retinopathy, age-related macular degeneration, Stargardt's disease, and retinopathy of prematurity, can lead to blindness manifest as artifacts in the retinal image. An automated system can be used for offering standardized large-scale screening at a lower cost, which may reduce human errors, provide services to remote areas, as well as free from observer bias and fatigue. Treatment for retinal diseases is available; the challenge lies in finding a cost-effective approach with high sensitivity and specificity that can be applied to large populations in a timely manner to identify those who are at risk at the early stages of the disease. The progress of the glaucoma disease is very often quiet in the early stages. The number of people affected has been increasing and patients are seldom aware of the disease, which can cause delay in the treatment. A review of how computer-aided approaches may be applied in the diagnosis and staging of glaucoma is discussed here. The current status of the computer technology is reviewed, covering localization and segmentation of the optic nerve head, pixel level glaucomatic changes, diagonosis using 3-D data sets, and artificial neural networks for detecting the progression of the glaucoma disease

Face recognition using multiple features in different color spaces

Face recognition as a particular problem of pattern recognition has been attracting substantial attention from researchers in computer vision, pattern recognition, and machine learning. The recent Face Recognition Grand Challenge (FRGC) program reveals that uncontrolled illumination conditions pose grand challenges to face recognition performance. Most of the existing face recognition methods use gray-scale face images, which have been shown insufficient to tackle these challenges. To overcome this challenging problem in face recognition, this dissertation applies multiple features derived from the color images instead of the intensity images only. First, this dissertation presents two face recognition methods, which operate in different color spaces, using frequency features by means of Discrete Fourier Transform (DFT) and spatial features by means of Local Binary Patterns (LBP), respectively. The DFT frequency domain consists of the real part, the imaginary part, the magnitude, and the phase components, which provide the different interpretations of the input face images. The advantage of LBP in face recognition is attributed to its robustness in terms of intensity-level monotonic transformation, as well as its operation in the various scale image spaces. By fusing the frequency components or the multi-resolution LBP histograms, the complementary feature sets can be generated to enhance the capability of facial texture description. This dissertation thus uses the fused DFT and LBP features in two hybrid color spaces, the RIQ and the VIQ color spaces, respectively, for improving face recognition performance. Second, a method that extracts multiple features in the CID color space is presented for face recognition. As different color component images in the CID color space display different characteristics, three different image encoding methods, namely, the patch-based Gabor image representation, the multi-resolution LBP feature fusion, and the DCT-based multiple face encodings, are presented to effectively extract features from the component images for enhancing pattern recognition performance. To further improve classification performance, the similarity scores due to the three color component images are fused for the final decision making. Finally, a novel image representation is also discussed in this dissertation. Unlike a traditional intensity image that is directly derived from a linear combination of the R, G, and B color components, the novel image representation adapted to class separability is generated through a PCA plus FLD learning framework from the hybrid color space instead of the RGB color space. Based upon the novel image representation, a multiple feature fusion method is proposed to address the problem of face recognition under the severe illumination conditions. The aforementioned methods have been evaluated using two large-scale databases, namely, the Face Recognition Grand Challenge (FRGC) version 2 database and the FERET face database. Experimental results have shown that the proposed methods improve face recognition performance upon the traditional methods using the intensity images by large margins and outperform some state-of-the-art methods

Speech Mode Classification using the Fusion of CNNs and LSTM Networks

Speech mode classification is an area that has not been as widely explored in the field of sound classification as others such as environmental sounds, music genre, and speaker identification. But what is speech mode? While mode is defined as the way or the manner in which something occurs or is expressed or done, speech mode is defined as the style in which the speech is delivered by a person. There are some reports on speech mode classification using conventional methods, such as whispering and talking using a normal phonetic sound. However, to the best of our knowledge, deep learning-based methods have not been reported in the open literature for the aforementioned classification scenario. Specifically, in this work we assess the performance of image-based classification algorithms on this challenging speech mode classification problem, including the usage of pre-trained deep neural networks, namely AlexNet, ResNet18 and SqueezeNet. Thus, we compare the classification efficiency of a set of deep learning-based classifiers, while we also assess the impact of different 2D image representations (spectrograms, mel-spectrograms, and their image-based fusion) on classification accuracy. These representations are used as input to the networks after being generated from the original audio signals. Next, we compare the accuracy of the DL-based classifies to a set of machine learning (ML) ones that use as their inputs Mel-Frequency Cepstral Coefficients (MFCCs) features. Then, after determining the most efficient sampling rate for our classification problem (i.e. 32kHz), we study the performance of our proposed method of combining CNN with LSTM (Long Short-Term Memory) networks. For this purpose, we use the features extracted from the deep networks of the previous step. We conclude our study by evaluating the role of sampling rates on classification accuracy by generating two sets of 2D image representations – one with 32kHz and the other with 16kHz sampling. Experimental results show that after cross validation the accuracy of DL-based approaches is 15% higher than ML ones, with SqueezeNet yielding an accuracy of more than 91% at 32kHz, whether we use transfer learning, feature-level fusion or score-level fusion (92.5%). Our proposed method using LSTMs further increased that accuracy by more than 3%, resulting in an average accuracy of 95.7%

Human treelike tubular structure segmentation: A comprehensive review and future perspectives

Various structures in human physiology follow a treelike morphology, which often expresses complexity at very fine scales. Examples of such structures are intrathoracic airways, retinal blood vessels, and hepatic blood vessels. Large collections of 2D and 3D images have been made available by medical imaging modalities such as magnetic resonance imaging (MRI), computed tomography (CT), Optical coherence tomography (OCT) and ultrasound in which the spatial arrangement can be observed. Segmentation of these structures in medical imaging is of great importance since the analysis of the structure provides insights into disease diagnosis, treatment planning, and prognosis. Manually labelling extensive data by radiologists is often time-consuming and error-prone. As a result, automated or semi-automated computational models have become a popular research field of medical imaging in the past two decades, and many have been developed to date. In this survey, we aim to provide a comprehensive review of currently publicly available datasets, segmentation algorithms, and evaluation metrics. In addition, current challenges and future research directions are discussed