Monocular navigation for long-term autonomy

We present a reliable and robust monocular navigation system for an autonomous vehicle. The proposed method is computationally efficient, needs off-the-shelf equipment only and does not require any additional infrastructure like radio beacons or GPS. Contrary to traditional localization algorithms, which use advanced mathematical methods to determine vehicle position, our method uses a more practical approach. In our case, an image-feature-based monocular vision technique determines only the heading of the vehicle while the vehicle's odometry is used to estimate the distance traveled. We present a mathematical proof and experimental evidence indicating that the localization error of a robot guided by this principle is bound. The experiments demonstrate that the method can cope with variable illumination, lighting deficiency and both short- and long-term environment changes. This makes the method especially suitable for deployment in scenarios which require long-term autonomous operation

Deep Semantic Segmentation of Natural and Medical Images: A Review

The semantic image segmentation task consists of classifying each pixel of an image into an instance, where each instance corresponds to a class. This task is a part of the concept of scene understanding or better explaining the global context of an image. In the medical image analysis domain, image segmentation can be used for image-guided interventions, radiotherapy, or improved radiological diagnostics. In this review, we categorize the leading deep learning-based medical and non-medical image segmentation solutions into six main groups of deep architectural, data synthesis-based, loss function-based, sequenced models, weakly supervised, and multi-task methods and provide a comprehensive review of the contributions in each of these groups. Further, for each group, we analyze each variant of these groups and discuss the limitations of the current approaches and present potential future research directions for semantic image segmentation.Comment: 45 pages, 16 figures. Accepted for publication in Springer Artificial Intelligence Revie

Simple yet stable bearing-only navigation

This article describes a simple monocular navigation system for a mobile robot based on the map-and-replay technique. The presented method is robust and easy to implement and does not require sensor calibration or structured environment, and its computational complexity is independent of the environment size. The method can navigate a robot while sensing only one landmark at a time, making it more robust than other monocular approaches. The aforementioned properties of the method allow even low-cost robots to effectively act in large outdoor and indoor environments with natural landmarks only. The basic idea is to utilize a monocular vision to correct only the robot's heading, leaving distance measurements to the odometry. The heading correction itself can suppress the odometric error and prevent the overall position error from diverging. The influence of a map-based heading estimation and odometric errors on the overall position uncertainty is examined. A claim is stated that for closed polygonal trajectories, the position error of this type of navigation does not diverge. The claim is defended mathematically and experimentally. The method has been experimentally tested in a set of indoor and outdoor experiments, during which the average position errors have been lower than 0.3 m for paths more than 1 km long

Anterior Prefrontal Involvement in Implicit Contextual Change Detection

Anterior prefrontal cortex is usually associated with high level executive functions. Here, we show that the frontal pole, specifically left lateral frontopolar cortex, is involved in signaling change in implicitly learned spatial contexts, in the absence of conscious change detection. In a variant of the contextual cueing paradigm, participants first learned contingencies between distractor contexts and target locations implicitly. After learning, repeated distractor contexts were paired with new target locations. Left lateral frontopolar [Brodmann area (BA) 10] and superior frontal (BA9) cortices showed selective signal increase for this target location change in repeated displays in an event-related fMRI experiment, which was most pronounced in participants with high contextual facilitation before the change. The data support the view that left lateral frontopolar cortex is involved in signaling contextual change to posterior brain areas as a precondition for adaptive changes of attentional resource allocation. This signaling occurs in the absence of awareness of learned contingencies or contextual change

Scanpath modeling and classification with Hidden Markov Models

How people look at visual information reveals fundamental information about them; their interests and their states of mind. Previous studies showed that scanpath, i.e., the sequence of eye movements made by an observer exploring a visual stimulus, can be used to infer observer-related (e.g., task at hand) and stimuli-related (e.g., image semantic category) information. However, eye movements are complex signals and many of these studies rely on limited gaze descriptors and bespoke datasets. Here, we provide a turnkey method for scanpath modeling and classification. This method relies on variational hidden Markov models (HMMs) and discriminant analysis (DA). HMMs encapsulate the dynamic and individualistic dimensions of gaze behavior, allowing DA to capture systematic patterns diagnostic of a given class of observers and/or stimuli. We test our approach on two very different datasets. Firstly, we use fixations recorded while viewing 800 static natural scene images, and infer an observer-related characteristic: the task at hand. We achieve an average of 55.9% correct classification rate (chance = 33%). We show that correct classification rates positively correlate with the number of salient regions present in the stimuli. Secondly, we use eye positions recorded while viewing 15 conversational videos, and infer a stimulus-related characteristic: the presence or absence of original soundtrack. We achieve an average 81.2% correct classification rate (chance = 50%). HMMs allow to integrate bottom-up, top-down, and oculomotor influences into a single model of gaze behavior. This synergistic approach between behavior and machine learning will open new avenues for simple quantification of gazing behavior. We release SMAC with HMM, a Matlab toolbox freely available to the community under an open-source license agreement.published_or_final_versio

The future of laboratory medicine - A 2014 perspective.

Predicting the future is a difficult task. Not surprisingly, there are many examples and assumptions that have proved to be wrong. This review surveys the many predictions, beginning in 1887, about the future of laboratory medicine and its sub-specialties such as clinical chemistry and molecular pathology. It provides a commentary on the accuracy of the predictions and offers opinions on emerging technologies, economic factors and social developments that may play a role in shaping the future of laboratory medicine