10,459 research outputs found
Dropout Sampling for Robust Object Detection in Open-Set Conditions
Dropout Variational Inference, or Dropout Sampling, has been recently
proposed as an approximation technique for Bayesian Deep Learning and evaluated
for image classification and regression tasks. This paper investigates the
utility of Dropout Sampling for object detection for the first time. We
demonstrate how label uncertainty can be extracted from a state-of-the-art
object detection system via Dropout Sampling. We evaluate this approach on a
large synthetic dataset of 30,000 images, and a real-world dataset captured by
a mobile robot in a versatile campus environment. We show that this uncertainty
can be utilized to increase object detection performance under the open-set
conditions that are typically encountered in robotic vision. A Dropout Sampling
network is shown to achieve a 12.3% increase in recall (for the same precision
score as a standard network) and a 15.1% increase in precision (for the same
recall score as the standard network).Comment: to appear in IEEE International Conference on Robotics and Automation
2018 (ICRA 2018
Tailored for Real-World: A Whole Slide Image Classification System Validated on Uncurated Multi-Site Data Emulating the Prospective Pathology Workload.
Standard of care diagnostic procedure for suspected skin cancer is microscopic examination of hematoxylin & eosin stained tissue by a pathologist. Areas of high inter-pathologist discordance and rising biopsy rates necessitate higher efficiency and diagnostic reproducibility. We present and validate a deep learning system which classifies digitized dermatopathology slides into 4 categories. The system is developed using 5,070 images from a single lab, and tested on an uncurated set of 13,537 images from 3 test labs, using whole slide scanners manufactured by 3 different vendors. The system\u27s use of deep-learning-based confidence scoring as a criterion to consider the result as accurate yields an accuracy of up to 98%, and makes it adoptable in a real-world setting. Without confidence scoring, the system achieved an accuracy of 78%. We anticipate that our deep learning system will serve as a foundation enabling faster diagnosis of skin cancer, identification of cases for specialist review, and targeted diagnostic classifications
Thoracic Disease Identification and Localization with Limited Supervision
Accurate identification and localization of abnormalities from radiology
images play an integral part in clinical diagnosis and treatment planning.
Building a highly accurate prediction model for these tasks usually requires a
large number of images manually annotated with labels and finding sites of
abnormalities. In reality, however, such annotated data are expensive to
acquire, especially the ones with location annotations. We need methods that
can work well with only a small amount of location annotations. To address this
challenge, we present a unified approach that simultaneously performs disease
identification and localization through the same underlying model for all
images. We demonstrate that our approach can effectively leverage both class
information as well as limited location annotation, and significantly
outperforms the comparative reference baseline in both classification and
localization tasks.Comment: Conference on Computer Vision and Pattern Recognition 2018 (CVPR
2018). V1: CVPR submission; V2: +supplementary; V3: CVPR camera-ready; V4:
correction, update reference baseline results according to their latest post;
V5: minor correction; V6: Identification results using NIH data splits and
various image model
Dynamic Objects Segmentation for Visual Localization in Urban Environments
Visual localization and mapping is a crucial capability to address many
challenges in mobile robotics. It constitutes a robust, accurate and
cost-effective approach for local and global pose estimation within prior maps.
Yet, in highly dynamic environments, like crowded city streets, problems arise
as major parts of the image can be covered by dynamic objects. Consequently,
visual odometry pipelines often diverge and the localization systems
malfunction as detected features are not consistent with the precomputed 3D
model. In this work, we present an approach to automatically detect dynamic
object instances to improve the robustness of vision-based localization and
mapping in crowded environments. By training a convolutional neural network
model with a combination of synthetic and real-world data, dynamic object
instance masks are learned in a semi-supervised way. The real-world data can be
collected with a standard camera and requires minimal further post-processing.
Our experiments show that a wide range of dynamic objects can be reliably
detected using the presented method. Promising performance is demonstrated on
our own and also publicly available datasets, which also shows the
generalization capabilities of this approach.Comment: 4 pages, submitted to the IROS 2018 Workshop "From Freezing to
Jostling Robots: Current Challenges and New Paradigms for Safe Robot
Navigation in Dense Crowds
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