Deep Learning based 3D Segmentation: A Survey

3D object segmentation is a fundamental and challenging problem in computer vision with applications in autonomous driving, robotics, augmented reality and medical image analysis. It has received significant attention from the computer vision, graphics and machine learning communities. Traditionally, 3D segmentation was performed with hand-crafted features and engineered methods which failed to achieve acceptable accuracy and could not generalize to large-scale data. Driven by their great success in 2D computer vision, deep learning techniques have recently become the tool of choice for 3D segmentation tasks as well. This has led to an influx of a large number of methods in the literature that have been evaluated on different benchmark datasets. This paper provides a comprehensive survey of recent progress in deep learning based 3D segmentation covering over 150 papers. It summarizes the most commonly used pipelines, discusses their highlights and shortcomings, and analyzes the competitive results of these segmentation methods. Based on the analysis, it also provides promising research directions for the future.Comment: Under review of ACM Computing Surveys, 36 pages, 10 tables, 9 figure

A survey on deep learning techniques for image and video semantic segmentation

Image semantic segmentation is more and more being of interest for computer vision and machine learning researchers. Many applications on the rise need accurate and efficient segmentation mechanisms: autonomous driving, indoor navigation, and even virtual or augmented reality systems to name a few. This demand coincides with the rise of deep learning approaches in almost every field or application target related to computer vision, including semantic segmentation or scene understanding. This paper provides a review on deep learning methods for semantic segmentation applied to various application areas. Firstly, we formulate the semantic segmentation problem and define the terminology of this field as well as interesting background concepts. Next, the main datasets and challenges are exposed to help researchers decide which are the ones that best suit their needs and goals. Then, existing methods are reviewed, highlighting their contributions and their significance in the field. We also devote a part of the paper to review common loss functions and error metrics for this problem. Finally, quantitative results are given for the described methods and the datasets in which they were evaluated, following up with a discussion of the results. At last, we point out a set of promising future works and draw our own conclusions about the state of the art of semantic segmentation using deep learning techniques.This work has been funded by the Spanish Government TIN2016-76515-R funding for the COMBAHO project, supported with Feder funds. It has also been supported by a Spanish national grant for PhD studies FPU15/04516 (Alberto Garcia-Garcia). In addition, it was also funded by the grant Ayudas para Estudios de Master e Iniciacion a la Investigacion from the University of Alicante

Nuclei & Glands Instance Segmentation in Histology Images: A Narrative Review

Instance segmentation of nuclei and glands in the histology images is an important step in computational pathology workflow for cancer diagnosis, treatment planning and survival analysis. With the advent of modern hardware, the recent availability of large-scale quality public datasets and the community organized grand challenges have seen a surge in automated methods focusing on domain specific challenges, which is pivotal for technology advancements and clinical translation. In this survey, 126 papers illustrating the AI based methods for nuclei and glands instance segmentation published in the last five years (2017-2022) are deeply analyzed, the limitations of current approaches and the open challenges are discussed. Moreover, the potential future research direction is presented and the contribution of state-of-the-art methods is summarized. Further, a generalized summary of publicly available datasets and a detailed insights on the grand challenges illustrating the top performing methods specific to each challenge is also provided. Besides, we intended to give the reader current state of existing research and pointers to the future directions in developing methods that can be used in clinical practice enabling improved diagnosis, grading, prognosis, and treatment planning of cancer. To the best of our knowledge, no previous work has reviewed the instance segmentation in histology images focusing towards this direction.Comment: 60 pages, 14 figure

Multi-task near-field perception for autonomous driving using surround-view fisheye cameras

Die Bildung der Augen führte zum Urknall der Evolution. Die Dynamik änderte sich von einem primitiven Organismus, der auf den Kontakt mit der Nahrung wartete, zu einem Organismus, der durch visuelle Sensoren gesucht wurde. Das menschliche Auge ist eine der raffiniertesten Entwicklungen der Evolution, aber es hat immer noch Mängel. Der Mensch hat über Millionen von Jahren einen biologischen Wahrnehmungsalgorithmus entwickelt, der in der Lage ist, Autos zu fahren, Maschinen zu bedienen, Flugzeuge zu steuern und Schiffe zu navigieren. Die Automatisierung dieser Fähigkeiten für Computer ist entscheidend für verschiedene Anwendungen, darunter selbstfahrende Autos, Augmented Realität und architektonische Vermessung. Die visuelle Nahfeldwahrnehmung im Kontext von selbstfahrenden Autos kann die Umgebung in einem Bereich von 0 - 10 Metern und 360° Abdeckung um das Fahrzeug herum wahrnehmen. Sie ist eine entscheidende Entscheidungskomponente bei der Entwicklung eines sichereren automatisierten Fahrens. Jüngste Fortschritte im Bereich Computer Vision und Deep Learning in Verbindung mit hochwertigen Sensoren wie Kameras und LiDARs haben ausgereifte Lösungen für die visuelle Wahrnehmung hervorgebracht. Bisher stand die Fernfeldwahrnehmung im Vordergrund. Ein weiteres wichtiges Problem ist die begrenzte Rechenleistung, die für die Entwicklung von Echtzeit-Anwendungen zur Verfügung steht. Aufgrund dieses Engpasses kommt es häufig zu einem Kompromiss zwischen Leistung und Laufzeiteffizienz. Wir konzentrieren uns auf die folgenden Themen, um diese anzugehen: 1) Entwicklung von Nahfeld-Wahrnehmungsalgorithmen mit hoher Leistung und geringer Rechenkomplexität für verschiedene visuelle Wahrnehmungsaufgaben wie geometrische und semantische Aufgaben unter Verwendung von faltbaren neuronalen Netzen. 2) Verwendung von Multi-Task-Learning zur Überwindung von Rechenengpässen durch die gemeinsame Nutzung von initialen Faltungsschichten zwischen den Aufgaben und die Entwicklung von Optimierungsstrategien, die die Aufgaben ausbalancieren.The formation of eyes led to the big bang of evolution. The dynamics changed from a primitive organism waiting for the food to come into contact for eating food being sought after by visual sensors. The human eye is one of the most sophisticated developments of evolution, but it still has defects. Humans have evolved a biological perception algorithm capable of driving cars, operating machinery, piloting aircraft, and navigating ships over millions of years. Automating these capabilities for computers is critical for various applications, including self-driving cars, augmented reality, and architectural surveying. Near-field visual perception in the context of self-driving cars can perceive the environment in a range of 0 - 10 meters and 360° coverage around the vehicle. It is a critical decision-making component in the development of safer automated driving. Recent advances in computer vision and deep learning, in conjunction with high-quality sensors such as cameras and LiDARs, have fueled mature visual perception solutions. Until now, far-field perception has been the primary focus. Another significant issue is the limited processing power available for developing real-time applications. Because of this bottleneck, there is frequently a trade-off between performance and run-time efficiency. We concentrate on the following issues in order to address them: 1) Developing near-field perception algorithms with high performance and low computational complexity for various visual perception tasks such as geometric and semantic tasks using convolutional neural networks. 2) Using Multi-Task Learning to overcome computational bottlenecks by sharing initial convolutional layers between tasks and developing optimization strategies that balance tasks

Depth Estimation Using 2D RGB Images

Single image depth estimation is an ill-posed problem. That is, it is not mathematically possible to uniquely estimate the 3rd dimension (or depth) from a single 2D image. Hence, additional constraints need to be incorporated in order to regulate the solution space. As a result, in the first part of this dissertation, the idea of constraining the model for more accurate depth estimation by taking advantage of the similarity between the RGB image and the corresponding depth map at the geometric edges of the 3D scene is explored. Although deep learning based methods are very successful in computer vision and handle noise very well, they suffer from poor generalization when the test and train distributions are not close. While, the geometric methods do not have the generalization problem since they benefit from temporal information in an unsupervised manner. They are sensitive to noise, though. At the same time, explicitly modeling of a dynamic scenes as well as flexible objects in traditional computer vision methods is a big challenge. Considering the advantages and disadvantages of each approach, a hybrid method, which benefits from both, is proposed here by extending traditional geometric models’ abilities to handle flexible and dynamic objects in the scene. This is made possible by relaxing geometric computer vision rules from one motion model for some areas of the scene into one for every pixel in the scene. This enables the model to detect even small, flexible, floating debris in a dynamic scene. However, it makes the optimization under-constrained. To change the optimization from under-constrained to over-constrained while maintaining the model’s flexibility, ”moving object detection loss” and ”synchrony loss” are designed. The algorithm is trained in an unsupervised fashion. The primary results are in no way comparable to the current state of the art. Because the training process is so slow, it is difficult to compare it to the current state of the art. Also, the algorithm lacks stability. In addition, the optical flow model is extremely noisy and naive. At the end, some solutions are suggested to address these issues

Weakly Supervised Caveline Detection For AUV Navigation Inside Underwater Caves

Underwater caves are challenging environments that are crucial for water resource management, and for our understanding of hydro-geology and history. Mapping underwater caves is a time-consuming, labor-intensive, and hazardous operation. For autonomous cave mapping by underwater robots, the major challenge lies in vision-based estimation in the complete absence of ambient light, which results in constantly moving shadows due to the motion of the camera-light setup. Thus, detecting and following the caveline as navigation guidance is paramount for robots in autonomous cave mapping missions. In this paper, we present a computationally light caveline detection model based on a novel Vision Transformer (ViT)-based learning pipeline. We address the problem of scarce annotated training data by a weakly supervised formulation where the learning is reinforced through a series of noisy predictions from intermediate sub-optimal models. We validate the utility and effectiveness of such weak supervision for caveline detection and tracking in three different cave locations: USA, Mexico, and Spain. Experimental results demonstrate that our proposed model, CL-ViT, balances the robustness-efficiency trade-off, ensuring good generalization performance while offering 10+ FPS on single-board (Jetson TX2) devices