8,795 research outputs found
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
This paper reports on a data-driven, interaction-aware motion prediction
approach for pedestrians in environments cluttered with static obstacles. When
navigating in such workspaces shared with humans, robots need accurate motion
predictions of the surrounding pedestrians. Human navigation behavior is mostly
influenced by their surrounding pedestrians and by the static obstacles in
their vicinity. In this paper we introduce a new model based on Long-Short Term
Memory (LSTM) neural networks, which is able to learn human motion behavior
from demonstrated data. To the best of our knowledge, this is the first
approach using LSTMs, that incorporates both static obstacles and surrounding
pedestrians for trajectory forecasting. As part of the model, we introduce a
new way of encoding surrounding pedestrians based on a 1d-grid in polar angle
space. We evaluate the benefit of interaction-aware motion prediction and the
added value of incorporating static obstacles on both simulation and real-world
datasets by comparing with state-of-the-art approaches. The results show, that
our new approach outperforms the other approaches while being very
computationally efficient and that taking into account static obstacles for
motion predictions significantly improves the prediction accuracy, especially
in cluttered environments.Comment: 8 pages, accepted for publication at the IEEE International
Conference on Robotics and Automation (ICRA) 201
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
This paper reports on a data-driven, interaction-aware motion prediction
approach for pedestrians in environments cluttered with static obstacles. When
navigating in such workspaces shared with humans, robots need accurate motion
predictions of the surrounding pedestrians. Human navigation behavior is mostly
influenced by their surrounding pedestrians and by the static obstacles in
their vicinity. In this paper we introduce a new model based on Long-Short Term
Memory (LSTM) neural networks, which is able to learn human motion behavior
from demonstrated data. To the best of our knowledge, this is the first
approach using LSTMs, that incorporates both static obstacles and surrounding
pedestrians for trajectory forecasting. As part of the model, we introduce a
new way of encoding surrounding pedestrians based on a 1d-grid in polar angle
space. We evaluate the benefit of interaction-aware motion prediction and the
added value of incorporating static obstacles on both simulation and real-world
datasets by comparing with state-of-the-art approaches. The results show, that
our new approach outperforms the other approaches while being very
computationally efficient and that taking into account static obstacles for
motion predictions significantly improves the prediction accuracy, especially
in cluttered environments.Comment: 8 pages, accepted for publication at the IEEE International
Conference on Robotics and Automation (ICRA) 201
Cell Segmentation and Tracking using CNN-Based Distance Predictions and a Graph-Based Matching Strategy
The accurate segmentation and tracking of cells in microscopy image sequences
is an important task in biomedical research, e.g., for studying the development
of tissues, organs or entire organisms. However, the segmentation of touching
cells in images with a low signal-to-noise-ratio is still a challenging
problem. In this paper, we present a method for the segmentation of touching
cells in microscopy images. By using a novel representation of cell borders,
inspired by distance maps, our method is capable to utilize not only touching
cells but also close cells in the training process. Furthermore, this
representation is notably robust to annotation errors and shows promising
results for the segmentation of microscopy images containing in the training
data underrepresented or not included cell types. For the prediction of the
proposed neighbor distances, an adapted U-Net convolutional neural network
(CNN) with two decoder paths is used. In addition, we adapt a graph-based cell
tracking algorithm to evaluate our proposed method on the task of cell
tracking. The adapted tracking algorithm includes a movement estimation in the
cost function to re-link tracks with missing segmentation masks over a short
sequence of frames. Our combined tracking by detection method has proven its
potential in the IEEE ISBI 2020 Cell Tracking Challenge
(http://celltrackingchallenge.net/) where we achieved as team KIT-Sch-GE
multiple top three rankings including two top performances using a single
segmentation model for the diverse data sets.Comment: 25 pages, 14 figures, methods of the team KIT-Sch-GE for the IEEE
ISBI 2020 Cell Tracking Challeng
Online Video Deblurring via Dynamic Temporal Blending Network
State-of-the-art video deblurring methods are capable of removing non-uniform
blur caused by unwanted camera shake and/or object motion in dynamic scenes.
However, most existing methods are based on batch processing and thus need
access to all recorded frames, rendering them computationally demanding and
time consuming and thus limiting their practical use. In contrast, we propose
an online (sequential) video deblurring method based on a spatio-temporal
recurrent network that allows for real-time performance. In particular, we
introduce a novel architecture which extends the receptive field while keeping
the overall size of the network small to enable fast execution. In doing so,
our network is able to remove even large blur caused by strong camera shake
and/or fast moving objects. Furthermore, we propose a novel network layer that
enforces temporal consistency between consecutive frames by dynamic temporal
blending which compares and adaptively (at test time) shares features obtained
at different time steps. We show the superiority of the proposed method in an
extensive experimental evaluation.Comment: 10 page
Detecting cells and analyzing their behaviors in microscopy images using deep neural networks
The computer-aided analysis in the medical imaging field has attracted a lot of attention for the past decade. The goal of computer-vision based medical image analysis is to provide automated tools to relieve the burden of human experts such as radiologists and physicians. More specifically, these computer-aided methods are to help identify, classify and quantify patterns in medical images. Recent advances in machine learning, more specifically, in the way of deep learning, have made a big leap to boost the performance of various medical applications. The fundamental core of these advances is exploiting hierarchical feature representations by various deep learning models, instead of handcrafted features based on domain-specific knowledge.
In the work presented in this dissertation, we are particularly interested in exploring the power of deep neural network in the Circulating Tumor Cells detection and mitosis event detection. We will introduce the Convolutional Neural Networks and the designed training methodology for Circulating Tumor Cells detection, a Hierarchical Convolutional Neural Networks model and a Two-Stream Bidirectional Long Short-Term Memory model for mitosis event detection and its stage localization in phase-contrast microscopy images”--Abstract, page iii
Benchmarking Cerebellar Control
Cerebellar models have long been advocated as viable models
for robot dynamics control. Building on an increasing insight
in and knowledge of the biological cerebellum, many models have been
greatly refined, of which some computational models have emerged
with useful properties with respect to robot dynamics control.
Looking at the application side, however, there is a totally different
picture. Not only is there not one robot on the market which uses
anything remotely connected with cerebellar control, but even in
research labs most testbeds for cerebellar models are restricted to
toy problems. Such applications hardly ever exceed the complexity of
a 2 DoF simulated robot arm; a task which is hardly representative for
the field of robotics, or relates to realistic applications.
In order to bring the amalgamation of the two fields forwards, we
advocate the use of a set of robotics benchmarks, on which existing
and new computational cerebellar models can be comparatively tested.
It is clear that the traditional approach to solve robotics dynamics
loses ground with the advancing complexity of robotic structures;
there is a desire for adaptive methods which can compete as traditional
control methods do for traditional robots.
In this paper we try to lay down the successes and problems in the
fields of cerebellar modelling as well as robot dynamics control.
By analyzing the common ground, a set of benchmarks is suggested
which may serve as typical robot applications for cerebellar models
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