Cellular tracking in time-lapse phase contrast images

The quantitative analysis of live cells is a key issue in evaluating biological processes. The current clinical practice involves the application of a tedious and time consuming manual tracking procedure on large amount of data. As a result, automatic tracking systems are currently developed and evaluated. However, problems caused by cellular division, agglomeration, Brownian motion and topology changes are difficult issues that have to be accommodated by automatic tracking techniques. In this paper, we detail the development of a fully automated multi-target tracking system that is able to deal with Brownian motion and cellular division. During the tracking process our approach includes the neighbourhood relationship and motion history to enforce the cellular tracking continuity in the spatial and temporal domain. The experimental results reported in this paper indicate that our method is able to accurately track cellular structures in time-lapse data

Hand Keypoint Detection in Single Images using Multiview Bootstrapping

We present an approach that uses a multi-camera system to train fine-grained detectors for keypoints that are prone to occlusion, such as the joints of a hand. We call this procedure multiview bootstrapping: first, an initial keypoint detector is used to produce noisy labels in multiple views of the hand. The noisy detections are then triangulated in 3D using multiview geometry or marked as outliers. Finally, the reprojected triangulations are used as new labeled training data to improve the detector. We repeat this process, generating more labeled data in each iteration. We derive a result analytically relating the minimum number of views to achieve target true and false positive rates for a given detector. The method is used to train a hand keypoint detector for single images. The resulting keypoint detector runs in realtime on RGB images and has accuracy comparable to methods that use depth sensors. The single view detector, triangulated over multiple views, enables 3D markerless hand motion capture with complex object interactions.Comment: CVPR 201

Enumeration of non-orientable 3-manifolds using face pairing graphs and union-find

Drawing together techniques from combinatorics and computer science, we improve the census algorithm for enumerating closed minimal P^2-irreducible 3-manifold triangulations. In particular, new constraints are proven for face pairing graphs, and pruning techniques are improved using a modification of the union-find algorithm. Using these results we catalogue all 136 closed non-orientable P^2-irreducible 3-manifolds that can be formed from at most ten tetrahedra.Comment: 37 pages, 34 figure

Real-Time Salient Closed Boundary Tracking via Line Segments Perceptual Grouping

This paper presents a novel real-time method for tracking salient closed boundaries from video image sequences. This method operates on a set of straight line segments that are produced by line detection. The tracking scheme is coherently integrated into a perceptual grouping framework in which the visual tracking problem is tackled by identifying a subset of these line segments and connecting them sequentially to form a closed boundary with the largest saliency and a certain similarity to the previous one. Specifically, we define a new tracking criterion which combines a grouping cost and an area similarity constraint. The proposed criterion makes the resulting boundary tracking more robust to local minima. To achieve real-time tracking performance, we use Delaunay Triangulation to build a graph model with the detected line segments and then reduce the tracking problem to finding the optimal cycle in this graph. This is solved by our newly proposed closed boundary candidates searching algorithm called "Bidirectional Shortest Path (BDSP)". The efficiency and robustness of the proposed method are tested on real video sequences as well as during a robot arm pouring experiment.Comment: 7 pages, 8 figures, The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) submission ID 103

Localization in Unstructured Environments: Towards Autonomous Robots in Forests with Delaunay Triangulation

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult to find a group of significant landmarks for current fast feature-based place recognition algorithms. This paper proposes a novel approach where local observations are matched to a general tree map using the Delaunay triangularization as the representation format. Instead of point cloud based matching methods, we utilize a topology-based method. First, tree trunk positions are registered at a prior run done by a forest harvester. Second, the resulting map is Delaunay triangularized. Third, a local submap of the autonomous robot is registered, triangularized and matched using triangular similarity maximization to estimate the position of the robot. We test our method on a dataset accumulated from a forestry site at Lieksa, Finland. A total length of 2100\,m of harvester path was recorded by an industrial harvester with a 3D laser scanner and a geolocation unit fixed to the frame. Our experiments show a 12\,cm s.t.d. in the location accuracy and with real-time data processing for speeds not exceeding 0.5\,m/s. The accuracy and speed limit is realistic during forest operations

On the Existence of an MVU Estimator for Target Localization with Censored, Noise Free Binary Detectors

The problem of target localization with censored noise free binary detectors is considered. In this setting only the detecting sensors report their locations to the fusion center. It is proven that if the radius of detection is not known to the fusion center, a minimum variance unbiased (MVU) estimator does not exist. Also it is shown that when the radius is known the center of mass of the possible target region is the MVU estimator. In addition, a sub-optimum estimator is introduced whose performance is close to the MVU estimator but is preferred computationally. Furthermore, minimal sufficient statistics have been provided, both when the detection radius is known and when it is not. Simulations confirmed that the derived MVU estimator outperforms several heuristic location estimators.Comment: 25 pages, 9 figure

Nonrigid reconstruction of 3D breast surfaces with a low-cost RGBD camera for surgical planning and aesthetic evaluation

Accounting for 26% of all new cancer cases worldwide, breast cancer remains the most common form of cancer in women. Although early breast cancer has a favourable long-term prognosis, roughly a third of patients suffer from a suboptimal aesthetic outcome despite breast conserving cancer treatment. Clinical-quality 3D modelling of the breast surface therefore assumes an increasingly important role in advancing treatment planning, prediction and evaluation of breast cosmesis. Yet, existing 3D torso scanners are expensive and either infrastructure-heavy or subject to motion artefacts. In this paper we employ a single consumer-grade RGBD camera with an ICP-based registration approach to jointly align all points from a sequence of depth images non-rigidly. Subtle body deformation due to postural sway and respiration is successfully mitigated leading to a higher geometric accuracy through regularised locally affine transformations. We present results from 6 clinical cases where our method compares well with the gold standard and outperforms a previous approach. We show that our method produces better reconstructions qualitatively by visual assessment and quantitatively by consistently obtaining lower landmark error scores and yielding more accurate breast volume estimates