Object segmentation in depth maps with one user click and a synthetically trained fully convolutional network

With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling platforms mostly rely on human operators to analyze the scene, typically composed of many object instances piled up in bulk. Helping them by robotizing the unitary extraction is a key challenge to speed up this tedious process. Whereas supervised deep learning has proven very efficient for such object-level scene understanding, e.g., generic object detection and segmentation in everyday scenes, it however requires large sets of per-pixel labeled images, that are hardly available for numerous application contexts, including industrial robotics. We thus propose a step towards a practical interactive application for generating an object-oriented robotic grasp, requiring as inputs only one depth map of the scene and one user click on the next object to extract. More precisely, we address in this paper the middle issue of object seg-mentation in top views of piles of bulk objects given a pixel location, namely seed, provided interactively by a human operator. We propose a twofold framework for generating edge-driven instance segments. First, we repurpose a state-of-the-art fully convolutional object contour detector for seed-based instance segmentation by introducing the notion of edge-mask duality with a novel patch-free and contour-oriented loss function. Second, we train one model using only synthetic scenes, instead of manually labeled training data. Our experimental results show that considering edge-mask duality for training an encoder-decoder network, as we suggest, outperforms a state-of-the-art patch-based network in the present application context.Comment: This is a pre-print of an article published in Human Friendly Robotics, 10th International Workshop, Springer Proceedings in Advanced Robotics, vol 7. The final authenticated version is available online at: https://doi.org/10.1007/978-3-319-89327-3\_16, Springer Proceedings in Advanced Robotics, Siciliano Bruno, Khatib Oussama, In press, Human Friendly Robotics, 10th International Workshop,

Interactive volumetric segmentation for textile micro-tomography data using wavelets and nonlocal means

This work addresses segmentation of volumetric images of woven carbon fiber textiles from micro-tomography data. We propose a semi-supervised algorithm to classify carbon fibers that requires sparse input as opposed to completely labeled images. The main contributions are: (a) design of effective discriminative classifiers, for three-dimensional textile samples, trained on wavelet features for segmentation; (b) coupling of previous step with nonlocal means as simple, efficient alternative to the Potts model; and (c) demonstration of reuse of classifier to diverse samples containing similar content. We evaluate our work by curating test sets of voxels in the absence of a complete ground truth mask. The algorithm obtains an average 0.95 F1 score on test sets and average F1 score of 0.93 on new samples. We conclude with discussion of failure cases and propose future directions toward analysis of spatiotemporal high-resolution micro-tomography images

Data-Driven Shape Analysis and Processing

Data-driven methods play an increasingly important role in discovering geometric, structural, and semantic relationships between 3D shapes in collections, and applying this analysis to support intelligent modeling, editing, and visualization of geometric data. In contrast to traditional approaches, a key feature of data-driven approaches is that they aggregate information from a collection of shapes to improve the analysis and processing of individual shapes. In addition, they are able to learn models that reason about properties and relationships of shapes without relying on hard-coded rules or explicitly programmed instructions. We provide an overview of the main concepts and components of these techniques, and discuss their application to shape classification, segmentation, matching, reconstruction, modeling and exploration, as well as scene analysis and synthesis, through reviewing the literature and relating the existing works with both qualitative and numerical comparisons. We conclude our report with ideas that can inspire future research in data-driven shape analysis and processing.Comment: 10 pages, 19 figure

Beyond KernelBoost

In this Technical Report we propose a set of improvements with respect to the KernelBoost classifier presented in [Becker et al., MICCAI 2013]. We start with a scheme inspired by Auto-Context, but that is suitable in situations where the lack of large training sets poses a potential problem of overfitting. The aim is to capture the interactions between neighboring image pixels to better regularize the boundaries of segmented regions. As in Auto-Context [Tu et al., PAMI 2009] the segmentation process is iterative and, at each iteration, the segmentation results for the previous iterations are taken into account in conjunction with the image itself. However, unlike in [Tu et al., PAMI 2009], we organize our recursion so that the classifiers can progressively focus on difficult-to-classify locations. This lets us exploit the power of the decision-tree paradigm while avoiding over-fitting. In the context of this architecture, KernelBoost represents a powerful building block due to its ability to learn on the score maps coming from previous iterations. We first introduce two important mechanisms to empower the KernelBoost classifier, namely pooling and the clustering of positive samples based on the appearance of the corresponding ground-truth. These operations significantly contribute to increase the effectiveness of the system on biomedical images, where texture plays a major role in the recognition of the different image components. We then present some other techniques that can be easily integrated in the KernelBoost framework to further improve the accuracy of the final segmentation. We show extensive results on different medical image datasets, including some multi-label tasks, on which our method is shown to outperform state-of-the-art approaches. The resulting segmentations display high accuracy, neat contours, and reduced noise

Unsupervised Understanding of Location and Illumination Changes in Egocentric Videos

Wearable cameras stand out as one of the most promising devices for the upcoming years, and as a consequence, the demand of computer algorithms to automatically understand the videos recorded with them is increasing quickly. An automatic understanding of these videos is not an easy task, and its mobile nature implies important challenges to be faced, such as the changing light conditions and the unrestricted locations recorded. This paper proposes an unsupervised strategy based on global features and manifold learning to endow wearable cameras with contextual information regarding the light conditions and the location captured. Results show that non-linear manifold methods can capture contextual patterns from global features without compromising large computational resources. The proposed strategy is used, as an application case, as a switching mechanism to improve the hand-detection problem in egocentric videos.Comment: Submitted for publicatio

gACSON software for automated segmentation and morphology analyses of myelinated axons in 3D electron microscopy

Background and Objective: Advances in electron microscopy (EM) now allow three-dimensional (3D) imaging of hundreds of micrometers of tissue with nanometer-scale resolution, providing new opportunities to study the ultrastructure of the brain. In this work, we introduce a freely available Matlab-based gACSON software for visualization, segmentation, assessment, and morphology analysis of myelinated axons in 3D-EM volumes of brain tissue samples. Methods: The software is equipped with a graphical user interface (GUI). It automatically segments the intra-axonal space of myelinated axons and their corresponding myelin sheaths and allows manual segmentation, proofreading, and interactive correction of the segmented components. gACSON analyzes the morphology of myelinated axons, such as axonal diameter, axonal eccentricity, myelin thickness, or gratio. Results: We illustrate the use of the software by segmenting and analyzing myelinated axons in six 3DEM volumes of rat somatosensory cortex after sham surgery or traumatic brain injury (TBI). Our results suggest that the equivalent diameter of myelinated axons in somatosensory cortex was decreased in TBI animals five months after the injury. Conclusion: Our results indicate that gACSON is a valuable tool for visualization, segmentation, assessment, and morphology analysis of myelinated axons in 3D-EM volumes. It is freely available at https://github.com/AndreaBehan/g-ACSON under the MIT license. (c) 2022 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license ( http://creativecommons.org/licenses/by/4.0/ )Peer reviewe

The Evolution of First Person Vision Methods: A Survey

The emergence of new wearable technologies such as action cameras and smart-glasses has increased the interest of computer vision scientists in the First Person perspective. Nowadays, this field is attracting attention and investments of companies aiming to develop commercial devices with First Person Vision recording capabilities. Due to this interest, an increasing demand of methods to process these videos, possibly in real-time, is expected. Current approaches present a particular combinations of different image features and quantitative methods to accomplish specific objectives like object detection, activity recognition, user machine interaction and so on. This paper summarizes the evolution of the state of the art in First Person Vision video analysis between 1997 and 2014, highlighting, among others, most commonly used features, methods, challenges and opportunities within the field.Comment: First Person Vision, Egocentric Vision, Wearable Devices, Smart Glasses, Computer Vision, Video Analytics, Human-machine Interactio