Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We train a deep neural network to predict object-class semantics that is consistent from several view points in a semi-supervised way. At test time, the semantics predictions of our network can be fused more consistently in semantic keyframe maps than predictions of a network trained on individual views. We base our network architecture on a recent single-view deep learning approach to RGB and depth fusion for semantic object-class segmentation and enhance it with multi-scale loss minimization. We obtain the camera trajectory using RGB-D SLAM and warp the predictions of RGB-D images into ground-truth annotated frames in order to enforce multi-view consistency during training. At test time, predictions from multiple views are fused into keyframes. We propose and analyze several methods for enforcing multi-view consistency during training and testing. We evaluate the benefit of multi-view consistency training and demonstrate that pooling of deep features and fusion over multiple views outperforms single-view baselines on the NYUDv2 benchmark for semantic segmentation. Our end-to-end trained network achieves state-of-the-art performance on the NYUDv2 dataset in single-view segmentation as well as multi-view semantic fusion.Comment: the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017

Teledermatological monitoring of leg ulcers in cooperation with home care nurses

Objectives: To examine the feasibility and acceptance of teledermatology for wound management for patients with leg ulcers by home care nurses and evaluate the reduction of costs and the acceptance of teledermatology by patients and home care nurses

Chronic dermatomycoses of the foot as risk factors for acute bacterial cellulitis of the leg: A case-control study

Objective: To assess the role of foot dermatomycosis ( tinea pedis and onychomycosis) and other candidate risk factors in the development of acute bacterial cellulitis of the leg. Methods: A case-control study, including 243 patients ( cases) with acute bacterial cellulitis of the leg and 467 controls, 2 per case, individually matched for gender, age (+/-5 years), hospital and admission date (+/-2 months). Results: Overall, mycology-proven foot dermatomycosis was a significant risk factor for acute bacterial cellulitis (odds ratio, OR: 2.4; p < 0.001), as were tinea pedis interdigitalis (OR: 3.2; p < 0.001), tinea pedis plantaris (OR: 1.7; p = 0.005) and onychomycosis (OR: 2.2; p < 0.001) individually. Other risk factors included: disruption of the cutaneous barrier, history of bacterial cellulitis, chronic venous insufficiency and leg oedema. Conclusions: Tinea pedis and onychomycosis were found to be significant risk factors for acute bacterial cellulitis of the leg that are readily amenable to treatment with effective pharmacological therapy. Copyright (C) 2004 S. Karger AG, Basel

A Report of Two Cases of Solid Facial Edema in Acne

Solid facial edema (SFE) is a rare complication of acne vulgaris. To examine the clinical features of acne patients with solid facial edema, and to give an overview on the outcome of previous topical and systemic treatments in the cases so far published.; We report two cases from Switzerland, both young men with initially papulopustular acne resistant to topical retinoids.; Both cases responded to oral isotretinoin, in one case combined with oral steroids. Our cases show a strikingly similar clinical appearance to the cases described by Connelly and Winkelmann in 1985 (Connelly MG, Winkelmann RK. Solid facial edema as a complication of acne vulgaris. Arch Dermatol. 1985;121(1):87), as well as to cases of Morbihan's disease that occurs as a rare complication of rosacea.; Even 30 years after, the cause of the edema remains unknown. In two of the original four cases, a potential triggering factor was identified such as facial trauma or insect bites; however, our two patients did not report such occurrencies. The rare cases of solid facial edema in both acne and rosacea might hold the key to understanding the specific inflammatory pattern that creates both persisting inflammation and disturbed fluid homeostasis which can occur as a slightly different presentation in dermatomyositis, angioedema, Heerfordt's syndrome and other conditions

Shift in critical temperature for random spatial permutations with cycle weights

We examine a phase transition in a model of random spatial permutations which originates in a study of the interacting Bose gas. Permutations are weighted according to point positions; the low-temperature onset of the appearance of arbitrarily long cycles is connected to the phase transition of Bose-Einstein condensates. In our simplified model, point positions are held fixed on the fully occupied cubic lattice and interactions are expressed as Ewens-type weights on cycle lengths of permutations. The critical temperature of the transition to long cycles depends on an interaction-strength parameter $\alpha$. For weak interactions, the shift in critical temperature is expected to be linear in $\alpha$ with constant of linearity $c$. Using Markov chain Monte Carlo methods and finite-size scaling, we find $c = 0.618 \pm 0.086$. This finding matches a similar analytical result of Ueltschi and Betz. We also examine the mean longest cycle length as a fraction of the number of sites in long cycles, recovering an earlier result of Shepp and Lloyd for non-spatial permutations.Comment: v2 incorporated reviewer comments. v3 removed two extraneous figures which appeared at the end of the PDF

Experimental study of the vidicon system for information recording using the wide-gap spark chamber of gamma - telescope gamma-I

The development of the gamma ray telescope is investigated. The wide gap spark chambers, used to identify the gamma quanta and to determine the directions of their arrival, are examined. Two systems of information recording with the spark chambers photographic and vidicon system are compared