Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping

This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground

Decision Problems for Nash Equilibria in Stochastic Games

We analyse the computational complexity of finding Nash equilibria in stochastic multiplayer games with $\omega$-regular objectives. While the existence of an equilibrium whose payoff falls into a certain interval may be undecidable, we single out several decidable restrictions of the problem. First, restricting the search space to stationary, or pure stationary, equilibria results in problems that are typically contained in PSPACE and NP, respectively. Second, we show that the existence of an equilibrium with a binary payoff (i.e. an equilibrium where each player either wins or loses with probability 1) is decidable. We also establish that the existence of a Nash equilibrium with a certain binary payoff entails the existence of an equilibrium with the same payoff in pure, finite-state strategies.Comment: 22 pages, revised versio

Antlia Dwarf Galaxy: Distance, quantitative morphology and recent formation history via statistical field correction

We apply a statistical field correction technique originally designed to determine membership of high redshift galaxy clusters to Hubble Space Telescope imaging of the Antlia Dwarf Galaxy; a galaxy at the very edge of the Local Group. Using the tip of the red giant branch standard candle method coupled with a simple Sobel edge detection filter we find a new distance to Antlia of 1.31 +/- 0.03 Mpc. For the first time for a Local Group Member, we compute the concentration, asymmetry and clumpiness (CAS) quantitative morphology parameters for Antlia from the distribution of resolved stars in the HST/ACS field, corrected with a new method for contaminants and complement these parameters with the Gini coefficient (G) and the second order moment of the brightest 20 per cent of the flux (M_20). We show that it is a classic dwarf elliptical (C = 2.0, A = 0.063, S = 0.077, G = 0.39 and M_20 = -1.17 in the F814W band), but has an appreciable blue stellar population at its core, confirming on-going star-formation. The values of asymmetry and clumpiness, as well as Gini and M_20 are consistent with an undisturbed galaxy. Although our analysis suggests that Antlia may not be tidally influenced by NGC 3109 it does not necessarily preclude such interaction.Comment: Accepted for publication in MNRA

CRISPR-Cas9 genome editing induces a p53-mediated DNA damage response

Here, we report that genome editing by CRISPR-Cas9 induces a p53-mediated DNA damage response and cell cycle arrest in immortalized human retinal pigment epithelial cells, leading to a selection against cells with a functional p53 pathway. Inhibition of p53 prevents the damage response and increases the rate of homologous recombination from a donor template. These results suggest that p53 inhibition may improve the efficiency of genome editing of untransformed cells and that p53 function should be monitored when developing cell-based therapies utilizing CRISPR-Cas9.Peer reviewe

Segmentation of epidermal tissue with histopathological damage in images of haematoxylin and eosin stained human skin.

Background: Digital image analysis has the potential to address issues surrounding traditional histological techniques including a lack of objectivity and high variability, through the application of quantitative analysis. A key initial step in image analysis is the identification of regions of interest. A widely applied methodology is that of segmentation. This paper proposes the application of image analysis techniques to segment skin tissue with varying degrees of histopathological damage. The segmentation of human tissue is challenging as a consequence of the complexity of the tissue structures and inconsistencies in tissue preparation, hence there is a need for a new robust method with the capability to handle the additional challenges materialising from histopathological damage.Methods: A new algorithm has been developed which combines enhanced colour information, created following a transformation to the L*a*b* colourspace, with general image intensity information. A colour normalisation step is included to enhance the algorithm's robustness to variations in the lighting and staining of the input images. The resulting optimised image is subjected to thresholding and the segmentation is fine-tuned using a combination of morphological processing and object classification rules. The segmentation algorithm was tested on 40 digital images of haematoxylin & eosin (H&E) stained skin biopsies. Accuracy, sensitivity and specificity of the algorithmic procedure were assessed through the comparison of the proposed methodology against manual methods.Results: Experimental results show the proposed fully automated methodology segments the epidermis with a mean specificity of 97.7%, a mean sensitivity of 89.4% and a mean accuracy of 96.5%. When a simple user interaction step is included, the specificity increases to 98.0%, the sensitivity to 91.0% and the accuracy to 96.8%. The algorithm segments effectively for different severities of tissue damage.Conclusions: Epidermal segmentation is a crucial first step in a range of applications including melanoma detection and the assessment of histopathological damage in skin. The proposed methodology is able to segment the epidermis with different levels of histological damage. The basic method framework could be applied to segmentation of other epithelial tissues

Leaf segmentation in plant phenotyping: a collation study

Image-based plant phenotyping is a growing application area of computer vision in agriculture. A key task is the segmentation of all individual leaves in images. Here we focus on the most common rosette model plants, Arabidopsis and young tobacco. Although leaves do share appearance and shape characteristics, the presence of occlusions and variability in leaf shape and pose, as well as imaging conditions, render this problem challenging. The aim of this paper is to compare several leaf segmentation solutions on a unique and first-of-its-kind dataset containing images from typical phenotyping experiments. In particular, we report and discuss methods and findings of a collection of submissions for the first Leaf Segmentation Challenge of the Computer Vision Problems in Plant Phenotyping workshop in 2014. Four methods are presented: three segment leaves by processing the distance transform in an unsupervised fashion, and the other via optimal template selection and Chamfer matching. Overall, we find that although separating plant from background can be accomplished with satisfactory accuracy (>>90 % Dice score), individual leaf segmentation and counting remain challenging when leaves overlap. Additionally, accuracy is lower for younger leaves. We find also that variability in datasets does affect outcomes. Our findings motivate further investigations and development of specialized algorithms for this particular application, and that challenges of this form are ideally suited for advancing the state of the art. Data are publicly available (online at http://​www.​plant-phenotyping.​org/​datasets) to support future challenges beyond segmentation within this application domain

Bayesian Genetic Programming for Edge Detection

In edge detection, designing new techniques to combine local features is expected to improve detection performance. However, how to effectively design combination techniques remains an open issue. In this study, an automatic design approach is proposed to combine local edge features using Bayesian programs (models) evolved by genetic programming (GP). Multivariate density is used to estimate prior probabilities for edge points and non-edge points. Bayesian programs evolved by GP are used to construct composite features after estimating the relevant multivariate density. The results show that GP has the ability to effectively evolve Bayesian programs. These evolved programs have higher detection accuracy than the combination of local features by directly using the multivariate density (of these local features) in a simple Bayesian model. From evolved Bayesian programs, the proposed GP system has potential to effectively select features to construct Bayesian programs for performance improvement