Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

This paper considers the problem of positioning an eye-in-hand system so that it gets parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing lowtextured objects to be considered, but also for producing a control scheme with nice properties like decoupling, convergence and adequate camera trajectory. This paper focuses on an imagebased approach that achieves decoupling in all the workspace and for which the global convergence is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3D visual servoing scheme but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally

One-shot domain adaptation in multiple sclerosis lesion segmentation using convolutional neural networks

In recent years, several convolutional neural network (CNN) methods have been proposed for the automated white matter lesion segmentation of multiple sclerosis (MS) patient images, due to their superior performance compared with those of other state-of-the-art methods. However, the accuracies of CNN methods tend to decrease significantly when evaluated on different image domains compared with those used for training, which demonstrates the lack of adaptability of CNNs to unseen imaging data. In this study, we analyzed the effect of intensity domain adaptation on our recently proposed CNN-based MS lesion segmentation method. Given a source model trained on two public MS datasets, we investigated the transferability of the CNN model when applied to other MRI scanners and protocols, evaluating the minimum number of annotated images needed from the new domain and the minimum number of layers needed to re-train to obtain comparable accuracy. Our analysis comprised MS patient data from both a clinical center and the public ISBI2015 challenge database, which permitted us to compare the domain adaptation capability of our model to that of other state-of-the-art methods. For the ISBI2015 challenge, our one-shot domain adaptation model trained using only a single image showed a performance similar to that of other CNN methods that were fully trained using the entire available training set, yielding a comparable human expert rater performance. We believe that our experiments will encourage the MS community to incorporate its use in different clinical settings with reduced amounts of annotated data. This approach could be meaningful not only in terms of the accuracy in delineating MS lesions but also in the related reductions in time and economic costs derived from manual lesion labeling

Décodage d'un motif structurant codé par la couleur

- Cet article présente un algorithme de décodage d'un motif structurant permettant, en une seule prise de vue, de déterminer, à partir des couleurs apparentes dans l'image, les couleurs initialement projetées parmi six primitives. Nous montrons qu'un simple algorithme de coalescence, judicieusement initialisé, permet un tel décodage. Nous basons son initialisation sur le positionnement relatif des six classes de couleur dans l'espace Lab

On the Comparison of Classic and Deep Keypoint Detector and Descriptor Methods

The purpose of this study is to give a performance comparison between several classic hand-crafted and deep key-point detector and descriptor methods. In particular, we consider the following classical algorithms: SIFT, SURF, ORB, FAST, BRISK, MSER, HARRIS, KAZE, AKAZE, AGAST, GFTT, FREAK, BRIEF and RootSIFT, where a subset of all combinations is paired into detector-descriptor pipelines. Additionally, we analyze the performance of two recent and perspective deep detector-descriptor models, LF-Net and SuperPoint. Our benchmark relies on the HPSequences dataset that provides real and diverse images under various geometric and illumination changes. We analyze the performance on three evaluation tasks: keypoint verification, image matching and keypoint retrieval. The results show that certain classic and deep approaches are still comparable, with some classic detector-descriptor combinations overperforming pretrained deep models. In terms of the execution times of tested implementations, SuperPoint model is the fastest, followed by ORB. The source code is published on \url{https://github.com/kristijanbartol/keypoint-algorithms-benchmark}

Transductive Transfer Learning for Domain Adaptation in Brain Magnetic Resonance Image Segmentation

Cervell; Imatge per ressonància magnètica; Aprenentatge transductiuCerebro; Imagen de resonancia magnética; Aprendizaje transductivoBrain; Magnetic resonance imaging; Transductive learningSegmentation of brain images from Magnetic Resonance Images (MRI) is an indispensable step in clinical practice. Morphological changes of sub-cortical brain structures and quantification of brain lesions are considered biomarkers of neurological and neurodegenerative disorders and used for diagnosis, treatment planning, and monitoring disease progression. In recent years, deep learning methods showed an outstanding performance in medical image segmentation. However, these methods suffer from generalisability problem due to inter-centre and inter-scanner variabilities of the MRI images. The main objective of the study is to develop an automated deep learning segmentation approach that is accurate and robust to the variabilities in scanner and acquisition protocols. In this paper, we propose a transductive transfer learning approach for domain adaptation to reduce the domain-shift effect in brain MRI segmentation. The transductive scenario assumes that there are sets of images from two different domains: (1) source—images with manually annotated labels; and (2) target—images without expert annotations. Then, the network is jointly optimised integrating both source and target images into the transductive training process to segment the regions of interest and to minimise the domain-shift effect. We proposed to use a histogram loss in the feature level to carry out the latter optimisation problem. In order to demonstrate the benefit of the proposed approach, the method has been tested in two different brain MRI image segmentation problems using multi-centre and multi-scanner databases for: (1) sub-cortical brain structure segmentation; and (2) white matter hyperintensities segmentation. The experiments showed that the segmentation performance of a pre-trained model could be significantly improved by up to 10%. For the first segmentation problem it was possible to achieve a maximum improvement from 0.680 to 0.799 in average Dice Similarity Coefficient (DSC) metric and for the second problem the average DSC improved from 0.504 to 0.602. Moreover, the improvements after domain adaptation were on par or showed better performance compared to the commonly used traditional unsupervised segmentation methods (FIRST and LST), also achieving faster execution time. Taking this into account, this work presents one more step toward the practical implementation of deep learning algorithms into the clinical routine.KK holds FI-DGR2017 grant from the Catalan Government with reference number 2017FI_B00372. This work has been supported by DPI2017-86696-R from the Ministerio de Ciencia y Tecnologia

Projection de texture sur des objets 3D réels

Nous proposons une méthode pour projeter une texture sur un objet réel sans aucun contact. Une telle technique peut être utile dans les domaines médicales ou archéologiques. La technique de lumière structurée est une technique optique qui permet l'acquisition des formes. En projetant une mire adéquate sur la surface d'un objet et en capturant la scène, de nombreux points de correspondance peuvent être estimés et la reconstruction 3D par triangulation est alors possible. Une fois l'objet reconstruit et donc sa position connue, la projection de texture sur cet objet est alors possible

Dynamic 3D shape of the plantar surface of the foot using coded structured light:a technical report

The foot provides a crucial contribution to the balance and stability of the musculoskeletal system, and accurate foot measurements are important in applications such as designing custom insoles/footwear. With better understanding of the dynamic behavior of the foot, dynamic foot reconstruction techniques are surfacing as useful ways to properly measure the shape of the foot. This paper presents a novel design and implementation of a structured-light prototype system providing dense three dimensional (3D) measurements of the foot in motion. The input to the system is a video sequence of a foot during a single step; the output is a 3D reconstruction of the plantar surface of the foot for each frame of the input. Methods Engineering and clinical tests were carried out to test the accuracy and repeatability of the system. Accuracy experiments involved imaging a planar surface from different orientations and elevations and measuring the fitting errors of the data to a plane. Repeatability experiments were done using reconstructions from 27 different subjects, where for each one both right and left feet were reconstructed in static and dynamic conditions over two different days. Results The static accuracy of the system was found to be 0.3 mm with planar test objects. In tests with real feet, the system proved repeatable, with reconstruction differences between trials one week apart averaging 2.4 mm (static case) and 2.8 mm (dynamic case). Conclusion The results obtained in the experiments show positive accuracy and repeatability results when compared to current literature. The design also shows to be superior to the systems available in the literature in several factors. Further studies need to be done to quantify the reliability of the system in clinical environment