While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of Deformable Linear Objects (DLOs). In particular the detection of a DLO is a non-trivial problem especially under clutter and occlusions (as well as self-occlusions). The pose estimation of a DLO results into the identification of its parameters related to a designed model, e.g. a basis spline. It follows that the stand-alone segmentation of a DLO might not be sufficient to conduct a full manipulation task. This is why we propose a novel framework able to perform both a semantic segmentation and b-spline modeling of multiple deformable linear objects simultaneously without strict requirements about environment (i.e. the background). The core algorithm is based on biased random walks over the Region Adiacency Graph built on a superpixel oversegmentation of the source image. The algorithm is initialized by a Convolutional Neural Networks that detects the DLO’s endcaps. An open source implementation of the proposed approach is also provided to easy the reproduction of the whole detection pipeline along with a novel cables dataset in order to encourage further experiments.
In the medical field, detection is just the same kind of problem, albeit at a smaller scale. Also the literature dealing with this domain is more focused on manipulation than on detection issues, either assuming the latter as solved @cite_0 or addressing it by hand-labeled markers @cite_23 . A more scalable approach is proposed in @cite_13 and @cite_26 , where the authors borrow the popular Frangi Filter @cite_4 from the field of in order to enhance the curvilinear structure of suture threads and produce a binary segmentation amenable to estimate a spline model.
@cite_26 @cite_4 @cite_0 @cite_23 @cite_13
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New healthcare technologies are emerging with the increasing age of the society, where the development of smart homes for monitoring the elders’ activities is in the center of them. Identifying the resident’s activities in an apartment is an important module in such systems. Dense sensing approach aims to embed sensors in the environment to report the detected events continuously. The events are segmented and analyzed via classifiers to identify the corresponding activity. Although several methods were introduced in recent years for detecting simple activities, the recognition of complex ones requires more effort. Due to the different time duration and event density of each activity, finding the best size of the segments is one of the challenges in detecting the activity. Also, using appropriate classifiers that are capable of detecting simple and interleaved activities is the other issue. In this paper, we devised a two-phase approach called CARER (Complex Activity Recognition using Emerging patterns and Random forest). In the first phase, the emerging patterns are mined, and various features of the activities are extracted to build a model using the Random Forest technique. In the second phase, the sequences of events are segmented dynamically by considering their recency and sensor correlation. Then, the segments are analyzed by the generated model from the previous phase to recognize both simple and complex activities. We examined the performance of the devised approach using the CASAS dataset. To do this, first we investigated several classifiers. The outcome showed that the combination of emerging patterns and the random forest provide a higher degree of accuracy. Then, we compared CARER with the static window approach, which used Hidden Markov Model. To have a fair comparison, we replaced the dynamic segmentation module of CARER with the static one. The results showed more than 12 improvement in f-measure. Finally, we compared our work with Dynamic sensor segmentation for real-time activity recognition, which used dynamic segmentation. The f-measure metric demonstrated up to 12.73 improvement. We work towards efficient methods of categorizing visual content in medical images as a precursor step to segmentation and anatomy recognition. In this paper, we address the problem of automatic detection of level position for a given cardiac CT slice. Specifically, we divide the body area depicted in chest CT into nine semantic categories each representing an area most relevant to the study of a disease and or key anatomic cardiovascular feature. Using a set of handcrafted image features together with features derived form a deep convolutional neural network (CNN), we build a classification scheme to map a given CT slice to the relevant level. Each feature group is used to train a separate support vector machine classifier. The resulting labels are then combined in a linear model, also learned from training data. We report margin zero and margin one accuracy of 91.7 and 98.8 and show that this hybrid approach is a very effective methodology for assigning a given CT image to a relatively narrow anatomic window. The segmentation of blood vessels is a common problem in medical imaging and various applications are found in diagnostics, surgical planning, training and more. Among many different techniques, the use of multiple scales and line detectors is a popular approach. However, the typical line filters used are sensitive to intensity variations and do not target the detection of vessel walls explicitly. In this article, we combine both line and edge detection using quadrature filters across multiple scales. The filter result gives well defined vessels as linear structures, while distinct edges facilitate a robust segmentation. We apply the filter output to energy optimization techniques for segmentation and show promising results in 2D and 3D to illustrate the behavior of our method. The conference version of this article received the best paper award in the bioinformatics and biomedical applications track at ICPR 2008. Abstract Background and objective Radiologists often have a hard time classifying mammography mass lesions which leads to unnecessary breast biopsies to remove suspicions and this ends up adding exorbitant expenses to an already burdened patient and health care system. Methods In this paper we developed a Computer-aided Diagnosis (CAD) system based on deep Convolutional Neural Networks (CNN) that aims to help the radiologist classify mammography mass lesions. Deep learning usually requires large datasets to train networks of a certain depth from scratch. Transfer learning is an effective method to deal with relatively small datasets as in the case of medical images, although it can be tricky as we can easily start overfitting. Results In this work, we explore the importance of transfer learning and we experimentally determine the best fine-tuning strategy to adopt when training a CNN model. We were able to successfully fine-tune some of the recent, most powerful CNNs and achieved better results compared to other state-of-the-art methods which classified the same public datasets. For instance we achieved 97.35 accuracy and 0.98 AUC on the DDSM database, 95.50 accuracy and 0.97 AUC on the INbreast database and 96.67 accuracy and 0.96 AUC on the BCDR database. Furthermore, after pre-processing and normalizing all the extracted Regions of Interest (ROIs) from the full mammograms, we merged all the datasets to build one large set of images and used it to fine-tune our CNNs. The CNN model which achieved the best results, a 98.94 accuracy, was used as a baseline to build the Breast Cancer Screening Framework. To evaluate the proposed CAD system and its efficiency to classify new images, we tested it on an independent database (MIAS) and got 98.23 accuracy and 0.99 AUC. Conclusion The results obtained demonstrate that the proposed framework is performant and can indeed be used to predict if the mass lesions are benign or malignant.