Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital delivery applications. Current solutions still suffer from limitations, such as the robot cannot recognize unknown objects in real time and cannot navigate freely in a dynamic, narrow, and complex environment. We propose a complete software framework for autonomous robot perception and navigation within very dense obstacles and dense human crowds. First, we propose a framework that accurately detects and segments open-world object categories in a zero-shot manner, which overcomes the over-segmentation limitation of the current SAM model. Second, we proposed the distillation strategy to distill the knowledge to segment the free space of the walkway for robot navigation without the label. In the meantime, we design the trimming strategy that works collaboratively with distillation to enable lightweight inference to deploy the neural network on edge devices such as NVIDIA-TX2 or Xavier NX during autonomous navigation. Integrated into the robot navigation system, extensive experiments demonstrate that our proposed framework has achieved superior performance in terms of both accuracy and efficiency in robot scene perception and autonomous robot navigation.
Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck for current 3D recognition approaches is that they do not have the capacity to recognize any unseen novel classes beyond the training categories in diverse kinds of real-world applications. In the meantime, current state-of-the-art 3D scene understanding approaches primarily require high-quality labels to train neural networks, which merely perform well in a fully supervised manner. This work presents a generalized and simple framework for dealing with 3D scene understanding when the labeled scenes are quite limited. To extract knowledge for novel categories from the pre-trained vision-language models, we propose a hierarchical feature-aligned pre-training and knowledge distillation strategy to extract and distill meaningful information from large-scale vision-language models, which helps benefit the open-vocabulary scene understanding tasks. To leverage the boundary information, we propose a novel energy-based loss with boundary awareness benefiting from the region-level boundary predictions. To encourage latent instance discrimination and to guarantee efficiency, we propose the unsupervised region-level semantic contrastive learning scheme for point clouds, using confident predictions of the neural network to discriminate the intermediate feature embeddings at multiple stages. Extensive experiments with both indoor and outdoor scenes demonstrated the effectiveness of our approach in both data-efficient learning and open-world few-shot learning. All codes, models, and data are made publicly available at: https://drive.google.com/drive/folders/1M58V-PtR8DBEwD296zJkNg_m2qq-MTAP?usp=sharing.
In this paper, we propose an efficient continuous-time LiDAR-Inertial-Camera Odometry, utilizing non-uniform B-splines to tightly couple measurements from the LiDAR, IMU, and camera. In contrast to uniform B-spline-based continuous-time methods, our non-uniform B-spline approach offers significant advantages in terms of achieving real-time efficiency and high accuracy. This is accomplished by dynamically and adaptively placing control points, taking into account the varying dynamics of the motion. To enable efficient fusion of heterogeneous LiDAR-Inertial-Camera data within a short sliding-window optimization, we assign depth to visual pixels using corresponding map points from a global LiDAR map, and formulate frame-to-map reprojection factors for the associated pixels in the current image frame. This way circumvents the necessity for depth optimization of visual pixels, which typically entails a lengthy sliding window with numerous control points for continuous-time trajectory estimation. We conduct dedicated experiments on real-world datasets to demonstrate the advantage and efficacy of adopting non-uniform continuous-time trajectory representation. Our LiDAR-Inertial-Camera odometry system is also extensively evaluated on both challenging scenarios with sensor degenerations and large-scale scenarios, and has shown comparable or higher accuracy than the state-of-the-art methods. The codebase of this paper will also be open-sourced at https://github.com/APRIL-ZJU/Coco-LIC.
Objective: Accurate evaluation of the root canal filling result in X-ray image is a significant step for the root canal therapy, which is based on the relative position between the apical area boundary of tooth root and the top of filled gutta-percha in root canal as well as the shape of the tooth root and so on to classify the result as correct-filling, under-filling or over-filling. Methods: We propose a novel anatomy-guided Transformer diagnosis network. For obtaining accurate anatomy-guided features, a polynomial curve fitting segmentation is proposed to segment the fuzzy boundary. And a Parallel Bottleneck Transformer network (PBT-Net) is introduced as the classification network for the final evaluation. Results, and conclusion: Our numerical experiments show that our anatomy-guided PBT-Net improves the accuracy from 40\% to 85\% relative to the baseline classification network. Comparing with the SOTA segmentation network indicates that the ASD is significantly reduced by 30.3\% through our fitting segmentation. Significance: Polynomial curve fitting segmentation has a great segmentation effect for extremely fuzzy boundaries. The prior knowledge guided classification network is suitable for the evaluation of root canal therapy greatly. And the new proposed Parallel Bottleneck Transformer for realizing self-attention is general in design, facilitating a broad use in most backbone networks.
As the most economical and routine auxiliary examination in the diagnosis of root canal treatment, oral X-ray has been widely used by stomatologists. It is still challenging to segment the tooth root with a blurry boundary for the traditional image segmentation method. To this end, we propose a model for high-resolution segmentation based on polynomial curve fitting with landmark detection (HS-PCL). It is based on detecting multiple landmarks evenly distributed on the edge of the tooth root to fit a smooth polynomial curve as the segmentation of the tooth root, thereby solving the problem of fuzzy edge. In our model, a maximum number of the shortest distances algorithm (MNSDA) is proposed to automatically reduce the negative influence of the wrong landmarks which are detected incorrectly and deviate from the tooth root on the fitting result. Our numerical experiments demonstrate that the proposed approach not only reduces Hausdorff95 (HD95) by 33.9% and Average Surface Distance (ASD) by 42.1% compared with the state-of-the-art method, but it also achieves excellent results on the minute quantity of datasets, which greatly improves the feasibility of automatic root canal therapy evaluation by medical image computing.