3DS-SLAM: A 3D Object Detection based Semantic SLAM towards Dynamic Indoor Environments

The existence of variable factors within the environment can cause a decline in camera localization accuracy, as it violates the fundamental assumption of a static environment in Simultaneous Localization and Mapping (SLAM) algorithms. Recent semantic SLAM systems towards dynamic environments either rely solely on 2D semantic information, or solely on geometric information, or combine their results in a loosely integrated manner. In this research paper, we introduce 3DS-SLAM, 3D Semantic SLAM, tailored for dynamic scenes with visual 3D object detection. The 3DS-SLAM is a tightly-coupled algorithm resolving both semantic and geometric constraints sequentially. We designed a 3D part-aware hybrid transformer for point cloud-based object detection to identify dynamic objects. Subsequently, we propose a dynamic feature filter based on HDBSCAN clustering to extract objects with significant absolute depth differences. When compared against ORB-SLAM2, 3DS-SLAM exhibits an average improvement of 98.01% across the dynamic sequences of the TUM RGB-D dataset. Furthermore, it surpasses the performance of the other four leading SLAM systems designed for dynamic environments.

CoVid-19 Detection leveraging Vision Transformers and Explainable AI

Lung disease is a common health problem in many parts of the world. It is a significant risk to people health and quality of life all across the globe since it is responsible for five of the top thirty leading causes of death. Among them are COVID 19, pneumonia, and tuberculosis, to name just a few. It is critical to diagnose lung diseases in their early stages. Several different models including machine learning and image processing have been developed for this purpose. The earlier a condition is diagnosed, the better the patient chances of making a full recovery and surviving into the long term. Thanks to deep learning algorithms, there is significant promise for the autonomous, rapid, and accurate identification of lung diseases based on medical imaging. Several different deep learning strategies, including convolutional neural networks (CNN), vanilla neural networks, visual geometry group based networks (VGG), and capsule networks , are used for the goal of making lung disease forecasts. The standard CNN has a poor performance when dealing with rotated, tilted, or other aberrant picture orientations. As a result of this, within the scope of this study, we have suggested a vision transformer based approach end to end framework for the diagnosis of lung disorders. In the architecture, data augmentation, training of the suggested models, and evaluation of the models are all included. For the purpose of detecting lung diseases such as pneumonia, Covid 19, lung opacity, and others, a specialised Compact Convolution Transformers (CCT) model have been tested and evaluated on datasets such as the Covid 19 Radiography Database. The model has achieved a better accuracy for both its training and validation purposes on the Covid 19 Radiography Database.

LesionAid: Vision Transformers-based Skin Lesion Generation and Classification

Skin cancer is one of the most prevalent forms of human cancer. It is recognized mainly visually, beginning with clinical screening and continuing with the dermoscopic examination, histological assessment, and specimen collection. Deep convolutional neural networks (CNNs) perform highly segregated and potentially universal tasks against a classified finegrained object. This research proposes a novel multi-class prediction framework that classifies skin lesions based on ViT and ViTGAN. Vision transformers-based GANs (Generative Adversarial Networks) are utilized to tackle the class imbalance. The framework consists of four main phases: ViTGANs, Image processing, and explainable AI. Phase 1 consists of generating synthetic images to balance all the classes in the dataset. Phase 2 consists of applying different data augmentation techniques and morphological operations to increase the size of the data. Phases 3 & 4 involve developing a ViT model for edge computing systems that can identify patterns and categorize skin lesions from the user's skin visible in the image. In phase 3, after classifying the lesions into the desired class with ViT, we will use explainable AI (XAI) that leads to more explainable results (using activation maps, etc.) while ensuring high predictive accuracy. Real-time images of skin diseases can capture by a doctor or a patient using the camera of a mobile application to perform an early examination and determine the cause of the skin lesion. The whole framework is compared with the existing frameworks for skin lesion detection.

Vision Transformers and YoloV5 based Driver Drowsiness Detection Framework

Human drivers have distinct driving techniques, knowledge, and sentiments due to unique driving traits. Driver drowsiness has been a serious issue endangering road safety; therefore, it is essential to design an effective drowsiness detection algorithm to bypass road accidents. Miscellaneous research efforts have been approached the problem of detecting anomalous human driver behaviour to examine the frontal face of the driver and automobile dynamics via computer vision techniques. Still, the conventional methods cannot capture complicated driver behaviour features. However, with the origin of deep learning architectures, a substantial amount of research has also been executed to analyze and recognize driver's drowsiness using neural network algorithms. This paper introduces a novel framework based on vision transformers and YoloV5 architectures for driver drowsiness recognition. A custom YoloV5 pre-trained architecture is proposed for face extraction with the aim of extracting Region of Interest (ROI). Owing to the limitations of previous architectures, this paper introduces vision transformers for binary image classification which is trained and validated on a public dataset UTA-RLDD. The model had achieved 96.2\% and 97.4\% as it's training and validation accuracies respectively. For the further evaluation, proposed framework is tested on a custom dataset of 39 participants in various light circumstances and achieved 95.5\% accuracy. The conducted experimentations revealed the significant potential of our framework for practical applications in smart transportation systems.