Empirical Evaluation of the Segment Anything Model (SAM) for Brain Tumor Segmentation

Brain tumor segmentation presents a formidable challenge in the field of Medical Image Segmentation. While deep-learning models have been useful, human expert segmentation remains the most accurate method. The recently released Segment Anything Model (SAM) has opened up the opportunity to apply foundation models to this difficult task. However, SAM was primarily trained on diverse natural images. This makes applying SAM to biomedical segmentation, such as brain tumors with less defined boundaries, challenging. In this paper, we enhanced SAM's mask decoder using transfer learning with the Decathlon brain tumor dataset. We developed three methods to encapsulate the four-dimensional data into three dimensions for SAM. An on-the-fly data augmentation approach has been used with a combination of rotations and elastic deformations to increase the size of the training dataset. Two key metrics: the Dice Similarity Coefficient (DSC) and the Hausdorff Distance 95th Percentile (HD95), have been applied to assess the performance of our segmentation models. These metrics provided valuable insights into the quality of the segmentation results. In our evaluation, we compared this improved model to two benchmarks: the pretrained SAM and the widely used model, nnUNetv2. We find that the improved SAM shows considerable improvement over the pretrained SAM, while nnUNetv2 outperformed the improved SAM in terms of overall segmentation accuracy. Nevertheless, the improved SAM demonstrated slightly more consistent results than nnUNetv2, especially on challenging cases that can lead to larger Hausdorff distances. In the future, more advanced techniques can be applied in order to further improve the performance of SAM on brain tumor segmentation.

InfraredTags: Embedding Invisible AR Markers and Barcodes Using Low-Cost, Infrared-Based 3D Printing and Imaging Tools

Existing approaches for embedding unobtrusive tags inside 3D objects require either complex fabrication or high-cost imaging equipment. We present InfraredTags, which are 2D markers and barcodes imperceptible to the naked eye that can be 3D printed as part of objects, and detected rapidly by low-cost near-infrared cameras. We achieve this by printing objects from an infrared-transmitting filament, which infrared cameras can see through, and by having air gaps inside for the tag's bits, which appear at a different intensity in the infrared image. We built a user interface that facilitates the integration of common tags (QR codes, ArUco markers) with the object geometry to make them 3D printable as InfraredTags. We also developed a low-cost infrared imaging module that augments existing mobile devices and decodes tags using our image processing pipeline. Our evaluation shows that the tags can be detected with little near-infrared illumination (0.2lux) and from distances as far as 250cm. We demonstrate how our method enables various applications, such as object tracking and embedding metadata for augmented reality and tangible interactions.

Real-Time Formal Verification of Autonomous Systems With An FPGA

Hamilton-Jacobi reachability analysis is a powerful technique used to verify the safety of autonomous systems. This method is very good at handling non-linear system dynamics with disturbances and flexible set representations. A drawback to this approach is that it suffers from the curse of dimensionality, which prevents real-time deployment on safety-critical systems. In this paper, we show that a customized hardware design on a Field Programmable Gate Array (FPGA) could accelerate 4D grid-based Hamilton-Jacobi (HJ) reachability analysis up to 16 times compared to an optimized implementation and 142 times compared to MATLAB ToolboxLS on a 16-thread CPU. Our design can overcome the complex data access pattern while taking advantage of the parallel nature of the HJ PDE computation. Because of this, we are able to achieve real-time formal verification with a 4D car model by re-solving the HJ PDE at a frequency of 5Hz on the FPGA as the environment changes. The latency of our computation is deterministic, which is crucial for safetycritical systems. Our approach presented here can be applied to different systems dynamics, and moreover, potentially leveraged for higher dimensions systems. We also demonstrate obstacle avoidance with a robot car in a changing environment.