CPRAL: Collaborative Panoptic-Regional Active Learning for Semantic Segmentation

Acquiring the most representative examples via active learning (AL) can benefit many data-dependent computer vision tasks by minimizing efforts of image-level or pixel-wise annotations. In this paper, we propose a novel Collaborative Panoptic-Regional Active Learning framework (CPRAL) to address the semantic segmentation task. For a small batch of images initially sampled with pixel-wise annotations, we employ panoptic information to initially select unlabeled samples. Considering the class imbalance in the segmentation dataset, we import a Regional Gaussian Attention module (RGA) to achieve semantics-biased selection. The subset is highlighted by vote entropy and then attended by Gaussian kernels to maximize the biased regions. We also propose a Contextual Labels Extension (CLE) to boost regional annotations with contextual attention guidance. With the collaboration of semantics-agnostic panoptic matching and regionbiased selection and extension, our CPRAL can strike a balance between labeling efforts and performance and compromise the semantics distribution. We perform extensive experiments on Cityscapes and BDD10K datasets and show that CPRAL outperforms the cutting-edge methods with impressive results and less labeling proportion.

SECP-Net: SE-Connection Pyramid Network of Organ At Risk Segmentation for Nasopharyngeal Carcinoma

Nasopharyngeal carcinoma (NPC) is a kind of malignant tumor. Accurate and automatic segmentation of organs at risk (OAR) of computed tomography (CT) images is clinically significant. In recent years, deep learning models represented by U-Net have been widely applied in medical image segmentation tasks, which can help doctors with reduction of workload and get accurate results more quickly. In OAR segmentation of NPC, the sizes of OAR are variable, especially, some of them are small. Traditional deep neural networks underperform during segmentation due to the lack use of global and multi-size information. This paper proposes a new SE-Connection Pyramid Network (SECP-Net). SECP-Net extracts global and multi-size information flow with se connection (SEC) modules and a pyramid structure of network for improving the segmentation performance, especially that of small organs. SECP-Net also designs an auto-context cascaded network to further improve the segmentation performance. Comparative experiments are conducted between SECP-Net and other recently methods on a dataset with CT images of head and neck. Five-fold cross validation is used to evaluate the performance based on two metrics, i.e., Dice and Jaccard similarity. Experimental results show that SECP-Net can achieve SOTA performance in this challenging task.

Generalizable Cross-modality Medical Image Segmentation via Style Augmentation and Dual Normalization

For medical image segmentation, imagine if a model was only trained using MR images in source domain, how about its performance to directly segment CT images in target domain? This setting, namely generalizable cross-modality segmentation, owning its clinical potential, is much more challenging than other related settings, e.g., domain adaptation. To achieve this goal, we in this paper propose a novel dual-normalization module by leveraging the augmented source-similar and source-dissimilar images during our generalizable segmentation. To be specific, given a single source domain, aiming to simulate the possible appearance change in unseen target domains, we first utilize a nonlinear transformation to augment source-similar and source-dissimilar images. Then, to sufficiently exploit these two types of augmentations, our proposed dual-normalization based model employs a shared backbone yet independent batch normalization layer for separate normalization. Afterwards, we put forward a style-based selection scheme to automatically choose the appropriate path in the test stage. Extensive experiments on three publicly available datasets, i.e., BraTS, Cross-Modality Cardiac and Abdominal Multi-Organ dataset, have demonstrated that our method outperforms other state-of-the-art domain generalization methods.

Learning to Detect Instance-level Salient Objects Using Complementary Image Labels

Existing salient instance detection (SID) methods typically learn from pixel-level annotated datasets. In this paper, we present the first weakly-supervised approach to the SID problem. Although weak supervision has been considered in general saliency detection, it is mainly based on using class labels for object localization. However, it is non-trivial to use only class labels to learn instance-aware saliency information, as salient instances with high semantic affinities may not be easily separated by the labels. As the subitizing information provides an instant judgement on the number of salient items, it is naturally related to detecting salient instances and may help separate instances of the same class while grouping different parts of the same instance. Inspired by this observation, we propose to use class and subitizing labels as weak supervision for the SID problem. We propose a novel weakly-supervised network with three branches: a Saliency Detection Branch leveraging class consistency information to locate candidate objects; a Boundary Detection Branch exploiting class discrepancy information to delineate object boundaries; and a Centroid Detection Branch using subitizing information to detect salient instance centroids. This complementary information is then fused to produce a salient instance map. To facilitate the learning process, we further propose a progressive training scheme to reduce label noise and the corresponding noise learned by the model, via reciprocating the model with progressive salient instance prediction and model refreshing. Our extensive evaluations show that the proposed method plays favorably against carefully designed baseline methods adapted from related tasks.

Automated Pulmonary Embolism Detection from CTPA Images Using an End-to-End Convolutional Neural Network

Automated methods for detecting pulmonary embolisms (PEs) on CT pulmonary angiography (CTPA) images are of high demand. Existing methods typically employ separate steps for PE candidate detection and false positive removal, without considering the ability of the other step. As a result, most existing methods usually suffer from a high false positive rate in order to achieve an acceptable sensitivity. This study presents an end-to-end trainable convolutional neural network (CNN) where the two steps are optimized jointly. The proposed CNN consists of three concatenated subnets: 1) a novel 3D candidate proposal network for detecting cubes containing suspected PEs, 2) a 3D spatial transformation subnet for generating fixed-sized vessel-aligned image representation for candidates, and 3) a 2D classification network which takes the three cross-sections of the transformed cubes as input and eliminates false positives. We have evaluated our approach using the 20 CTPA test dataset from the PE challenge, achieving a sensitivity of 78.9%, 80.7% and 80.7% at 2 false positives per volume at 0mm, 2mm and 5mm localization error, which is superior to the state-of-the-art methods. We have further evaluated our system on our own dataset consisting of 129 CTPA data with a total of 269 emboli. Our system achieves a sensitivity of 63.2%, 78.9% and 86.8% at 2 false positives per volume at 0mm, 2mm and 5mm localization error.

Origami-inspired soft twisting actuator

Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g. enlarge working space and increase degrees of freedom. Towards this goal, we present origami-inspired soft pneumatic actuators (OSPAs) made from silicone. The prototype can output a rotation of more than one revolution (up to 435{\deg}), larger than previous counterparts. We describe the design and fabrication method, build the kinematics models and simulation models, and analyze and optimize the parameters. Finally, we demonstrate the potentially extensive utility of OSPAs through their integration into a gripper capable of simultaneously grasping and lifting fragile or flat objects, a versatile robot arm capable of picking and placing items at the right angle with the twisting actuators, and a soft snake robot capable of changing attitude and directions by torsion of the twisting actuators.

Monocular Depth Estimation with Sharp Boundary

Monocular depth estimation is the base task in computer vision. It has a tremendous development in the decade with the development of deep learning. But the boundary blur of the depth map is still a serious problem. Research finds the boundary blur problem is mainly caused by two factors, first, the low-level features containing boundary and structure information may loss in deeper networks during the convolution process., second, the model ignores the errors introduced by the boundary area due to the few portions of the boundary in the whole areas during the backpropagation. In order to mitigate the boundary blur problem, we focus on the above two impact factors. Firstly, we design a scene understanding module to learn the global information with low- and high-level features, and then to transform the global information to different scales with our proposed scale transform module according to the different phases in the decoder. Secondly, we propose a boundary-aware depth loss function to pay attention to the effects of the boundary's depth value. The extensive experiments show that our method can predict the depth maps with clearer boundaries, and the performance of the depth accuracy base on NYU-depth v2 and SUN RGB-D is competitive.

Runtime Interchange for Adaptive Re-use of Intelligent Cyber-Physical System Controllers

Cyber-Physical Systems (CPSs) such as those found within autonomous vehicles are increasingly adopting Artificial Neural Network (ANN)-based controllers. To ensure the safety of these controllers, there is a spate of recent activity to formally verify the ANN-based designs. There are two challenges with these approaches: (1) The verification of such systems is difficult and time consuming. (2) These verified controllers are not able to adapt to frequent requirements changes, which are typical in situations like autonomous driving. This raises the question: how can trained and verified controllers, which have gone through expensive training and verification processes, be re-used to deal with requirement changes? This paper addresses this challenge for the first time by proposing a new framework that is capable of dealing with requirement changes at runtime through a mechanism we term runtime interchange. Our approach functions via a continual exchange and selection process of multiple pre-verified controllers. It represents a key step on the way to component-oriented engineering for intelligent designs, as it preserves the behaviours of the original controllers while introducing additional functionality. To demonstrate the efficacy of our approach we utilise an existing autonomous driving case study as well as a set of smaller benchmarks. These show that introduced overheads are extremely minimal and that the approach is very scalable.

Object Tracking by Jointly Exploiting Frame and Event Domain

Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking performance, especially in degraded conditions (e.g., scenes with high dynamic range, low light, and fast-motion objects). The proposed approach can effectively and adaptively combine meaningful information from both domains. Our approach's effectiveness is enforced by a novel designed cross-domain attention schemes, which can effectively enhance features based on self- and cross-domain attention schemes; The adaptiveness is guarded by a specially designed weighting scheme, which can adaptively balance the contribution of the two domains. To exploit event-based visual cues in single-object tracking, we construct a large-scale frame-event-based dataset, which we subsequently employ to train a novel frame-event fusion based model. Extensive experiments show that the proposed approach outperforms state-of-the-art frame-based tracking methods by at least 10.4% and 11.9% in terms of representative success rate and precision rate, respectively. Besides, the effectiveness of each key component of our approach is evidenced by our thorough ablation study.