Stable Position and Pose Estimation of Industrial Parts Using Evaluation of Observability of 3D Vector Pairs

2015 ◽  
Vol 27 (2) ◽  
pp. 174-181 ◽  
Author(s):  
Shuichi Akizuki ◽  
◽  
Manabu Hashimoto
Keyword(s):  
Detection Method ◽  
State Of The Art ◽  
Recognition Performance ◽  
Matching Process ◽  
Starting Point ◽  
Bin Picking ◽  
Previous State ◽  
Recognition Success ◽  
3D Object Detection ◽  
Position And Pose Estimation

<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270002/07.jpg"" width=""300"" /> Recognition results</div> This paper introduces a stable 3D object detection method that can be applied to complicated scenes consisting of randomly stacked industrial parts. The proposed method uses a 3D vector pair that consists of paired 3D vectors with a shared starting point. By considering the observability of vector pairs, the proposed method has achieved high recognition performance. The observability factor of the vector pair is calculated by simulating the visible state of the vector pair from various viewpoints. By integrating the observability factor and the distinctiveness factor proposed in our previous work, a few vector pairs that are effective for recognition are automatically extracted from an object model, and then used for the matching process. Experiments have confirmed that the proposed method improves the 88.5% recognition success rate of previous state-of-the-art methods to 93.1%. The processing time of the proposed method is fast enough for robotic bin-picking. </span>

Multi-Resolution Autoregressive Graph-to-Graph Translation for Molecules

2019 ◽  
Author(s):  
Wengong Jin ◽  
Regina Barzilay ◽  
Tommi S Jaakkola
Keyword(s):  
Drug Discovery ◽  
State Of The Art ◽  
Molecular Graph ◽  
Biochemical Properties ◽  
Large Margin ◽  
Previous State ◽  
Translation Methods ◽  
Atom Level ◽  
Precursor Molecules ◽  
Prior State

The problem of accelerating drug discovery relies heavily on automatic tools to optimize precursor molecules to afford them with better biochemical properties. Our work in this paper substantially extends prior state-of-the-art on graph-to-graph translation methods for molecular optimization. In particular, we realize coherent multi-resolution representations by interweaving trees over substructures with the atom-level encoding of the original molecular graph. Moreover, our graph decoder is fully autoregressive, and interleaves each step of adding a new substructure with the process of resolving its connectivity to the emerging molecule. We evaluate our model on multiple molecular optimization tasks and show that our model outperforms previous state-of-the-art baselines by a large margin.

scholarly journals Using spatial-temporal ensembles of convolutional neural networks for lumen segmentation in ureteroscopy

2021 ◽  
Author(s):  
Jorge F. Lazo ◽  
Aldo Marzullo ◽  
Sara Moccia ◽  
Michele Catellani ◽  
Benoit Rosa ◽  
...  
Keyword(s):  
Neural Networks ◽  
Convolutional Neural Networks ◽  
State Of The Art ◽  
Automatic Segmentation ◽  
Temporal Information ◽  
Invasive Technique ◽  
Dice Similarity Coefficient ◽  
Specular Reflections ◽  
Lumen Segmentation ◽  
Previous State

Abstract Purpose Ureteroscopy is an efficient endoscopic minimally invasive technique for the diagnosis and treatment of upper tract urothelial carcinoma. During ureteroscopy, the automatic segmentation of the hollow lumen is of primary importance, since it indicates the path that the endoscope should follow. In order to obtain an accurate segmentation of the hollow lumen, this paper presents an automatic method based on convolutional neural networks (CNNs). Methods The proposed method is based on an ensemble of 4 parallel CNNs to simultaneously process single and multi-frame information. Of these, two architectures are taken as core-models, namely U-Net based in residual blocks ($$m_1$$ m 1 ) and Mask-RCNN ($$m_2$$ m 2 ), which are fed with single still-frames I(t). The other two models ($$M_1$$ M 1 , $$M_2$$ M 2 ) are modifications of the former ones consisting on the addition of a stage which makes use of 3D convolutions to process temporal information. $$M_1$$ M 1 , $$M_2$$ M 2 are fed with triplets of frames ($$I(t-1)$$ I ( t - 1 ) , I(t), $$I(t+1)$$ I ( t + 1 ) ) to produce the segmentation for I(t). Results The proposed method was evaluated using a custom dataset of 11 videos (2673 frames) which were collected and manually annotated from 6 patients. We obtain a Dice similarity coefficient of 0.80, outperforming previous state-of-the-art methods. Conclusion The obtained results show that spatial-temporal information can be effectively exploited by the ensemble model to improve hollow lumen segmentation in ureteroscopic images. The method is effective also in the presence of poor visibility, occasional bleeding, or specular reflections.

scholarly journals Ensemble-Based Out-of-Distribution Detection

Electronics ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 567
Author(s):  
Donghun Yang ◽  
Kien Mai Mai Ngoc ◽  
Iksoo Shin ◽  
Kyong-Ha Lee ◽  
Myunggwon Hwang
Keyword(s):  
Detection Method ◽  
State Of The Art ◽  
Metric Learning ◽  
Feature Space ◽  
Confidence Score ◽  
Distance Metric Learning ◽  
Current State ◽  
Overall Performance ◽  
Deep Learning Model

To design an efficient deep learning model that can be used in the real-world, it is important to detect out-of-distribution (OOD) data well. Various studies have been conducted to solve the OOD problem. The current state-of-the-art approach uses a confidence score based on the Mahalanobis distance in a feature space. Although it outperformed the previous approaches, the results were sensitive to the quality of the trained model and the dataset complexity. Herein, we propose a novel OOD detection method that can train more efficient feature space for OOD detection. The proposed method uses an ensemble of the features trained using the softmax-based classifier and the network based on distance metric learning (DML). Through the complementary interaction of these two networks, the trained feature space has a more clumped distribution and can fit well on the Gaussian distribution by class. Therefore, OOD data can be efficiently detected by setting a threshold in the trained feature space. To evaluate the proposed method, we applied our method to various combinations of image datasets. The results show that the overall performance of the proposed approach is superior to those of other methods, including the state-of-the-art approach, on any combination of datasets.

The state of the art and operational scenarios for urban air mobility with unmanned aircraft

2021 ◽  
pp. 1-30
Author(s):  
F. D. Maia ◽  
J. M. Lourenço da Saúde
Keyword(s):  
Traffic Management ◽  
State Of The Art ◽  
Unmanned Aircraft ◽  
Unmanned Aircraft Systems ◽  
Civil Aviation ◽  
Management Systems ◽  
Urban Air ◽  
Aircraft Systems ◽  
Starting Point ◽  
Standards And Regulations

ABSTRACT A state-of-the-art review of all the developments, standards and regulations associated with the use of major unmanned aircraft systems under development is presented. Requirements and constraints are identified by evaluating technologies specific to urban air mobility, considering equivalent levels of safety required by current and future civil aviation standards. Strategies, technologies and lessons learnt from remotely piloted aviation and novel unmanned traffic management systems are taken as the starting point to assess operational scenarios for autonomous urban air mobility.

scholarly journals Random Forest with Adaptive Local Template for Pedestrian Detection

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Tao Xiang ◽  
Tao Li ◽  
Mao Ye ◽  
Zijian Liu
Keyword(s):  
Computer Vision ◽  
Random Forest ◽  
Classification Accuracy ◽  
Template Matching ◽  
Detection Method ◽  
State Of The Art ◽  
Pedestrian Detection ◽  
Sliding Window ◽  
Experimental Results ◽  
Training Samples

Pedestrian detection with large intraclass variations is still a challenging task in computer vision. In this paper, we propose a novel pedestrian detection method based on Random Forest. Firstly, we generate a few local templates with different sizes and different locations in positive exemplars. Then, the Random Forest is built whose splitting functions are optimized by maximizing class purity of matching the local templates to the training samples, respectively. To improve the classification accuracy, we adopt a boosting-like algorithm to update the weights of the training samples in a layer-wise fashion. During detection, the trained Random Forest will vote the category when a sliding window is input. Our contributions are the splitting functions based on local template matching with adaptive size and location and iteratively weight updating method. We evaluate the proposed method on 2 well-known challenging datasets: TUD pedestrians and INRIA pedestrians. The experimental results demonstrate that our method achieves state-of-the-art or competitive performance.

scholarly journals Capsule-LPI: a LncRNA–protein interaction predicting tool based on a capsule network

2021 ◽  
Vol 22 (1) ◽  
Author(s):  
Ying Li ◽  
Hang Sun ◽  
Shiyao Feng ◽  
Qi Zhang ◽  
Siyu Han ◽  
...  
Keyword(s):  
Protein Interactions ◽  
State Of The Art ◽  
Recognition Performance ◽  
Feature Learning ◽  
Biological Processes ◽  
Multimodal Features ◽  
Learning Architectures ◽  
Motif Information ◽  
Experimental Comparisons ◽  
Better Than

Abstract Background Long noncoding RNAs (lncRNAs) play important roles in multiple biological processes. Identifying LncRNA–protein interactions (LPIs) is key to understanding lncRNA functions. Although some LPIs computational methods have been developed, the LPIs prediction problem remains challenging. How to integrate multimodal features from more perspectives and build deep learning architectures with better recognition performance have always been the focus of research on LPIs. Results We present a novel multichannel capsule network framework to integrate multimodal features for LPI prediction, Capsule-LPI. Capsule-LPI integrates four groups of multimodal features, including sequence features, motif information, physicochemical properties and secondary structure features. Capsule-LPI is composed of four feature-learning subnetworks and one capsule subnetwork. Through comprehensive experimental comparisons and evaluations, we demonstrate that both multimodal features and the architecture of the multichannel capsule network can significantly improve the performance of LPI prediction. The experimental results show that Capsule-LPI performs better than the existing state-of-the-art tools. The precision of Capsule-LPI is 87.3%, which represents a 1.7% improvement. The F-value of Capsule-LPI is 92.2%, which represents a 1.4% improvement. Conclusions This study provides a novel and feasible LPI prediction tool based on the integration of multimodal features and a capsule network. A webserver (http://csbg-jlu.site/lpc/predict) is developed to be convenient for users.

Monocular Pseudo-LiDAR 3D Object Detection Method Based on Confidence and Feature optimization

2021 ◽  
Author(s):  
Jianlong Zhang ◽  
Guangzu Fang ◽  
Bin Wang ◽  
Chen Chen ◽  
Xinyu Guo ◽  
...  
Keyword(s):  
Object Detection ◽  
Detection Method ◽  
3D Object ◽  
Feature Optimization ◽  
3D Object Detection

IT for Peace? Fighting Against Terrorism in Social Media – An Explorative Twitter Study

i-com ◽  
2017 ◽  
Vol 16 (2) ◽  
pp. 181-193 ◽  
Author(s):  
Christian Reuter ◽  
Katja Pätsch ◽  
Elena Runft
Keyword(s):  
Social Media ◽  
Information Systems ◽  
Empirical Study ◽  
State Of The Art ◽  
The State ◽  
The Internet ◽  
New Members ◽  
Starting Point ◽  
The Media

AbstractThe Internet and especially social media are not only used for supposedly good purposes. For example, the recruitment of new members and the dissemination of ideologies of terrorism also takes place in the media. However, the fight against terrorism also makes use of the same tools. The type of these countermeasures, as well as the methods, are covered in this work. In the first part, the state of the art is summarized. The second part presents an explorative empirical study of the fight against terrorism in social media, especially on Twitter. Different, preferably characteristic forms are structured within the scope with the example of Twitter. The aim of this work is to approach this highly relevant subject with the goal of peace, safety and safety from the perspective of information systems. Moreover, it should serve following researches in this field as basis and starting point.

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