Dataset dependence affects many real‐life applications of machine learning: the performance of a model trained on a dataset is significantly worse on samples from another dataset than on new, unseen samples from the original one. This issue is particularly acute for small and somewhat specific databases in medical applications; the automated recognition of melanoma from skin lesion images is a prime example. We document dataset dependence in dermoscopic skin lesion image classification using three publicly available medium size datasets. Standard machine learning techniques aimed at improving the predictive power of a model might enhance performance slightly, but the gain is small, the dataset dependence is not reduced, and the best combination depends on model details. We demonstrate that simple differences in image statistics account for only 5% of the dataset dependence. We suggest a solution with two essential ingredients: using an ensemble of heterogeneous models, and training on a heterogeneous dataset. Our ensemble consists of 29 convolutional networks, some of which are trained on features considered important by dermatologists; the networks' output is fused by a trained committee machine. The combined International Skin Imaging Collaboration dataset is suitable for training, as it is multi‐source, produced by a collaboration of a number of clinics over the world. Building on the strengths of the ensemble, it is applied to a related problem as well: recognizing melanoma based on clinical (non‐dermoscopic) images. This is a harder problem as both the image quality is lower than those of the dermoscopic ones and the available public datasets are smaller and scarcer. We explored various training strategies and showed that 79% balanced accuracy can be achieved for binary classification averaged over three clinical datasets.
Allocentric semantic 3D maps are highly useful for a variety of human–machine interaction related tasks since egocentric viewpoints can be derived by the machine for the human partner. Class labels and map interpretations, however, may differ or could be missing for the participants due to the different perspectives. Particularly, when considering the viewpoint of a small robot, which significantly differs from the viewpoint of a human. In order to overcome this issue, and to establish common ground, we extend an existing real-time 3D semantic reconstruction pipeline with semantic matching across human and robot viewpoints. We use deep recognition networks, which usually perform well from higher (i.e., human) viewpoints but are inferior from lower viewpoints, such as that of a small robot. We propose several approaches for acquiring semantic labels for images taken from unusual perspectives. We start with a partial 3D semantic reconstruction from the human perspective that we transfer and adapt to the small robot’s perspective using superpixel segmentation and the geometry of the surroundings. The quality of the reconstruction is evaluated in the Habitat simulator and a real environment using a robot car with an RGBD camera. We show that the proposed approach provides high-quality semantic segmentation from the robot’s perspective, with accuracy comparable to the original one. In addition, we exploit the gained information and improve the recognition performance of the deep network for the lower viewpoints and show that the small robot alone is capable of generating high-quality semantic maps for the human partner. The computations are close to real-time, so the approach enables interactive applications.
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