No abstract
A distinct property of robot vision systems is that they are embodied. Visual information is extracted for the purpose of moving in and interacting with the environment. Thus, different types of perception-action cycles need to be implemented and evaluated.In this paper, we study the problem of designing a vision system for the purpose of object grasping in everyday environments. This vision system is firstly targeted at the interaction with the world through recognition and grasping of objects and secondly at being an interface for the reasoning and planning module to the real world. The latter provides the vision system with a certain task that drives it and defines a specific context, i.e. search for or identify a certain object and analyze it for potential later manipulation. We deal with cases of: (i) known objects, (ii) objects similar to already known objects, and (iii) unknown objects. The perception-action cycle is connected to the reasoning system based on the idea of affordances. All three cases are also related to the state of the art and the terminology in the neuroscientific area.
Purpose: Multiple vendors are currently offering artificial intelligence (AI) computer-aided systems for triage detection, diagnosis, and risk prediction of breast cancer based on screening mammography. There is an imminent need to establish validation platforms that enable fair and transparent testing of these systems against external data. Approach:We developed validation of artificial intelligence for breast imaging (VAI-B), a platform for independent validation of AI algorithms in breast imaging. The platform is a hybrid solution, with one part implemented in the cloud and another in an on-premises environment at Karolinska Institute. Cloud services provide the flexibility of scaling the computing power during inference time, while secure on-premises clinical data storage preserves their privacy. A MongoDB database and a python package were developed to store and manage the data onpremises. VAI-B requires four data components: radiological images, AI inferences, radiologist assessments, and cancer outcomes.Results: To pilot test VAI-B, we defined a case-control population based on 8080 patients diagnosed with breast cancer and 36,339 healthy women based on the Swedish national quality registry for breast cancer. Images and radiological assessments from more than 100,000 mammography examinations were extracted from hospitals in three regions of Sweden. The images were processed by AI systems from three vendors in a virtual private cloud to produce abnormality scores related to signs of cancer in the images. A total of 105,706 examinations have been processed and stored in the database. Conclusions:We have created a platform that will allow downstream evaluation of AI systems for breast cancer detection, which enables faster development cycles for participating vendors and safer AI adoption for participating hospitals. The platform was designed to be scalable and ready to be expanded should a new vendor want to evaluate their system or should a new hospital wish to obtain an evaluation of different AI systems on their images.
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