Abstract. While color video endoscopy has enabled wide-field examination of the gastrointestinal tract, it often misses or incorrectly classifies lesions. Many of these missed lesions exhibit characteristic three-dimensional surface topographies. An endoscopic system that adds topographical measurements to conventional color imagery could therefore increase lesion detection and improve classification accuracy. We introduce photometric stereo endoscopy (PSE), a technique which allows high spatial frequency components of surface topography to be acquired simultaneously with conventional two-dimensional color imagery. We implement this technique in an endoscopic form factor and demonstrate that it can acquire the topography of small features with complex geometries and heterogeneous optical properties. PSE imaging of ex vivo human gastrointestinal tissue shows that surface topography measurements enable differentiation of abnormal shapes from surrounding normal tissue. Together, these results confirm that the topographical measurements can be obtained with relatively simple hardware in an endoscopic form factor, and suggest the potential of PSE to improve lesion detection and classification in gastrointestinal imaging. © The Authors. Published by SPIE under a Creative Commons Attribution 3.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.
There is currently a division between real-world human performance and the decision making of socially interactive robots. This circumstance is partially due to the difficulty in estimating human cues, such as pose and gesture, from robot sensing. Towards bridging this division, we present a method for kinematic pose estimation and action recognition from monocular robot vision through the use of dynamical human motion vocabularies. Our notion of a motion vocabulary is comprised of movement primitives that structure a human's action space for decision making and predict human movement dynamics. Through prediction, such primitives can be used to both generate motor commands for specific actions and perceive humans performing those actions. In this paper, we focus specifically on the perception of human pose and performed actions using a known vocabulary of primitives. Given image observations over time, each primitive infers pose independently using its expected dynamics in the context of a particle filter. Pose estimates from a set of primitives inferencing in parallel are arbitrated to estimate the action being performed. The efficacy of our approach is demonstrated through interactive-time pose and action recognition over extended motion trials. Results evidence our approach requires small numbers of particles for tracking, is robust to unsegmented multi-action movement, movement speed, camera viewpoint and is able to recover from occlusions.
Many automatic image analysis algorithms in medical imaging require a good initialization to work properly. A similar problem occurs in many imaging-based clinical workflows, which depend on anatomical landmarks. The localization of anatomic structures based on a defined context provides with a solution to that problem, which turns out to be more challenging in medical imaging where labeled images are difficult to obtain. We propose a two-stage process to detect and regress 2D bounding boxes of predefined anatomical structures based on a 2D surrounding context. First, we use a deep convolutional neural network (DCNN) architecture to detect the optimal slice where an anatomical structure is present, based on relevant landmark features. After this detection, we employ a similar architecture to perform a 2D regression with the aim of proposing a bounding box where the structure is encompassed. We trained and tested our system for 57 anatomical structures defined in axial, sagittal and coronal planes with a dataset of 504 labeled Computed Tomography (CT) scans. We compared our method with a well-known object detection algorithm (Viola Jones) and with the inter-rater error for two human experts. Despite the relatively small number of scans and the exhaustive number of structures analyzed, our method obtained promising and consistent results, which proves our architecture very generalizable to other anatomical structures.
Abstract. In this paper we present the system architecture for our Four Legged RoboCup Soccer Team -Eagle Knights. We describe the system architecture:
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