Accurate segmentation of magnetic resonance images (MRI) corrupted by intensity inhomogeneity is a challenging problem and has received an enormous amount of attention lately. On the basis of the local image model, we propose a different segmentation method for MR brain images without estimation and correction for intensity heterogeneity. Firstly, we obtain clustering context which size is optimized by a minimum entropy criterion. Then, Each context is segmented by Affinity Propagation(AP) algorithm. The proposed methodology has been evaluated for simulated images and shown the better results.
Perception that involves multi-object detection and tracking, and trajectory prediction are two major tasks of autonomous driving. However, they are currently mostly studied separately, which results in most trajectory prediction modules being developed based on ground truth trajectories without taking into account that trajectories extracted from the detection and tracking modules in real-world scenarios are noisy. These noisy trajectories can have a significant impact on the performance of the trajectory predictor and can lead to serious prediction errors. In this paper, we build an end-to-end framework for detection, tracking, and trajectory prediction called ODTP (Online Detection, Tracking and Prediction). It adopts the state-of-the-art online multi-object tracking model, QD-3DT, for perception and trains the trajectory predictor, DCENet++, directly based on the detection results without purely relying on ground truth trajectories. We evaluate the performance of ODTP on the widely used nuScenes dataset for autonomous driving. Extensive experiments show that ODPT achieves high performance end-to-end trajectory prediction. DCENet++, with the enhanced dynamic maps, predicts more accurate trajectories than its base model. It is also more robust when compared with other generative and deterministic trajectory prediction models trained on noisy detection results.
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