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Deep learning has thrived by training on large-scale datasets. However, in robotics applications sample efficiency is critical. We propose a novel adaptive masked proxies method that constructs the final segmentation layer weights from few labelled samples. It utilizes multiresolution average pooling on base embeddings masked with the label to act as a positive proxy for the new class, while fusing it with the previously learned class signatures. Our method is evaluated on PASCAL-5 i dataset and outperforms the state-of-the-art in the few-shot semantic segmentation. Unlike previous methods, our approach does not require a second branch to estimate parameters or prototypes, which enables it to be used with 2-stream motion and appearance based segmentation networks. We further propose a novel setup for evaluating continual learning of object segmentation which we name incremental PASCAL (iPAS-CAL) where our method outperforms the baseline method. Our code is publicly available at https://github. com/MSiam/AdaptiveMaskedProxies.

In this paper we present an experimental evaluation of adaptive and non-adaptive visual servoing in 3,6

The proportions of muscle and fat tissues in the human body, referred to as body composition is a vital measurement for cancer patients. Body composition has been recently linked to patient survival and the onset/recurrence of several types of cancers in numerous cancer research studies. This paper introduces a fully automatic framework for the segmentation of muscle and fat tissues from CT images to estimate body composition. We developed a novel finite element method (FEM) deformable model that incorporates a priori shape information via a statistical deformation model (SDM) within the template-based segmentation framework. The proposed method was validated on 1000 abdominal and 530 thoracic CT images and we obtained very good segmentation results with Jaccard scores in excess of 90% for both the muscle and fat regions.