Recent success on realistic road driving datasets has increased interest in exploring robust performance in real-world applications. One of the major unsolved problems is to identify image content which can not be reliably recognized with a given inference engine. We therefore study approaches to recover a dense outlier map alongside the primary task with a single forward pass, by relying on shared convolutional features. We consider semantic segmentation as the primary task and perform extensive validation on WildDash val (inliers), LSUN val (outliers), and pasted objects from Pascal VOC 2007 (outliers). We achieve the best validation performance by training to discriminate inliers from pasted ImageNet-1k content, even though ImageNet-1k contains many road-driving pixels, and, at least nominally, fails to account for the full diversity of the visual world. The proposed two-head model performs comparably to the C-way multi-class model trained to predict uniform distribution in outliers, while outperforming several other validated approaches. We evaluate our best two models on the WildDash test dataset and set a new state of the art on the WildDash benchmark.
Subspace learning is an important problem, which has many applications in image and video processing. It can be used to find a low-dimensional representation of signals and images. But in many applications, the desired signal is heavily distorted by outliers and noise, which negatively affect the learned subspace. In this work, we present a novel algorithm for learning a subspace for signal representation, in the presence of structured outliers and noise. The proposed algorithm tries to jointly detect the outliers and learn the subspace for images. We present an alternating optimization algori…
We present a simple and effective framework for simultaneous semantic segmentation and instance segmentation with Fully Convolutional Networks (FCNs). The method, called BiSeg, predicts instance segmentation as a posterior in Bayesian inference, where semantic segmentation is used as a prior. We extend the idea of position-sensitive score maps used in recent methods to a fusion of multiple score maps at different scales and partition modes, and adopt it as a robust likelihood for instance segmentation inference. As both Bayesian inference and map fusion are performed per pixel, BiSeg is a full…
Standard semantic segmentation models owe their success to curated datasets with a fixed set of semantic categories, without contemplating the possibility of identifying unknown objects from novel categories. Existing methods in outlier detection suffer from a lack of smoothness and objectness in their predictions, due to limitations of the per-pixel classification paradigm. Furthermore, additional training for detecting outliers harms the performance of known classes. In this paper, we explore another paradigm with region-level classification to better segment unknown objects. We show that th…
In this paper, we propose a monocular visual localization pipeline leveraging semantic and depth cues. We apply semantic consistency evaluation to rank the image retrieval results and a practical clustering technique to reject estimation outliers. In addition, we demonstrate a substantial performance boost achieved with a combination of multiple feature extractors. Furthermore, by using depth prediction with a deep neural network, we show that a significant amount of falsely matched keypoints are identified and eliminated. The proposed pipeline outperforms most of the existing approaches at th…
There has been a remarkable progress in the accuracy of semantic segmentation due to the capabilities of deep learning. Unfortunately, these methods are not able to generalize much further than the distribution of their training data and fail to handle out-of-distribution classes appropriately. This limits the applicability to autonomous or safety critical systems. We propose a novel method leveraging generative models to detect wrongly segmented or out-of-distribution instances. Conditioned on the predicted semantic segmentation, an RGB image is generated. We then learn a dissimilarity metric…
We present a method to automatically learn to segment dynamic objects using SLAM outliers. It requires only one monocular sequence per dynamic object for training and consists in localizing dynamic objects using SLAM outliers, creating their masks, and using these masks to train a semantic segmentation network. We integrate the trained network in ORB-SLAM 2 and LDSO. At runtime we remove features on dynamic objects, making the SLAM unaffected by them. We also propose a new stereo dataset and new metrics to evaluate SLAM robustness. Our dataset includes consensus inversions, i.e., situations wh…
University of Cambridge（剑桥大学）；Chinese University of Hong Kong（香港中文大学）
We address the problem of automated nuclear segmentation, classification, and quantification from Haematoxylin and Eosin stained histology images, which is of great relevance for several downstream computational pathology applications. In this work, we present a solution framed as a simultaneous semantic and instance segmentation framework. Our solution is part of the Colon Nuclei Identification and Counting (CoNIC) Challenge. We first train a semantic and instance segmentation model separately. Our framework uses as backbone HoverNet and Cascade Mask-RCNN models. We then ensemble the results …
Universidad de los Andes（安第斯大学）；University of California, Berkeley（加州大学伯克利分校）
We aim to detect all instances of a category in an image and, for each instance, mark the pixels that belong to it. We call this task Simultaneous Detection and Segmentation (SDS). Unlike classical bounding box detection, SDS requires a segmentation and not just a box. Unlike classical semantic segmentation, we require individual object instances. We build on recent work that uses convolutional neural networks to classify category-independent region proposals (R-CNN [16]), introducing a novel architecture tailored for SDS. We then use category-specific, top- down figure-ground predictions to r…
Image segmentation in the medical domain is a challenging field owing to poor resolution and limited contrast. The predominantly used conventional segmentation techniques and the thresholding methods suffer from limitations because of heavy dependence on user interactions. Uncertainties prevalent in an image cannot be captured by these techniques. The performance further deteriorates when the images are corrupted by noise, outliers and other artifacts. The objective of this paper is to develop an effective robust fuzzy C- means clustering for segmenting vertebral body from magnetic resonance i…
University of Central Florida（中佛罗里达大学）；St. Louis University（圣路易斯大学）；National Institutes of Health（美国国立卫生研究院）
Quantification of adipose tissue (fat) from computed tomography (CT) scans is conducted mostly through manual or semi-automated image segmentation algorithms with limited efficacy. In this work, we propose a completely unsupervised and automatic method to identify adipose tissue, and then separate Subcutaneous Adipose Tissue (SAT) from Visceral Adipose Tissue (VAT) at the abdominal region. We offer a three-phase pipeline consisting of (1) Initial boundary estimation using gradient points, (2) boundary refinement using Geometric Median Absolute Deviation and Appearance based Local Outlier Score…
Southeast University（东南大学）；University of Basel（巴塞尔大学）；Friedrich-Alexander-Universität Erlangen-Nürnberg（埃尔朗根-纽伦堡大学）；University of Freiburg（弗莱堡大学）；Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
In this work, we aim to enhance model-based face reconstruction by avoiding fitting the model to outliers, i.e. regions that cannot be well-expressed by the model such as occluders or make-up. The core challenge for localizing outliers is that they are highly variable and difficult to annotate. To overcome this challenging problem, we introduce a joint Face-autoencoder and outlier segmentation approach (FOCUS).In particular, we exploit the fact that the outliers cannot be fitted well by the face model and hence can be localized well given a high-quality model fitting. The main challenge is tha…
Three-dimensional (3D) integrated renal structures (IRS) segmentation is important in clinical practice. With the advancement of deep learning techniques, many powerful frameworks focusing on medical image segmentation are proposed. In this challenge, we utilized the nnU-Net framework, which is the state-of-the-art method for medical image segmentation. To reduce the outlier prediction for the tumor label, we combine contour regularization (CR) loss of the tumor label with Dice loss and cross-entropy loss to improve this phenomenon.
This paper considers how to separate text and/or graphics from smooth background in screen content and mixed document images and proposes two approaches to perform this segmentation task. The proposed methods make use of the fact that the background in each block is usually smoothly varying and can be modeled well by a linear combination of a few smoothly varying basis functions, while the foreground text and graphics create sharp discontinuity. The algorithms separate the background and foreground pixels by trying to fit background pixel values in the block into a smooth function using two di…
Most existing point cloud completion methods are only applicable to partial point clouds without any noises and outliers, which does not always hold in practice. We propose in this paper an end-to-end network, named CS-Net, to complete the point clouds contaminated by noises or containing outliers. In our CS-Net, the completion and segmentation modules work collaboratively to promote each other, benefited from our specifically designed cascaded structure. With the help of segmentation, more clean point cloud is fed into the completion module. We design a novel completion decoder which harnesse…
University of Warwick（华威大学）；University of Sheffield（谢菲尔德大学）
Oral epithelial dysplasia (OED) is a pre-malignant histopathological diagnosis given to lesions of the oral cavity. Predicting OED grade or whether a case will transition to malignancy is critical for early detection and appropriate treatment. OED typically begins in the lower third of the epithelium before progressing upwards with grade severity, thus we have suggested that segmenting intra-epithelial layers, in addition to individual nuclei, may enable researchers to evaluate important layer-specific morphological features for grade/malignancy prediction. We present HoVer-Net+, a deep learni…
Semantic segmentation using convolutional neural networks (CNNs) is the state-of-the-art for many medical segmentation tasks including left ventricle (LV) segmentation in cardiac MR images. However, a drawback is that these CNNs lack explicit shape constraints, occasionally resulting in unrealistic segmentations. In this paper, we perform LV and myocardial segmentation by regression of pose and shape parameters derived from a statistical shape model. The integrated shape model regularizes predicted segmentations and guarantees realistic shapes. Furthermore, in contrast to semantic segmentation…
East China Normal University（华东师范大学）；University of California, Los Angeles（加州大学洛杉矶分校）；Michigan State University（密歇根州立大学）
In this paper, we propose a variational multiphase image segmentation model based on fuzzy membership functions and L1-norm fidelity. Then we apply the alternating direction method of multipliers to solve an equivalent problem. All the subproblems can be solved efficiently. Specifically, we propose a fast method to calculate the fuzzy median. Experimental results and comparisons show that the L1-norm based method is more robust to outliers such as impulse noise and keeps better contrast than its L2-norm counterpart. Theoretically, we prove the existence of the minimizer and analyze the converg…
A three in one bottom-up framework for simultaneous semantic segmentation, instance segmentation and classification of multi-organ nuclei in digital cancer histology
School of Computer Science, Northwestern Polytechnical University（西北工业大学计算机学院）；School of Information Science and Technology, University of Science and Technology of China（中国科学技术大学信息科学技术学院）；College of Science & Engineering, Hamad Bin Khalifa University（哈马德·本·哈利法大学科学与工程学院）
Vanderbilt University（范德堡大学）；Sigma Technology（12西格玛技术公司）；Vanderbilt University Medical Center（范德堡大学医学中心）
Abdominal multi-organ segmentation of computed tomography (CT) images has been the subject of extensive research interest. It presents a substantial challenge in medical image processing, as the shape and distribution of abdominal organs can vary greatly among the population and within an individual over time. While continuous integration of novel datasets into the training set provides potential for better segmentation performance, collection of data at scale is not only costly, but also impractical in some contexts. Moreover, it remains unclear what marginal value additional data have to off…
FZI Research Center for Information Technology（FZI信息技术研究中心）
Both object detection in and semantic segmentation of camera images are important tasks for automated vehicles. Object detection is necessary so that the planning and behavior modules can reason about other road users. Semantic segmentation provides for example free space information and information about static and dynamic parts of the environment. There has been a lot of research to solve both tasks using Convolutional Neural Networks. These approaches give good results but are computationally demanding. In practice, a compromise has to be found between detection performance, detection quali…
Université de technologie de Compiègne（贡比涅技术大学）；CNRS（法国国家科学研究中心）；Heudiasyc（混合智能系统与机器人实验室）；Institut universitaire de France（法兰西大学研究院）
We propose a hybrid architecture composed of a fully convolutional network (FCN) and a Dempster-Shafer layer for image semantic segmentation. In the so-called evidential FCN (E-FCN), an encoder-decoder architecture first extracts pixel-wise feature maps from an input image. A Dempster-Shafer layer then computes mass functions at each pixel location based on distances to prototypes. Finally, a utility layer performs semantic segmentation from mass functions and allows for imprecise classification of ambiguous pixels and outliers. We propose an end-to-end learning strategy for jointly updating t…
KAIST (Korea Advanced Institute of Science and Technology)（韩国科学技术院）
Intelligent agents need to understand the surrounding environment to provide meaningful services to or interact intelligently with humans. The agents should perceive geometric features as well as semantic entities inherent in the environment. Contemporary methods in general provide one type of information regarding the environment at a time, making it difficult to conduct high-level tasks. Moreover, running two types of methods and associating two resultant information requires a lot of computation and complicates the software architecture. To overcome these limitations, we propose a neural ar…
University of Queensland（昆士兰大学）；Australian e-Health Research Centre, CSIRO（澳大利亚联邦科学与工业研究组织澳大利亚电子健康研究中心）
Data scarcity is common in deep learning models for medical image segmentation. Previous works proposed multi-dataset learning, either simultaneously or via transfer learning to expand training sets. However, medical image datasets have diverse-sized images and features, and developing a model simultaneously for multiple datasets is challenging. This work proposes Fabric Image Representation Encoding Network (FIRENet), a universal architecture for simultaneous multi-dataset segmentation and transfer learning involving arbitrary numbers of dataset(s). To handle different-sized image and feature…
Centro de Investigación CITIC（CITIC研究中心）；Universidade da Coruña（拉科鲁尼亚大学）；Instituto de Investigación Biomédica de A Coruña (INIBIC)（拉科鲁尼亚生物医学研究所（INIBIC））
The study of the retinal vasculature is a fundamental stage in the screening and diagnosis of many diseases. A complete retinal vascular analysis requires to segment and classify the blood vessels of the retina into arteries and veins (A/V). Early automatic methods approached these segmentation and classification tasks in two sequential stages. However, currently, these tasks are approached as a joint semantic segmentation task, as the classification results highly depend on the effectiveness of the vessel segmentation. In that regard, we propose a novel approach for the simultaneous segmentat…
Research Group Ophthalmology, KU Leuven（KU Leuven眼科研究组）；Ophthalmology Department, UZ Leuven（UZ Leuven眼科部）；ESAT-PSI, KU Leuven（KU Leuven ESAT-PSI）；Hasselt University（哈塞尔特大学）；VITO NV
This investigation reports on the results of convolutional neural networks developed for the recently introduced PathologicAL Myopia (PALM) dataset, which consists of 1200 fundus images. We propose a new Optic Nerve Head (ONH)-based prediction enhancement for the segmentation of atrophy and fovea. Models trained with 400 available training images achieved an AUC of 0.9867 for pathological myopia classification, and a Euclidean distance of 58.27 pixels on the fovea localization task, evaluated on a test set of 400 images. Dice and F1 metrics for semantic segmentation of lesions scored 0.9303 an…
We present a new approach to rigid-body motion segmentation from two views. We use a previously developed nonlinear embedding of two-view point correspondences into a 9-dimensional space and identify the different motions by segmenting lower-dimensional subspaces. In order to overcome nonuniform distributions along the subspaces, whose dimensions are unknown, we suggest the novel concept of global dimension and its minimization for clustering subspaces with some theoretical motivation. We propose a fast projected gradient algorithm for minimizing global dimension and thus segmenting motions fr…
Southeast University（东南大学）；Swinburne University of Technology（斯威本科技大学）；Communication University of China（中国传媒大学）
Precise segmentation of organs and tumors plays a crucial role in clinical applications. It is a challenging task due to the irregular shapes and various sizes of organs and tumors as well as the significant class imbalance between the anatomy of interest (AOI) and the background region. In addition, in most situation tumors and normal organs often overlap in medical images, but current approaches fail to delineate both tumors and organs accurately. To tackle such challenges, we propose a position-guided deformable UNet, namely PGD-UNet, which exploits the spatial deformation capabilities of d…
In this work, we address the following matrix recovery problem: suppose we are given a set of data points containing two parts, one part consists of samples drawn from a union of multiple subspaces and the other part consists of outliers. We do not know which data points are outliers, or how many outliers there are. The rank and number of the subspaces are unknown either. Can we detect the outliers and segment the samples into their right subspaces, efficiently and exactly? We utilize a so-called {\em Low-Rank Representation} (LRR) method to solve this problem, and prove that under mild techni…
INESC TEC - Institute for Systems and Computer Engineering, Technology and Science（INESC TEC——系统与计算机工程、技术与科学研究所）；Faculdade de Engenharia da Universidade do Porto（波尔图大学工程学院）
We propose UOLO, a novel framework for the simultaneous detection and segmentation of structures of interest in medical images. UOLO consists of an object segmentation module which intermediate abstract representations are processed and used as input for object detection. The resulting system is optimized simultaneously for detecting a class of objects and segmenting an optionally different class of structures. UOLO is trained on a set of bounding boxes enclosing the objects to detect, as well as pixel-wise segmentation information, when available. A new loss function is devised, taking into a…
Faculty of Electrical Engineering and Computing, University of Zagreb（萨格勒布大学电气工程与计算学院）
Today's deep models are often unable to detect inputs which do not belong to the training distribution. This gives rise to confident incorrect predictions which could lead to devastating consequences in many important application fields such as healthcare and autonomous driving. Interestingly, both discriminative and generative models appear to be equally affected. Consequently, this vulnerability represents an important research challenge. We consider an outlier detection approach based on discriminative training with jointly learned synthetic outliers. We obtain the synthetic outliers by sam…
University of Lübeck（吕贝克大学）；Imperial College London（帝国理工学院）；Brigham & Women’s Hospital（布莱根妇女医院）；Harvard Medical School（哈佛医学院）
Accurate and reliable segmentation of catheters in MR-guided interventions remains a challenge, and a step of critical importance in clinical workflows. In this work, under reasonable assumptions, mechanical model based heuristics guide the segmentation process allows correct catheter identification rates greater than 98% (error 2.88 mm), and reduction in outliers to one-fourth compared to the state of the art. Given distal tips, searching towards the proximal ends of the catheters is guided by mechanical models that are estimated on a per-catheter basis. Their bending characteristics are used…
In this paper, we present a novel Bayesian approach to recover simultaneously block sparse signals in the presence of outliers. The key advantage of our proposed method is the ability to handle non-stationary outliers, i.e. outliers which have time varying support. We validate our approach with empirical results showing the superiority of the proposed method over competing approaches in synthetic data experiments as well as the multiple measurement face recognition problem.
The implementation of automatic image registration is still difficult in various applications. In this paper, an automatic image registration approach through line-support region segmentation and geometrical outlier removal (ALRS-GOR) is proposed. This new approach is designed to address the problems associated with the registration of images with affine deformations and inconsistent content, such as remote sensing images with different spectral content or noise interference, or map images with inconsistent annotations. To begin with, line-support regions, namely a straight region whose points…
Australian Institute for Machine Learning（澳大利亚机器学习研究所）；University of Adelaide（阿德莱德大学）；Singapore Management University（新加坡管理大学）
State-of-the-art (SOTA) anomaly segmentation approaches on complex urban driving scenes explore pixel-wise classification uncertainty learned from outlier exposure, or external reconstruction models. However, previous uncertainty approaches that directly associate high uncertainty to anomaly may sometimes lead to incorrect anomaly predictions, and external reconstruction models tend to be too inefficient for real-time self-driving embedded systems. In this paper, we propose a new anomaly segmentation method, named pixel-wise energy-biased abstention learning (PEBAL), that explores pixel-wise a…
Huazhong University of Science and Technology（华中科技大学）
In the detection of myeloproliferative, the number of cells in each type of bone marrow cells (BMC) is an important parameter for the evaluation. In this study, we propose a new counting method, which also consists of three modules including localization, segmentation and classification. The localization of BMC is achieved from a color transformation enhanced BMC sample image and stepwise averaging method (SAM). In the nucleus segmentation, both SAM and Otsu's method will be applied to obtain a weighted threshold for segmenting the patch into nucleus and non-nucleus. In the cytoplasm segmentat…
Pedestrian detection is a critical problem in computer vision with significant impact on safety in urban autonomous driving. In this work, we explore how semantic segmentation can be used to boost pedestrian detection accuracy while having little to no impact on network efficiency. We propose a segmentation infusion network to enable joint supervision on semantic segmentation and pedestrian detection. When placed properly, the additional supervision helps guide features in shared layers to become more sophisticated and helpful for the downstream pedestrian detector. Using this approach, we fin…
Instance level video object segmentation is an important technique for video editing and compression. To capture the temporal coherence, in this paper, we develop MaskRNN, a recurrent neural net approach which fuses in each frame the output of two deep nets for each object instance -- a binary segmentation net providing a mask and a localization net providing a bounding box. Due to the recurrent component and the localization component, our method is able to take advantage of long-term temporal structures of the video data as well as rejecting outliers. We validate the proposed algorithm on th…
Various imaging artifacts, low signal-to-noise ratio, and bone surfaces appearing several millimeters in thickness have hindered the success of ultrasound (US) guided computer assisted orthopedic surgery procedures. In this work, a multi-feature guided convolutional neural network (CNN) architecture is proposed for simultaneous enhancement, segmentation, and classification of bone surfaces from US data. The proposed CNN consists of two main parts: a pre-enhancing net, that takes the concatenation of B-mode US scan and three filtered image features for the enhancement of bone surfaces, and a mo…
University College London（伦敦大学学院）；Biomediq A/S（Biomediq公司）；University of Copenhagen（哥本哈根大学）
Segmenting vascular pathologies such as white matter lesions in Brain magnetic resonance images (MRIs) require acquisition of multiple sequences such as T1-weighted (T1-w) --on which lesions appear hypointense-- and fluid attenuated inversion recovery (FLAIR) sequence --where lesions appear hyperintense--. However, most of the existing retrospective datasets do not consist of FLAIR sequences. Existing missing modality imputation methods separate the process of imputation, and the process of segmentation. In this paper, we propose a method to link both modality imputation and segmentation using…
Edith Cowan University（伊迪斯科文大学）；Chalmers University of Technology（查尔姆斯理工大学）；The University of Adelaide（阿德莱德大学）
With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is corresponding increasing interest in the ability to automatically, reliably, and cheaply, register together individual point clouds. The volume of data to handle, and still elusive need to have the registration occur fully reliably and fully automatically, mean there is a need to innovate further. One largely untapped area of innovation is that of exploiting the {\em semantic information} of the points in question. Poin…
We study a data model in which the data matrix D can be expressed as D = L + S + C, where L is a low rank matrix, S an element-wise sparse matrix and C a matrix whose non-zero columns are outlying data points. To date, robust PCA algorithms have solely considered models with either S or C, but not both. As such, existing algorithms cannot account for simultaneous element-wise and column-wise corruptions. In this paper, a new robust PCA algorithm that is robust to simultaneous types of corruption is proposed. Our approach hinges on the sparse approximation of a sparsely corrupted column so that…
Monash University（莫纳什大学）；Australian Centre of Excellence for Robotic Vision（澳大利亚机器人视觉卓越中心）
We present an algorithm (SOFAS) to estimate the optical flow of events generated by a dynamic vision sensor (DVS). Where traditional cameras produce frames at a fixed rate, DVSs produce asynchronous events in response to intensity changes with a high temporal resolution. Our algorithm uses the fact that events are generated by edges in the scene to not only estimate the optical flow but also to simultaneously segment the image into objects which are travelling at the same velocity. This way it is able to avoid the aperture problem which affects other implementations such as Lucas-Kanade. Final…
University of Warwick（华威大学）；The Institute of Cancer Research（癌症研究所）；Sejong University（世宗大学）；University Hospitals Coventry and Warwickshire（考文垂与沃里克大学医院）
Nuclear segmentation and classification within Haematoxylin & Eosin stained histology images is a fundamental prerequisite in the digital pathology work-flow. The development of automated methods for nuclear segmentation and classification enables the quantitative analysis of tens of thousands of nuclei within a whole-slide pathology image, opening up possibilities of further analysis of large-scale nuclear morphometry. However, automated nuclear segmentation and classification is faced with a major challenge in that there are several different types of nuclei, some of them exhibiting large in…
Tel-Aviv University, Israel（特拉维夫大学（以色列））；Facebook AI Research（Facebook人工智能研究院）
We present a method for simultaneously learning, in an unsupervised manner, (i) a conditional image generator, (ii) foreground extraction and segmentation, (iii) clustering into a two-level class hierarchy, and (iv) object removal and background completion, all done without any use of annotation. The method combines a Generative Adversarial Network and a Variational Auto-Encoder, with multiple encoders, generators and discriminators, and benefits from solving all tasks at once. The input to the training scheme is a varied collection of unlabeled images from the same domain, as well as a set of…
