Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to space images containing widely varying illumination conditions, high contrast, and poor resolution in addition to power and mass constraints. In this paper, a convolutional neural network is leveraged to uniquely determine the translation and rotation of an object of interest relative to the camera. The main idea of using CNN model is to assist object tracker used in on space assembly tasks where only feature based method is always not sufficient. The simulation framework designed for assembly task is used to generate dataset for training the modified CNN models and, then results of different models are compared with measure of how accurately models are predicting the pose. Unlike many current approaches for spacecraft or object in space pose estimation, the model does not rely on hand-crafted object-specific features which makes this model more robust and easier to apply to other types of spacecraft. It is shown that the model performs comparable to the current feature-selection methods and can therefore be used in conjunction with them to provide more reliable estimates.
One of the critical tools for early detection and subsequent evaluation of the incidence of lung diseases is chest radiography. This study presents a real-world implementation of a convolutional neural network (CNN) based Carebot Covid app to detect COVID-19 from chest X-ray (CXR) images. Our proposed model takes the form of a simple and intuitive application. Used CNN can be deployed as a STOW-RS prediction endpoint for direct implementation into DICOM viewers. The results of this study show that the deep learning model based on DenseNet and ResNet architecture can detect SARS-CoV-2 from CXR …
Modular Deep Learning Framework for Assistive Perception: Gaze, Affect, and Speaker Identification
School of Computer Science and Engineering (SCOPE)（计算机科学与工程学院）；Vellore Institute of Technology (VIT)（韦洛雷理工学院）；School of Electronics Engineering (SENSE)（电子工程学院）
Egocentric vision holds great promises for increasing access to visual information and improving the quality of life for people with visual impairments, with object recognition being one of the daily challenges for this population. While we strive to improve recognition performance, it remains difficult to identify which object is of interest to the user; the object may not even be included in the frame due to challenges in camera aiming without visual feedback. Also, gaze information, commonly used to infer the area of interest in egocentric vision, is often not dependable. However, blind use…
Stony Brook University（石溪大学）；Missouri University of Science and Technology（密苏里科技大学）
Bridge inspection is an important step in preserving and rehabilitating transportation infrastructure for extending their service lives. The advancement of mobile robotic technology allows the rapid collection of a large amount of inspection video data. However, the data are mainly images of complex scenes, wherein a bridge of various structural elements mix with a cluttered background. Assisting bridge inspectors in extracting structural elements of bridges from the big complex video data, and sorting them out by classes, will prepare inspectors for the element-wise inspection to determine th…
Region-based object detection infers object regions for one or more categories in an image. Due to the recent advances in deep learning and region proposal methods, object detectors based on convolutional neural networks (CNNs) have been flourishing and provided the promising detection results. However, the detection accuracy is degraded often because of the low discriminability of object CNN features caused by occlusions and inaccurate region proposals. In this paper, we therefore propose a region decomposition and assembly detector (R-DAD) for more accurate object detection. In the proposed …
Convolutional Neural Networks (CNNs) are extremely computationally demanding, presenting a large barrier to their deployment on resource-constrained devices. Since such systems are where some of their most useful applications lie (e.g. obstacle detection for mobile robots, vision-based medical assistive technology), significant bodies of work from both machine learning and systems communities have attempted to provide optimisations that will make CNNs available to edge devices. In this paper we unify the two viewpoints in a Deep Learning Inference Stack and take an across-stack approach by imp…
Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable robotic assembly by using 3D CAD models for all parts to be assembled. We focus on a generic assembly task - the Siemens Innovation Challenge - in which a robot needs to assemble a gear-like mechanism with high precision into an operating system. To obtain the millimeter-accuracy required for this task and industrial settings alike, we use a depth camera moun…
We introduce a novel approach for temporal activity segmentation with timestamp supervision. Our main contribution is a graph convolutional network, which is learned in an end-to-end manner to exploit both frame features and connections between neighboring frames to generate dense framewise labels from sparse timestamp labels. The generated dense framewise labels can then be used to train the segmentation model. In addition, we propose a framework for alternating learning of both the segmentation model and the graph convolutional model, which first initializes and then iteratively refines the …
Purpose: The purpose of this study was to observe change in accuracies of convolutional neural networks (CNN) models (ratio of correct classifications to total predictions) on thoracic radiological images by creating different binary classification models based on age, gender, and image pre-processing filters on 14 pathologies. Methodology: This is a quantitative research exploring variation in CNN model accuracies. Radiological thoracic images were divided by age and gender and pre-processed by various image processing filters. Findings: We found partial support for enhancement to model accur…
InfoSyncNet: Information Synchronization Temporal Convolutional Network for Visual Speech Recognition
School of Cyber Science and Engineering, Zhengzhou University（信息科学与工程学院，郑州大学）；School of Computer Science and Technology, Xi’an Jiaotong University（计算机科学与技术学院，西安交通大学）；Research Center for Space Computing System, Zhejiang Lab（空间计算系统研究中心，浙江实验室）
University of Waterloo（滑铁卢大学）；Waterloo Artificial Intelligence Institute（滑铁卢人工智能研究所）；DarwinAI Corp.（DarwinAI公司）
While recent advances in deep learning have led to significant improvements in facial expression classification (FEC), a major challenge that remains a bottleneck for the widespread deployment of such systems is their high architectural and computational complexities. This is especially challenging given the operational requirements of various FEC applications, such as safety, marketing, learning, and assistive living, where real-time requirements on low-cost embedded devices is desired. Motivated by this need for a compact, low latency, yet accurate system capable of performing FEC in real-ti…
More than a thousand 8" silicon sensors will be visually inspected to look for anomalies on their surface during the quality control preceding assembly into the High-Granularity Calorimeter for the CMS experiment at CERN. A deep learning-based algorithm that pre-selects potentially anomalous images of the sensor surface in real time has been developed to automate the visual inspection. The anomaly detection is done by an ensemble of independent deep convolutional neural networks: an autoencoder and a classifier. The performance is evaluated on images acquired in production. The pre-selection r…
SENSEable City Laboratory, Massachusetts Institute of Technology（麻省理工学院可感知城市实验室）；Pontifícia Universidade Católica do Paraná（巴拉那天主教大学）；Shenzhen Research Institute, The Chinese University of Hong Kong（香港中文大学深圳研究院）；Institute of Space and Earth Information Science, The Chinese University of Hong Kong（香港中文大学太空与地球信息科学研究所）；Department of Geography and Resource Management, The Chinese University of Hong Kong（香港中文大学地理与资源管理学系）
In this paper, we propose a robust and parsimonious approach using Deep Convolutional Neural Network (DCNN) to recognize and interpret interior space. DCNN has achieved incredible success in object and scene recognition. In this study we design and train a DCNN to classify a pre-zoning indoor space, and from a single phone photo to recognize the learned space features, with no need of additional assistive technology. We collect more than 600,000 images inside MIT campus buildings to train our DCNN model, and achieved 97.9% accuracy in validation dataset and 81.7% accuracy in test dataset based…
Khulna University of Engineering & Technology（库尔纳工程技术大学）
Automated skin lesion analysis for simultaneous detection and recognition is still challenging for inter-class homogeneity and intra-class heterogeneity, leading to low generic capability of a Single Convolutional Neural Network (CNN) with limited datasets. This article proposes an end-to-end deep CNN-based framework for simultaneous detection and recognition of the skin lesions, named Dermo-DOCTOR, consisting of two encoders. The feature maps from two encoders are fused channel-wise, called Fused Feature Map (FFM). The FFM is utilized for decoding in the detection sub-network, concatenating e…
Object tracking has important application in assistive technologies for personalized monitoring. Recent trackers choosing AlexNet as their backbone to extract features have gained great success. However, AlexNet is too shallow to form a strong feature representation, the tracker based on the Siamese network have an accuracy gap compared with state-of-the-art algorithms. To solve this problem, this paper proposes a tracker called SiamPF. Firstly, the modified pre-trained VGG16 network is fine-tuned as the backbone. Secondly, an AlexNet-like branch is added after the third convolutional layer an…
Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in sensing and control, as well as unknown object properties. We propose a method to plan robotic grasps that are both robust and precise by training two convolutional neural networks - one to predict the robustness of a grasp and another to predict a distribution of post-grasp object displacements. Our networks are trained with depth images in simulation on a da…
CUHK-SenseTime Joint Laboratory, The Chinese University of Hong Kong（香港中文大学-商汤科技联合实验室）；Shenzhen Key Lab of Computer Vision and Pattern Recognition, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院计算机视觉与模式识别深圳市重点实验室）；SenseTime Research（商汤科技研究院）
Both performance and efficiency are important to semantic segmentation. State-of-the-art semantic segmentation algorithms are mostly based on dilated Fully Convolutional Networks (dilatedFCN), which adopt dilated convolutions in the backbone networks to extract high-resolution feature maps for achieving high-performance segmentation performance. However, due to many convolution operations are conducted on the high-resolution feature maps, such dilatedFCN-based methods result in large computational complexity and memory consumption. To balance the performance and efficiency, there also exist en…
University of Glasgow（格拉斯哥大学）；University of Oslo（奥斯陆大学）
The volume of data being collected in solar physics has exponentially increased over the past decade and with the introduction of the $\textit{Daniel K. Inouye Solar Telescope}$ (DKIST) we will be entering the age of petabyte solar data. Automated feature detection will be an invaluable tool for post-processing of solar images to create catalogues of data ready for researchers to use. We propose a deep learning model to accomplish this; a deep convolutional neural network is adept at feature extraction and processing images quickly. We train our network using data from $\textit{Hinode/Solar Op…
