In order to successfully perform manipulation tasks in new environments, such as grasping, robots must be proficient in segmenting unseen objects from the background and/or other objects. Previous works perform unseen object instance segmentation (UOIS) by training deep neural networks on large-scale data to learn RGB/RGB-D feature embeddings, where cluttered environments often result in inaccurate segmentations. We build upon these methods and introduce a novel approach to correct inaccurate segmentation, such as under-segmentation, of static image-based UOIS masks by using robot interaction and a designed body frame-invariant feature. We demonstrate that the relative linear and rotational velocities of frames randomly attached to rigid bodies due to robot interactions can be used to identify objects and accumulate corrected object-level segmentation masks. By introducing motion to regions of segmentation uncertainty, we are able to drastically improve segmentation accuracy in an uncertainty-driven manner with minimal, non-disruptive interactions (ca. 2-3 per scene). We demonstrate the effectiveness of our proposed interactive perception pipeline in accurately segmenting cluttered scenes by achieving an average object segmentation accuracy rate of 80.7%, an increase of 28.2% when compared with other state-of-the-art UOIS methods.
Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label for further fine-tuning to improve the segmentation model performance, while avoiding the time-consuming process of manually labeling a dataset. The Singulation-and-Grasping (SaG) policy is trained through end-to-end reinforcement learning. Given a cluttered pile of objects, our approach chooses pushing and grasping motions to break the clutter and conducts ob…
University of Campinas（坎皮纳斯大学）；Université Gustave Eiffel（古斯塔夫·埃菲尔大学）
Despite the progress of interactive image segmentation methods, high-quality pixel-level annotation is still time-consuming and laborious - a bottleneck for several deep learning applications. We take a step back to propose interactive and simultaneous segment annotation from multiple images guided by feature space projection. This strategy is in stark contrast to existing interactive segmentation methodologies, which perform annotation in the image domain. We show that feature space annotation achieves competitive results with state-of-the-art methods in foreground segmentation datasets: iCoS…
We address interactive full image annotation, where the goal is to accurately segment all object and stuff regions in an image. We propose an interactive, scribble-based annotation framework which operates on the whole image to produce segmentations for all regions. This enables sharing scribble corrections across regions, and allows the annotator to focus on the largest errors made by the machine across the whole image. To realize this, we adapt Mask-RCNN into a fast interactive segmentation framework and introduce an instance-aware loss measured at the pixel-level in the full image canvas, w…
Manually annotating object segmentation masks is very time consuming. Interactive object segmentation methods offer a more efficient alternative where a human annotator and a machine segmentation model collaborate. In this paper we make several contributions to interactive segmentation: (1) we systematically explore in simulation the design space of deep interactive segmentation models and report new insights and caveats; (2) we execute a large-scale annotation campaign with real human annotators, producing masks for 2.5M instances on the OpenImages dataset. We plan to release this data public…
We address interactive panoptic annotation, where one segment all object and stuff regions in an image. We investigate two graph-based segmentation algorithms that both enforce connectivity of each region, with a notable class-aware Integer Linear Programming (ILP) formulation that ensures global optimum. Both algorithms can take RGB, or utilize the feature maps from any DCNN, whether trained on the target dataset or not, as input. We then propose an interactive, scribble-based annotation framework.
In this paper we present our system for human-in-the-loop video object segmentation. The backbone of our system is a method for one-shot video object segmentation. While fast, this method requires an accurate pixel-level segmentation of one (or several) frames as input. As manually annotating such a segmentation is impractical, we propose a deep interactive image segmentation method, that can accurately segment objects with only a handful of clicks. On the GrabCut dataset, our method obtains 90% IOU with just 3.8 clicks on average, setting the new state of the art. Furthermore, as our method i…
The interactive image segmentation algorithm can provide an intelligent ways to understand the intention of user input. Many interactive methods have the problem of that ask for large number of user input. To efficient produce intuitive segmentation under limited user input is important for industrial application. In this paper, we reveal a positive feedback system on image segmentation to show the pixels of self-learning. Two approaches, iterative random walks and boundary random walks, are proposed for segmentation potential, which is the key step in feedback system. Experiment results on im…
University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）
We propose iSegFormer, a memory-efficient transformer that combines a Swin transformer with a lightweight multilayer perceptron (MLP) decoder. With the efficient Swin transformer blocks for hierarchical self-attention and the simple MLP decoder for aggregating both local and global attention, iSegFormer learns powerful representations while achieving high computational efficiencies. Specifically, we apply iSegFormer to interactive 3D medical image segmentation.
Image segmentation is a fundamental problem in computational vision and medical imaging. Designing a generic, automated method that works for various objects and imaging modalities is a formidable task. Instead of proposing a new specific segmentation algorithm, we present a general design principle on how to integrate user interactions from the perspective of feedback control theory. Impulsive control and Lyapunov stability analysis are employed to design and analyze an interactive segmentation system. Then stabilization conditions are derived to guide algorithm design. Finally, the effective…
Institute of Computer Science II（第二计算机科学研究所）；University of Bonn（波恩大学）；School of Computing（计算学院）；National University of Singapore（新加坡国立大学）
In interactive instance segmentation, users give feedback to iteratively refine segmentation masks. The user-provided clicks are transformed into guidance maps which provide the network with necessary cues on the whereabouts of the object of interest. Guidance maps used in current systems are purely distance-based and are either too localized or non-informative. We propose a novel transformation of user clicks to generate scale-aware guidance maps that leverage the hierarchical structural information present in an image. Using our guidance maps, even the most basic FCNs are able to outperform …
Harvard University（哈佛大学）；John A. Paulson School of Engineering and Applied Sciences（约翰·A·保尔森工程与应用科学学院）
We present an interactive approach to train a deep neural network pixel classifier for the segmentation of neuronal structures. An interactive training scheme reduces the extremely tedious manual annotation task that is typically required for deep networks to perform well on image segmentation problems. Our proposed method employs a feedback loop that captures sparse annotations using a graphical user interface, trains a deep neural network based on recent and past annotations, and displays the prediction output to users in almost real-time. Our implementation of the algorithm also allows mult…
University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）；United Imaging Intelligence（联影智能）
The goal of click-based interactive image segmentation is to obtain precise object segmentation masks with limited user interaction, i.e., by a minimal number of user clicks. Existing methods require users to provide all the clicks: by first inspecting the segmentation mask and then providing points on mislabeled regions, iteratively. We ask the question: can our model directly predict where to click, so as to further reduce the user interaction cost? To this end, we propose {\PseudoClick}, a generic framework that enables existing segmentation networks to propose candidate next clicks. These …
Clore: Interactive Pathology Image Segmentation with Click-based Local Refinement
School of Computer Science and Technology, University of Science and Technology of China（中国科学技术大学计算机科学与技术学院）；School of Artificial Intelligence and Data Science, University of Science and Technology of China（中国科学技术大学人工智能与数据科学学院）
In recent years, the rapid development of deep learning has brought great advancements to image and video segmentation methods based on neural networks. However, to unleash the full potential of such models, large numbers of high-quality annotated images are necessary for model training. Currently, many widely used open-source image segmentation software relies heavily on manual annotation which is tedious and time-consuming. In this work, we introduce EISeg, an Efficient Interactive SEGmentation annotation tool that can drastically improve image segmentation annotation efficiency, generating …
CVIT（计算机视觉与智能系统中心）；Kohli Center on Intelligent Systems (KCIS)（科利智能系统中心）；IIIT Hyderabad（海得拉巴国际信息技术学院）
Radiance Fields (RF) are popular to represent casually-captured scenes for new view synthesis and several applications beyond it. Mixed reality on personal spaces needs understanding and manipulating scenes represented as RFs, with semantic segmentation of objects as an important step. Prior segmentation efforts show promise but don't scale to complex objects with diverse appearance. We present the ISRF method to interactively segment objects with fine structure and appearance. Nearest neighbor feature matching using distilled semantic features identifies high-confidence seed regions. Bilatera…
ETH Zurich（苏黎世联邦理工学院）；Beijing Institute of Technology（北京理工大学）
Despite recent progress of automatic medical image segmentation techniques, fully automatic results usually fail to meet the clinical use and typically require further refinement. In this work, we propose a quality-aware memory network for interactive segmentation of 3D medical images. Provided by user guidance on an arbitrary slice, an interaction network is firstly employed to obtain an initial 2D segmentation. The quality-aware memory network subsequently propagates the initial segmentation estimation bidirectionally over the entire volume. Subsequent refinement based on additional user gui…
Farsee2 Technology（Farsee2科技）；Wuhan University（武汉大学）；Huazhong University of Science and Technology（华中科技大学）；University of South Carolina（南卡罗来纳大学）
Binary image segmentation plays an important role in computer vision and has been widely used in many applications such as image and video editing, object extraction, and photo composition. In this paper, we propose a novel interactive binary image segmentation method based on the Markov Random Field (MRF) framework and the fast bilateral solver (FBS) technique. Specifically, we employ the geodesic distance component to build the unary term. To ensure both computation efficiency and effective responsiveness for interactive segmentation, superpixels are used in computing geodesic distances inst…
Deep learning techniques have successfully been employed in numerous computer vision tasks including image segmentation. The techniques have also been applied to medical image segmentation, one of the most critical tasks in computer-aided diagnosis. Compared with natural images, the medical image is a gray-scale image with low-contrast (even with some invisible parts). Because some organs have similar intensity and texture with neighboring organs, there is usually a need to refine automatic segmentation results. In this paper, we propose an interactive deep refinement framework to improve the …
Interactive segmentation enables users to extract masks by providing simple annotations to indicate the target, such as boxes, clicks, or scribbles. Among these interaction formats, scribbles are the most flexible as they can be of arbitrary shapes and sizes. This enables scribbles to provide more indications of the target object. However, previous works mainly focus on click-based configuration, and the scribble-based setting is rarely explored. In this work, we attempt to formulate a standard protocol for scribble-based interactive segmentation. Basically, we design diversified strategies to…
University of South Carolina（南卡罗来纳大学）；Zhejiang University（浙江大学）；Utah State University（犹他州立大学）
One popular approach to interactively segment the foreground object of interest from an image is to annotate a bounding box that covers the foreground object. Then, a binary labeling is performed to achieve a refined segmentation. One major issue of the existing algorithms for such interactive image segmentation is their preference of an input bounding box that tightly encloses the foreground object. This increases the annotation burden, and prevents these algorithms from utilizing automatically detected bounding boxes. In this paper, we develop a new LooseCut algorithm that can handle cases w…
Institute of Computer Science II（计算机科学第二研究所）；University of Bonn, Germany（德国波恩大学）；School of Computing（计算机学院）；National University of Singapore（新加坡国立大学）
In current interactive instance segmentation works, the user is granted a free hand when providing clicks to segment an object; clicks are allowed on background pixels and other object instances far from the target object. This form of interaction is highly inconsistent with the end goal of efficiently isolating objects of interest. In our work, we propose a clicking scheme wherein user interactions are restricted to the proximity of the object. In addition, we propose a novel transformation of the user-provided clicks to generate a weak localization prior on the object which is consistent wit…
University of Maryland, College Park（马里兰大学帕克分校）；Alexandria University, Faculty of Engineering（亚历山大大学工程学院）
In this paper, we cast the scribble-based interactive image segmentation as a semi-supervised learning problem. Our novel approach alleviates the need to solve an expensive generalized eigenvector problem by approximating the eigenvectors using efficiently computed eigenfunctions. The smoothness operator defined on feature densities at the limit n tends to infinity recovers the exact eigenvectors of the graph Laplacian, where n is the number of nodes in the graph. To further reduce the computational complexity without scarifying our accuracy, we select pivots pixels from user annotations. In o…
Friedrich-Alexander University Erlangen-Nürnberg (FAU)（埃尔朗根-纽伦堡大学）；Siemens Healthcare GmbH（西门子医疗有限公司）；Erlangen Graduate School in Advanced Optical Technologies (SAOT)（埃尔朗根先进光学技术研究生院）
In interactive medical image segmentation, anatomical structures are extracted from reconstructed volumetric images. The first iterations of user interaction traditionally consist of drawing pictorial hints as an initial estimate of the object to extract. Only after this time consuming first phase, the efficient selective refinement of current segmentation results begins. Erroneously labeled seeds, especially near the border of the object, are challenging to detect and replace for a human and may substantially impact the overall segmentation quality. We propose an automatic seeding pipeline as…
Interactive image segmentation aims at obtaining a segmentation mask for an image using simple user annotations. During each round of interaction, the segmentation result from the previous round serves as feedback to guide the user's annotation and provides dense prior information for the segmentation model, effectively acting as a bridge between interactions. Existing methods overlook the importance of feedback or simply concatenate it with the original input, leading to underutilization of feedback and an increase in the number of required annotations. To address this, we propose an approach…
In this paper, we propose a novel fully convolutional two-stream fusion network (FCTSFN) for interactive image segmentation. The proposed network includes two sub-networks: a two-stream late fusion network (TSLFN) that predicts the foreground at a reduced resolution, and a multi-scale refining network (MSRN) that refines the foreground at full resolution. The TSLFN includes two distinct deep streams followed by a fusion network. The intuition is that, since user interactions are more direct information on foreground/background than the image itself, the two-stream structure of the TSLFN reduce…
Dynamic Prompt Generation for Interactive 3D Medical Image Segmentation Training
Medical Physics, Department of Diagnostic and Interventional Radiology, Medical Center—University of Freiburg, Faculty of Medicine, University of Freiburg（医学物理，诊断与介入放射科，弗赖堡大学医学中心，医学院，弗赖堡大学）；University of Freiburg（弗赖堡大学）；ELLIS Institute Tübingen（图宾根ELLIS研究所）
Dense pixel-wise classification maps output by deep neural networks are of extreme importance for scene understanding. However, these maps are often partially inaccurate due to a variety of possible factors. Therefore, we propose to interactively refine them within a framework named DISCA (Deep Image Segmentation with Continual Adaptation). It consists of continually adapting a neural network to a target image using an interactive learning process with sparse user annotations as ground-truth. We show through experiments on three datasets using synthesized annotations the benefits of the approa…
University of Bonn（波恩大学）；Indian Institute of Technology Bombay（印度理工学院孟买分校）；National University of Singapore（新加坡国立大学）
Segmenting objects of interest in an image is an essential building block of applications such as photo-editing and image analysis. Under interactive settings, one should achieve good segmentations while minimizing user input. Current deep learning-based interactive segmentation approaches use early fusion and incorporate user cues at the image input layer. Since segmentation CNNs have many layers, early fusion may weaken the influence of user interactions on the final prediction results. As such, we propose a new multi-stage guidance framework for interactive segmentation. By incorporating us…
Interactive image segmentation algorithms rely on the user to provide annotations as the guidance. When the task of interactive segmentation is performed on a small touchscreen device, the requirement of providing precise annotations could be cumbersome to the user. We design an efficient seed proposal method that actively proposes annotation seeds for the user to label. The user only needs to check which ones of the query seeds are inside the region of interest (ROI). We enforce the sparsity and diversity criteria on the selection of the query seeds. At each round of interaction the user is o…
QIS : Interactive Segmentation via Quasi-Conformal Mappings
City University of Hong Kong（香港城市大学）；Hong Kong Centre for Cerebro-Cardiovascular Health Engineering（香港心脑血管健康工程中心）；Nankai University（南开大学）；Chinese University of Hong Kong（香港中文大学）
University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）
Click-based interactive image segmentation aims at extracting objects with a limited user clicking. A hierarchical backbone is the de-facto architecture for current methods. Recently, the plain, non-hierarchical Vision Transformer (ViT) has emerged as a competitive backbone for dense prediction tasks. This design allows the original ViT to be a foundation model that can be finetuned for downstream tasks without redesigning a hierarchical backbone for pretraining. Although this design is simple and has been proven effective, it has not yet been explored for interactive image segmentation. To fi…
Nanjing University（南京大学）；University of Wollongong（伍伦贡大学）；Nanjing Normal University（南京师范大学）；University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）
Due to low tissue contrast, irregular object appearance, and unpredictable location variation, segmenting the objects from different medical imaging modalities (e.g., CT, MR) is considered as an important yet challenging task. In this paper, we present a novel method for interactive medical image segmentation with the following merits. (1) Our design is fundamentally different from previous pure patch-based and image-based segmentation methods. We observe that during delineation, the physician repeatedly check the inside-outside intensity changing to determine the boundary, which indicates tha…
High-quality training data play a key role in image segmentation tasks. Usually, pixel-level annotations are expensive, laborious and time-consuming for the large volume of training data. To reduce labelling cost and improve segmentation quality, interactive segmentation methods have been proposed, which provide the result with just a few clicks. However, their performance does not meet the requirements of practical segmentation tasks in terms of speed and accuracy. In this work, we propose EdgeFlow, a novel architecture that fully utilizes interactive information of user clicks with edge-guid…
With recent innovations in dense image captioning, it is now possible to describe every object of the scene with a caption while objects are determined by bounding boxes. However, interpretation of such an output is not trivial due to the existence of many overlapping bounding boxes. Furthermore, in current captioning frameworks, the user is not able to involve personal preferences to exclude out of interest areas. In this paper, we propose a novel hybrid deep learning architecture for interactive region segmentation and captioning where the user is able to specify an arbitrary region of the i…
Shanghai Jiao Tong University（上海交通大学）；East China Normal University（华东师范大学）
Existing automatic 3D image segmentation methods usually fail to meet the clinic use. Many studies have explored an interactive strategy to improve the image segmentation performance by iteratively incorporating user hints. However, the dynamic process for successive interactions is largely ignored. We here propose to model the dynamic process of iterative interactive image segmentation as a Markov decision process (MDP) and solve it with reinforcement learning (RL). Unfortunately, it is intractable to use single-agent RL for voxel-wise prediction due to the large exploration space. To reduce …
East China Normal University（华东师范大学）；Huashan Hospital, Fudan University（复旦大学附属华山医院）
Medical image segmentation is one of the fundamental problems for artificial intelligence-based clinical decision systems. Current automatic medical image segmentation methods are often failed to meet clinical requirements. As such, a series of interactive segmentation algorithms are proposed to utilize expert correction information. However, existing methods suffer from some segmentation refining failure problems after long-term interactions and some cost problems from expert annotation, which hinder clinical applications. This paper proposes an interactive segmentation framework, called inte…
SPT: Sequence Prompt Transformer for Interactive Image Segmentation
Ant Group（蚂蚁集团）；BAIDU（百度）；Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）；University of Chinese Academy of Sciences（中国科学院大学）
Interactive image segmentation is a topic of many studies in image processing. In a conventional approach, a user marks some pixels of the object(s) of interest and background, and an algorithm propagates these labels to the rest of the image. This paper presents a new graph-based method for interactive segmentation with two stages. In the first stage, nodes representing pixels are connected to their $k$-nearest neighbors to build a complex network with the small-world property to propagate the labels quickly. In the second stage, a regular network in a grid format is used to refine the segmen…
IME-USP（圣保罗大学数学与统计研究所）；University of São Paulo（圣保罗大学）；Methodist University of Piracicaba（皮拉西卡巴卫理公会大学）；UNIMEP（皮拉西卡巴卫理公会大学）；Ecole Nationale Supérieure des Télécommunications（国立高等电信学院）
This paper proposes a novel algorithm for the problem of structural image segmentation through an interactive model-based approach. Interaction is expressed in the model creation, which is done according to user traces drawn over a given input image. Both model and input are then represented by means of attributed relational graphs derived on the fly. Appearance features are taken into account as object attributes and structural properties are expressed as relational attributes. To cope with possible topological differences between both graphs, a new structure called the deformation graph is i…
Efficient and easy segmentation of images and volumes is of great practical importance. Segmentation problems that motivate our approach originate from microscopy imaging commonly used in materials science, medicine, and biology. We formulate image segmentation as a probabilistic pixel classification problem, and we apply segmentation as a step towards characterising image content. Our method allows the user to define structures of interest by interactively marking a subset of pixels. Thanks to the real-time feedback, the user can place new markings strategically, depending on the current outc…
University College London（伦敦大学学院）；KU Leuven（鲁汶大学）；University Hospitals KU Leuven（鲁汶大学医院）
Convolutional neural networks (CNNs) have achieved state-of-the-art performance for automatic medical image segmentation. However, they have not demonstrated sufficiently accurate and robust results for clinical use. In addition, they are limited by the lack of image-specific adaptation and the lack of generalizability to previously unseen object classes. To address these problems, we propose a novel deep learning-based framework for interactive segmentation by incorporating CNNs into a bounding box and scribble-based segmentation pipeline. We propose image-specific fine-tuning to make a CNN m…
We propose a new approach to interactive image segmentation based on some properties of a family of quadratic optimization problems related to dominant sets, a well-known graph-theoretic notion of a cluster which generalizes the concept of a maximal clique to edge-weighted graphs. In particular, we show that by properly controlling a regularization parameter which determines the structure and the scale of the underlying problem, we are in a position to extract groups of dominant-set clusters which are constrained to contain user-selected elements. The resulting algorithm can deal naturally wit…
