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Segmenting medical images accurately and reliably is important for disease diagnosis and treatment. It is a challenging task because of the wide variety of objects' sizes, shapes, and scanning modalities. Recently, many convolutional neural networks (CNN) have been designed for segmentation tasks and achieved great success. Few studies, however, have fully considered the sizes of objects, and thus most demonstrate poor performance for small objects segmentation. This can have a significant impact on the early detection of diseases. This paper proposes a Context Axial Reserve Attention Network (CaraNet) to improve the segmentation performance on small objects compared with several recent state-of-the-art models. We test our CaraNet on brain tumor (BraTS 2018) and polyp (Kvasir-SEG, CVC-ColonDB, CVC-ClinicDB, CVC-300, and ETIS-LaribPolypDB) segmentation datasets. Our CaraNet achieves the top-rank mean Dice segmentation accuracy, and results show a distinct advantage of CaraNet in the segmentation of small medical objects.

Localization of a wireless mobile device or a robot in indoor and GPS-denied environments is a difficult problem, particularly in dynamic scenarios where traditional cameras and LIDAR-based alternative sensing and localization modalities may fail. We propose a method for estimating the location of a mobile robot in relation to static wireless sensor nodes (WSN) deployed in the environment. The method employs a novel particle filter that updates its weights using a Gauss probability over Direction of Arrival (DOA) estimate in conjunction with the mobile robot's mobility model. We evaluate and validate the proposed method in terms of accuracy and computational efficiency through extensive simulations and public real-world measurement datasets, comparing with standard state-of-the-art localization approaches. The results show considerably high meter-level localization accuracy balanced by the high computational efficiency, enabling it to use online without a need for a dedicated offline phase as in typical fingerprint-based localization algorithms.

Recent progress in stochastic motion prediction, i.e., predicting multiple possible future human motions given a single past pose sequence, has led to producing truly diverse future motions and even providing control over the motion of some body parts. However, to achieve this, the state-of-the-art method requires learning several mappings for diversity and a dedicated model for controllable motion prediction. In this paper, we introduce a unified deep generative network for both diverse and controllable motion prediction. To this end, we leverage the intuition that realistic human motions consist of smooth sequences of valid poses, and that, given limited data, learning a pose prior is much more tractable than a motion one. We therefore design a generator that predicts the motion of different body parts sequentially, and introduce a normalizing flow based pose prior, together with a joint angle loss, to achieve motion realism.Our experiments on two standard benchmark datasets, Human3.6M and HumanEva-I, demonstrate that our approach outperforms the state-of-the-art baselines in terms of both sample diversity and accuracy. The code is available at //github.com/wei-mao-2019/gsps

Traffic forecasting models rely on data that needs to be sensed, processed, and stored. This requires the deployment and maintenance of traffic sensing infrastructure, often leading to unaffordable monetary costs. The lack of sensed locations can be complemented with synthetic data simulations that further lower the economical investment needed for traffic monitoring. One of the most common data generative approaches consists of producing real-like traffic patterns, according to data distributions from analogous roads. The process of detecting roads with similar traffic is the key point of these systems. However, without collecting data at the target location no flow metrics can be employed for this similarity-based search. We present a method to discover locations among those with available traffic data by inspecting topological features of road segments. Relevant topological features are extracted as numerical representations (embeddings) to compare different locations and eventually find the most similar roads based on the similarity between their embeddings. The performance of this novel selection system is examined and compared to simpler traffic estimation approaches. After finding a similar source of data, a generative method is used to synthesize traffic profiles. Depending on the resemblance of the traffic behavior at the sensed road, the generation method can be fed with data from one road only. Several generation approaches are analyzed in terms of the precision of the synthesized samples. Above all, this work intends to stimulate further research efforts towards enhancing the quality of synthetic traffic samples and thereby, reducing the need for sensing infrastructure.

Existing Earth Vision datasets are either suitable for semantic segmentation or object detection. In this work, we introduce the first benchmark dataset for instance segmentation in aerial imagery that combines instance-level object detection and pixel-level segmentation tasks. In comparison to instance segmentation in natural scenes, aerial images present unique challenges e.g., a huge number of instances per image, large object-scale variations and abundant tiny objects. Our large-scale and densely annotated Instance Segmentation in Aerial Images Dataset (iSAID) comes with 655,451 object instances for 15 categories across 2,806 high-resolution images. Such precise per-pixel annotations for each instance ensure accurate localization that is essential for detailed scene analysis. Compared to existing small-scale aerial image based instance segmentation datasets, iSAID contains 15$\times$ the number of object categories and 5$\times$ the number of instances. We benchmark our dataset using two popular instance segmentation approaches for natural images, namely Mask R-CNN and PANet. In our experiments we show that direct application of off-the-shelf Mask R-CNN and PANet on aerial images provide suboptimal instance segmentation results, thus requiring specialized solutions from the research community. The dataset is publicly available at: //captain-whu.github.io/iSAID/index.html

In this work we propose a new method for simultaneous object detection and 6DoF pose estimation. Unlike most recent techniques for CNN-based object detection and pose estimation, we do not base our approach on the common 2D counterparts, i.e. SSD and YOLO, but propose a new scheme. Instead of regressing 2D or 3D bounding boxes, we output full-sized 2D images containing multiclass object masks and dense 2D-3D correspondences. Having them at hand, a 6D pose is computed for each detected object using the PnP algorithm supplemented with RANSAC. This strategy allows for substantially better pose estimates due to a much higher number of relevant pose correspondences. Furthermore, the method is real-time capable, conceptually simple and not bound to any particular detection paradigms, such as R-CNN, SSD or YOLO. We test our method for single- and multiple-object pose estimation and compare the performance with the former state-of-the-art approaches. Moreover, we demonstrate how to use our pipeline when only synthetic renderings are available. In both cases, we outperform the former state-of-the-art by a large margin.

Safety and decline of road traffic accidents remain important issues of autonomous driving. Statistics show that unintended lane departure is a leading cause of worldwide motor vehicle collisions, making lane detection the most promising and challenge task for self-driving. Today, numerous groups are combining deep learning techniques with computer vision problems to solve self-driving problems. In this paper, a Global Convolution Networks (GCN) model is used to address both classification and localization issues for semantic segmentation of lane. We are using color-based segmentation is presented and the usability of the model is evaluated. A residual-based boundary refinement and Adam optimization is also used to achieve state-of-art performance. As normal cars could not afford GPUs on the car, and training session for a particular road could be shared by several cars. We propose a framework to get it work in real world. We build a real time video transfer system to get video from the car, get the model trained in edge server (which is equipped with GPUs), and send the trained model back to the car.

In this paper, we propose a novel scene text detection method named TextMountain. The key idea of TextMountain is making full use of border-center information. Different from previous works that treat center-border as a binary classification problem, we predict text center-border probability (TCBP) and text center-direction (TCD). The TCBP is just like a mountain whose top is text center and foot is text border. The mountaintop can separate text instances which cannot be easily achieved using semantic segmentation map and its rising direction can plan a road to top for each pixel on mountain foot at the group stage. The TCD helps TCBP learning better. Our label rules will not lead to the ambiguous problem with the transformation of angle, so the proposed method is robust to multi-oriented text and can also handle well with curved text. In inference stage, each pixel at the mountain foot needs to search the path to the mountaintop and this process can be efficiently completed in parallel, yielding the efficiency of our method compared with others. The experiments on MLT, ICDAR2015, RCTW-17 and SCUT-CTW1500 databases demonstrate that the proposed method achieves better or comparable performance in terms of both accuracy and efficiency. It is worth mentioning our method achieves an F-measure of 76.85% on MLT which outperforms the previous methods by a large margin. Code will be made available.

Lane mark detection is an important element in the road scene analysis for Advanced Driver Assistant System (ADAS). Limited by the onboard computing power, it is still a challenge to reduce system complexity and maintain high accuracy at the same time. In this paper, we propose a Lane Marking Detector (LMD) using a deep convolutional neural network to extract robust lane marking features. To improve its performance with a target of lower complexity, the dilated convolution is adopted. A shallower and thinner structure is designed to decrease the computational cost. Moreover, we also design post-processing algorithms to construct 3rd-order polynomial models to fit into the curved lanes. Our system shows promising results on the captured road scenes.

Planar object tracking is an actively studied problem in vision-based robotic applications. While several benchmarks have been constructed for evaluating state-of-the-art algorithms, there is a lack of video sequences captured in the wild rather than in constrained laboratory environment. In this paper, we present a carefully designed planar object tracking benchmark containing 210 videos of 30 planar objects sampled in the natural environment. In particular, for each object, we shoot seven videos involving various challenging factors, namely scale change, rotation, perspective distortion, motion blur, occlusion, out-of-view, and unconstrained. The ground truth is carefully annotated semi-manually to ensure the quality. Moreover, eleven state-of-the-art algorithms are evaluated on the benchmark using two evaluation metrics, with detailed analysis provided for the evaluation results. We expect the proposed benchmark to benefit future studies on planar object tracking.