Enhanced Perception for Autonomous Driving Using Semantic and Geometric Data Fusion.

Environment perception remains one of the key tasks in autonomous driving for which solutions have yet to reach maturity. Multi-modal approaches benefit from the complementary physical properties specific to each sensor technology used, boosting overall performance. The added complexity brought on by data fusion processes is not trivial to solve, with design decisions heavily influencing the balance between quality and latency of the results.

Fast Panoptic Segmentation with Soft Attention Embeddings.

Panoptic segmentation provides a rich 2D environment representation by unifying semantic and instance segmentation. Most current state-of-the-art panoptic segmentation methods are built upon two-stage detectors and are not suitable for real-time applications, such as automated driving, due to their high computational complexity. In this work, we introduce a novel, fast and accurate single-stage panoptic segmentation network that employs a shared feature extraction backbone and three network heads for object detection, semantic segmentation, instance-level attention masks.

Robust Data Association Using Fusion of Data-Driven and Engineered Features for Real-Time Pedestrian Tracking in Thermal Images.

Object tracking is an essential problem in computer vision that has been extensively researched for decades. Tracking objects in thermal images is particularly difficult because of the lack of color information, low image resolution, or high similarity between objects of the same class. One of the main challenges in multi-object tracking, also referred to as the data association problem, is finding the correct correspondences between measurements and tracks and adapting the object appearance changes over time.

Hepatocellular Carcinoma Automatic Diagnosis within CEUS and B-Mode Ultrasound Images Using Advanced Machine Learning Methods.

Hepatocellular Carcinoma (HCC) is the most common malignant liver tumor, being present in 70% of liver cancer cases. It usually evolves on the top of the cirrhotic parenchyma. The most reliable method for HCC diagnosis is the needle biopsy, which is an invasive, dangerous method.

Integration of Real-Time Image Fusion in the Robotic-Assisted Treatment of Hepatocellular Carcinoma.

Hepatocellular carcinoma (HCC) is one of the leading causes of cancer-related deaths worldwide, with its mortality rate correlated with the tumor staging; i.e., early detection and treatment are important factors for the survival rate of patients.

Stabilization and Validation of 3D Object Position Using Multimodal Sensor Fusion and Semantic Segmentation.

The stabilization and validation process of the measured position of objects is an important step for high-level perception functions and for the correct processing of sensory data. The goal of this process is to detect and handle inconsistencies between different sensor measurements, which result from the perception system. The aggregation of the detections from different sensors consists in the combination of the sensorial data in one common reference frame for each identified object, leading to the creation of a super-sensor.

Systems of nonlinear algebraic equations with positive solutions.

We are concerned with the positive solutions of an algebraic system depending on a parameter [Formula: see text] and arising in economics. For [Formula: see text] we prove that the system has at least a solution. For [Formula: see text] we give three proofs of the existence and a proof of the uniqueness of the solution.

Detecting Curvilinear Features Using Structure Tensors.

Few published articles on curvilinear structures exist compared with works on detecting lines or corners with high accuracy. In medical ultrasound imaging, the structures that need to be detected appear as a collection of microstructures correlated along a path. In this paper, we investigated techniques that extract meaningful low-level information for curvilinear structures, using techniques based on structure tensor.

Semi-supervised segmentation of ultrasound images based on patch representation and continuous min cut.

Ultrasound segmentation is a challenging problem due to the inherent speckle and some artifacts like shadows, attenuation and signal dropout. Existing methods need to include strong priors like shape priors or analytical intensity models to succeed in the segmentation. However, such priors tend to limit these methods to a specific target or imaging settings, and they are not always applicable to pathological cases.

Label transfer by measuring compactness.

This paper presents a new automatic image annotation algorithm. First, we introduce a new similarity measure between images: compactness. This uses low level visual descriptors for determining the similarity between two images.

Motion estimation using the correlation transform.

The zero-mean normalized cross-correlation is shown to improve the accuracy of optical flow, but its analytical form is quite complicated for the variational framework. This paper addresses this issue and presents a new direct approach to this matching measure. Our approach uses the correlation transform to define very discriminative descriptors that are precomputed and that have to be matched in the target frame.

Iterative methods for obtaining energy-minimizing parametric snakes with applications to medical imaging.

After a brief survey on the parametric deformable models, we develop an iterative method based on the finite difference schemes in order to obtain energy-minimizing snakes. We estimate the approximation error, the residue, and the truncature error related to the corresponding algorithm, then we discuss its convergence, consistency, and stability. Some aspects regarding the prosthetic sugical methods that implement the above numerical methods are also pointed out.

Abdominal tumor characterization and recognition using superior-order cooccurrence matrices, based on ultrasound images.

The noninvasive diagnosis of the malignant tumors is an important issue in research nowadays. Our purpose is to elaborate computerized, texture-based methods for performing computer-aided characterization and automatic diagnosis of these tumors, using only the information from ultrasound images. In this paper, we considered some of the most frequent abdominal malignant tumors: the hepatocellular carcinoma and the colonic tumors.

Influence of expert-dependent variability over the performance of noninvasive fibrosis assessment in patients with chronic hepatitis C by means of texture analysis.

Texture analysis is viewed as a method to enhance the diagnosis power of classical B-mode ultrasound image. The present paper aims to evaluate and eliminate the dependence between the human expert and the performance of such a texture analysis system in predicting the cirrhosis in chronic hepatitis C patients. 125 consecutive chronic hepatitis C patients were included in this study.

Design of interpolation functions for subpixel-accuracy stereo-vision systems.

Traditionally, subpixel interpolation in stereo-vision systems was designed for the block-matching algorithm. During the evaluation of different interpolation strategies, a strong correlation was observed between the type of the stereo algorithm and the subpixel accuracy of the different solutions. Subpixel interpolation should be adapted to each stereo algorithm to achieve maximum accuracy.

Usefulness of textural analysis as a tool for noninvasive liver fibrosis staging.

Purpose: Noninvasive diagnosis of liver fibrosis is a popular topic in the medical literature. Textural analysis on B-mode ultrasound is viewed as a noninvasive tool for fibrosis staging. A liver tissue model is proposed and used to simulate ultrasound images.

Ultrasonography contribution to the detection and characterization of hepatic restructuring: is the "virtual biopsy" taken into consideration?

Generally, the evolution of diffuse liver diseases is variable but quite long. Even the severe types of chronic hepatitis have a slow progression which implies decades, often over 20-30 years. Cirrhosis is the principal long time complication of chronic hepatopathies.