Rolling shutter distortion is highly undesirable for photography and computer vision algorithms (e.g., visual SLAM) because pixels can be potentially captured at different times and poses. In this paper, we propose a deep neural network to predict depth and row-wise pose from a single image for rolling shutter correction. Our contribution in this work is to incorporate inertial measurement unit (IMU) data into the pose refinement process, which, compared to the state-of-the-art, greatly enhances the pose prediction. The improved accuracy and robustness make it possible for numerous vision algorithms to use imagery captured by rolling shutter cameras and produce highly accurate results. We also extend a dataset to have real rolling shutter images, IMU data, depth maps, camera poses, and corresponding global shutter images for rolling shutter correction training. We demonstrate the efficacy of the proposed method by evaluating the performance of Direct Sparse Odometry (DSO) algorithm on rolling shutter imagery corrected using the proposed approach. Results show marked improvements of the DSO algorithm over using uncorrected imagery, validating the proposed approach.
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Deep Depth Estimation from Visual-Inertial SLAM
This paper addresses the problem of learning to complete a scene's depth from sparse depth points and images of indoor scenes. Specifically, we study the case in which the sparse depth is computed from a visual-inertial simultaneous localization and mapping (VI-SLAM) system. The resulting point cloud has low density, it is noisy, and has nonuniform spatial distribution, as compared to the input from active depth sensors, e.g., LiDAR or Kinect. Since the VI-SLAM produces point clouds only over textured areas, we compensate for the missing depth of the low-texture surfaces by leveraging their planar structures and their surface normals which is an important intermediate representation. The pre-trained surface normal network, however, suffers from large performance degradation when there is a significant difference in the viewing direction (especially the roll angle) of the test image as compared to the trained ones. To address this limitation, we use the available gravity estimate from the VI-SLAM to warp the input image to the orientation prevailing in the training dataset. This results in a significant performance gain for the surface normal estimate, and thus the dense depth estimates. Finally, we show that our method outperforms other state-of-the-art approaches both on training (ScanNet [1] and NYUv2 [2]) and testing (collected with Azure Kinect [3]) datasets.
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- Award ID(s):
- 1637875
- NSF-PAR ID:
- 10297586
- Date Published:
- Journal Name:
- 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Page Range / eLocation ID:
- 10038 to 10045
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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null (Ed.)Introduction: Vaso-occlusive crises (VOCs) are a leading cause of morbidity and early mortality in individuals with sickle cell disease (SCD). These crises are triggered by sickle red blood cell (sRBC) aggregation in blood vessels and are influenced by factors such as enhanced sRBC and white blood cell (WBC) adhesion to inflamed endothelium. Advances in microfluidic biomarker assays (i.e., SCD Biochip systems) have led to clinical studies of blood cell adhesion onto endothelial proteins, including, fibronectin, laminin, P-selectin, ICAM-1, functionalized in microchannels. These microfluidic assays allow mimicking the physiological aspects of human microvasculature and help characterize biomechanical properties of adhered sRBCs under flow. However, analysis of the microfluidic biomarker assay data has so far relied on manual cell counting and exhaustive visual morphological characterization of cells by trained personnel. Integrating deep learning algorithms with microscopic imaging of adhesion protein functionalized microfluidic channels can accelerate and standardize accurate classification of blood cells in microfluidic biomarker assays. Here we present a deep learning approach into a general-purpose analytical tool covering a wide range of conditions: channels functionalized with different proteins (laminin or P-selectin), with varying degrees of adhesion by both sRBCs and WBCs, and in both normoxic and hypoxic environments. Methods: Our neural networks were trained on a repository of manually labeled SCD Biochip microfluidic biomarker assay whole channel images. Each channel contained adhered cells pertaining to clinical whole blood under constant shear stress of 0.1 Pa, mimicking physiological levels in post-capillary venules. The machine learning (ML) framework consists of two phases: Phase I segments pixels belonging to blood cells adhered to the microfluidic channel surface, while Phase II associates pixel clusters with specific cell types (sRBCs or WBCs). Phase I is implemented through an ensemble of seven generative fully convolutional neural networks, and Phase II is an ensemble of five neural networks based on a Resnet50 backbone. Each pixel cluster is given a probability of belonging to one of three classes: adhered sRBC, adhered WBC, or non-adhered / other. Results and Discussion: We applied our trained ML framework to 107 novel whole channel images not used during training and compared the results against counts from human experts. As seen in Fig. 1A, there was excellent agreement in counts across all protein and cell types investigated: sRBCs adhered to laminin, sRBCs adhered to P-selectin, and WBCs adhered to P-selectin. Not only was the approach able to handle surfaces functionalized with different proteins, but it also performed well for high cell density images (up to 5000 cells per image) in both normoxic and hypoxic conditions (Fig. 1B). The average uncertainty for the ML counts, obtained from accuracy metrics on the test dataset, was 3%. This uncertainty is a significant improvement on the 20% average uncertainty of the human counts, estimated from the variance in repeated manual analyses of the images. Moreover, manual classification of each image may take up to 2 hours, versus about 6 minutes per image for the ML analysis. Thus, ML provides greater consistency in the classification at a fraction of the processing time. To assess which features the network used to distinguish adhered cells, we generated class activation maps (Fig. 1C-E). These heat maps indicate the regions of focus for the algorithm in making each classification decision. Intriguingly, the highlighted features were similar to those used by human experts: the dimple in partially sickled RBCs, the sharp endpoints for highly sickled RBCs, and the uniform curvature of the WBCs. Overall the robust performance of the ML approach in our study sets the stage for generalizing it to other endothelial proteins and experimental conditions, a first step toward a universal microfluidic ML framework targeting blood disorders. Such a framework would not only be able to integrate advanced biophysical characterization into fast, point-of-care diagnostic devices, but also provide a standardized and reliable way of monitoring patients undergoing targeted therapies and curative interventions, including, stem cell and gene-based therapies for SCD. Disclosures Gurkan: Dx Now Inc.: Patents & Royalties; Xatek Inc.: Patents & Royalties; BioChip Labs: Patents & Royalties; Hemex Health, Inc.: Consultancy, Current Employment, Patents & Royalties, Research Funding.more » « less
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Existing solutions to visual simultaneous localization and mapping (VSLAM) assume that errors in feature extraction and matching are independent and identically distributed (i.i.d), but this assumption is known to not be true – features extracted from low-contrast regions of images exhibit wider error distributions than features from sharp corners. Furthermore, V-SLAM algorithms are prone to catastrophic tracking failures when sensed images include challenging conditions such as specular reflections, lens flare, or shadows of dynamic objects. To address such failures, previous work has focused on building more robust visual frontends, to filter out challenging features. In this paper, we present introspective vision for SLAM (IV-SLAM), a fundamentally different approach for addressing these challenges. IV-SLAM explicitly models the noise process of reprojection errors from visual features to be context-dependent, and hence non-i.i.d. We introduce an autonomously supervised approach for IV-SLAM to collect training data to learn such a context-aware noise model. Using this learned noise model, IV-SLAM guides feature extraction to select more features from parts of the image that are likely to result in lower noise, and further incorporate the learned noise model into the joint maximum likelihood estimation, thus making it robust to the aforementioned types of errors. We present empirical results to demonstrate that IV-SLAM 1) is able to accurately predict sources of error in input images, 2) reduces tracking error compared to V-SLAM, and 3) increases the mean distance between tracking failures by more than 70% on challenging real robot data compared to V-SLAM.more » « less
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Abstract Background Magnetic resonance imaging (MRI) scans are known to suffer from a variety of acquisition artifacts as well as equipment‐based variations that impact image appearance and segmentation performance. It is still unclear whether a direct relationship exists between magnetic resonance (MR) image quality metrics (IQMs) (e.g., signal‐to‐noise, contrast‐to‐noise) and segmentation accuracy.
Purpose Deep learning (DL) approaches have shown significant promise for automated segmentation of brain tumors on MRI but depend on the quality of input training images. We sought to evaluate the relationship between IQMs of input training images and DL‐based brain tumor segmentation accuracy toward developing more generalizable models for multi‐institutional data.
Methods We trained a 3D DenseNet model on the BraTS 2020 cohorts for segmentation of tumor subregions enhancing tumor (ET), peritumoral edematous, and necrotic and non‐ET on MRI; with performance quantified via a 5‐fold cross‐validated Dice coefficient. MRI scans were evaluated through the open‐source quality control tool MRQy, to yield 13 IQMs per scan. The Pearson correlation coefficient was computed between whole tumor (WT) dice values and IQM measures in the training cohorts to identify quality measures most correlated with segmentation performance. Each selected IQM was used to group MRI scans as “better” quality (BQ) or “worse” quality (WQ), via relative thresholding. Segmentation performance was re‐evaluated for the DenseNet model when (i) training on BQ MRI images with validation on WQ images, as well as (ii) training on WQ images, and validation on BQ images. Trends were further validated on independent test sets derived from the BraTS 2021 training cohorts.
Results For this study, multimodal MRI scans from the BraTS 2020 training cohorts were used to train the segmentation model and validated on independent test sets derived from the BraTS 2021 cohort. Among the selected IQMs, models trained on BQ images based on inhomogeneity measurements (coefficient of variance, coefficient of joint variation, coefficient of variation of the foreground patch) and the models trained on WQ images based on noise measurement peak signal‐to‐noise ratio (SNR) yielded significantly improved tumor segmentation accuracy compared to their inverse models.
Conclusions Our results suggest that a significant correlation may exist between specific MR IQMs and DenseNet‐based brain tumor segmentation performance. The selection of MRI scans for model training based on IQMs may yield more accurate and generalizable models in unseen validation.
- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/IROS45743.2020.9341448
