This paper proposes an improved high-precision 3D semantic mapping method for indoor scenes using RGB-D images.The current semantic mapping algorithms suffer from low semantic annotation accuracy and insufficient real...This paper proposes an improved high-precision 3D semantic mapping method for indoor scenes using RGB-D images.The current semantic mapping algorithms suffer from low semantic annotation accuracy and insufficient real-time performance.To address these issues,we first adopt the Elastic Fusion algorithm to select key frames from indoor environment image sequences captured by the Kinect sensor and construct the indoor environment space model.Then,an indoor RGB-D image semantic segmentation network is proposed,which uses multi-scale feature fusion to quickly and accurately obtain object labeling information at the pixel level of the spatial point cloud model.Finally,Bayesian updating is used to conduct incremental semantic label fusion on the established spatial point cloud model.We also employ dense conditional random fields(CRF)to optimize the 3D semantic map model,resulting in a high-precision spatial semantic map of indoor scenes.Experimental results show that the proposed semantic mapping system can process image sequences collected by RGB-D sensors in real-time and output accurate semantic segmentation results of indoor scene images and the current local spatial semantic map.Finally,it constructs a globally consistent high-precision indoor scenes 3D semantic map.展开更多
In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous drivi...In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging(Li DAR)sensor and performs pattern matching by recognizing the shape of the tunnel wall.The proposed method was designed to measure the heading of the robot by fusion with the inertial measurement units sensor according to the pattern matching accuracy;it is combined with the encoder sensor to estimate the location of the robot.In addition,when the robot is driving,the vertical direction of the underground mine is scanned through the vertical Li DAR sensor and stacked to create a 3D map of the underground mine.The performance of the proposed method was superior to that of previous studies;the mean absolute error achieved was 0.08 m for the X-Y axes.A root mean square error of 0.05 m^(2)was achieved by comparing the tunnel section maps that were created by the autonomous driving robot to those of manual surveying.展开更多
Background:Cryoablation of accessory pathways(APs)is effective and very safe in children,as previously reported by our group.The aim of this retrospective study was to evaluate the current efficacy of 3D non-fluorosco...Background:Cryoablation of accessory pathways(APs)is effective and very safe in children,as previously reported by our group.The aim of this retrospective study was to evaluate the current efficacy of 3D non-fluoroscopic cryoablation of right sided APs in children,comparing results obtained with the Ensite VelocityTM and the more recent Ensite PrecisionTM 3D mapping systems.Methods and Results:From January 2016 to December 2019,102 pediatric patients[mean age 12.5±2.8,62 males(61%of total cohort)]with right APs underwent 3D non-fluoroscopic transcatheter cryoablation at our Institution.Fifteen(14.7%)patients had previously undergone catheter ablation.Acute procedural success rate was 95.1%(n=97).No significant differences were detected in acute success rates achieved with Ensite Velocity^(TM)or Ensite PrecisionTM systems nor between manifest(94%)and concealed APs(100%).No permanent complications occurred.During follow-up(428±286 days,median 396 days[interquartile range 179-713]),19 patients(19.6%)had recurrences.Recurrences were more frequent for parahissian/anterior APs compared to midseptal/posterior and lateral APs(p=0.043).Recurrences were not related to the Ensite system used.A redo ablation procedure was attempted in 13 cases,11 cryoablation and 2 radiofrequency ablations:the former was successful in 10 cases out of 11(90.9%).Conclusion:3D cryoablation of right-sided APs is associated with a very high acute success rate with limited use of fluoroscopy,resulting in great benefit to the children.Recurrence rates are not high and patients can be retreated with cryo-energy with higher success rates.展开更多
Depth maps are used for synthesis virtual view in free-viewpoint television （FTV） systems. When depth maps are derived using existing depth estimation methods, the depth distortions will cause undesirable artifacts ...Depth maps are used for synthesis virtual view in free-viewpoint television （FTV） systems. When depth maps are derived using existing depth estimation methods, the depth distortions will cause undesirable artifacts in the synthesized views. To solve this problem, a 3D video quality model base depth maps （D-3DV） for virtual view synthesis and depth map coding in the FTV applications is proposed. First, the relationships between distortions in coded depth map and rendered view are derived. Then, a precisely 3DV quality model based depth characteristics is develop for the synthesized virtual views. Finally, based on D-3DV model, a multilateral filtering is applied as a pre-processed filter to reduce rendering artifacts. The experimental results evaluated by objective and subjective methods indicate that the proposed D-3DV model can reduce bit-rate of depth coding and achieve better rendering quality.展开更多
Biometric security is a growing trend,as it supports the authentication of persons using confidential biometric data.Most of the transmitted data in multi-media systems are susceptible to attacks,which affect the secur...Biometric security is a growing trend,as it supports the authentication of persons using confidential biometric data.Most of the transmitted data in multi-media systems are susceptible to attacks,which affect the security of these sys-tems.Biometric systems provide sufficient protection and privacy for users.The recently-introduced cancellable biometric recognition systems have not been investigated in the presence of different types of attacks.In addition,they have not been studied on different and large biometric datasets.Another point that deserves consideration is the hardware implementation of cancellable biometric recognition systems.This paper presents a suggested hybrid cancellable biometric recognition system based on a 3D chaotic cryptosystem.The rationale behind the utilization of the 3D chaotic cryptosystem is to guarantee strong encryption of biometric templates,and hence enhance the security and privacy of users.The suggested cryptosystem adds significant permutation and diffusion to the encrypted biometric templates.We introduce some sort of attack analysis in this paper to prove the robustness of the proposed cryptosystem against attacks.In addition,a Field Programmable Gate Array(FPGA)implementation of the pro-posed system is introduced.The obtained results with the proposed cryptosystem are compared with those of the traditional encryption schemes,such as Double Random Phase Encoding(DRPE)to reveal superiority,and hence high recogni-tion performance of the proposed cancellable biometric recognition system.The obtained results prove that the proposed cryptosystem enhances the security and leads to better efficiency of the cancellable biometric recognition system in the presence of different types of attacks.展开更多
Background Lack of depth perception from medical imaging systems is one of the long-standing technological limitations of minimally invasive surgeries.The ability to visualize anatomical structures in 3D can improve c...Background Lack of depth perception from medical imaging systems is one of the long-standing technological limitations of minimally invasive surgeries.The ability to visualize anatomical structures in 3D can improve conventional arthroscopic surgeries,as a full 3D semantic representation of the surgical site can directly improve surgeons’ability.It also brings the possibility of intraoperative image registration with preoperative clinical records for the development of semi-autonomous,and fully autonomous platforms.This study aimed to present a novel monocular depth prediction model to infer depth maps from a single-color arthroscopic video frame.Methods We applied a novel technique that provides the ability to combine both supervised and self-supervised loss terms and thus eliminate the drawback of each technique.It enabled the estimation of edge-preserving depth maps from a single untextured arthroscopic frame.The proposed image acquisition technique projected artificial textures on the surface to improve the quality of disparity maps from stereo images.Moreover,following the integration of the attention-ware multi-scale feature extraction technique along with scene global contextual constraints and multiscale depth fusion,the model could predict reliable and accurate tissue depth of the surgical sites that complies with scene geometry.Results A total of 4,128 stereo frames from a knee phantom were used to train a network,and during the pre-trained stage,the network learned disparity maps from the stereo images.The fine-tuned training phase uses 12,695 knee arthroscopic stereo frames from cadaver experiments along with their corresponding coarse disparity maps obtained from the stereo matching technique.In a supervised fashion,the network learns the left image to the disparity map transformation process,whereas the self-supervised loss term refines the coarse depth map by minimizing reprojection,gradients,and structural dissimilarity loss.Together,our method produces high-quality 3D maps with minimum re-projection loss that are 0.0004132(structural similarity index),0.00036120156(L1 error distance)and 6.591908×10^(−5)(L1 gradient error distance).Conclusion Machine learning techniques for monocular depth prediction is studied to infer accurate depth maps from a single-color arthroscopic video frame.Moreover,the study integrates segmentation model hence,3D segmented maps are inferred that provides extended perception ability and tissue awareness.展开更多
基金This work was supported in part by the National Natural Science Foundation of China under Grant U20A20225,61833013in part by Shaanxi Provincial Key Research and Development Program under Grant 2022-GY111.
文摘This paper proposes an improved high-precision 3D semantic mapping method for indoor scenes using RGB-D images.The current semantic mapping algorithms suffer from low semantic annotation accuracy and insufficient real-time performance.To address these issues,we first adopt the Elastic Fusion algorithm to select key frames from indoor environment image sequences captured by the Kinect sensor and construct the indoor environment space model.Then,an indoor RGB-D image semantic segmentation network is proposed,which uses multi-scale feature fusion to quickly and accurately obtain object labeling information at the pixel level of the spatial point cloud model.Finally,Bayesian updating is used to conduct incremental semantic label fusion on the established spatial point cloud model.We also employ dense conditional random fields(CRF)to optimize the 3D semantic map model,resulting in a high-precision spatial semantic map of indoor scenes.Experimental results show that the proposed semantic mapping system can process image sequences collected by RGB-D sensors in real-time and output accurate semantic segmentation results of indoor scene images and the current local spatial semantic map.Finally,it constructs a globally consistent high-precision indoor scenes 3D semantic map.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.2021R1A2C1011216)。
文摘In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging(Li DAR)sensor and performs pattern matching by recognizing the shape of the tunnel wall.The proposed method was designed to measure the heading of the robot by fusion with the inertial measurement units sensor according to the pattern matching accuracy;it is combined with the encoder sensor to estimate the location of the robot.In addition,when the robot is driving,the vertical direction of the underground mine is scanned through the vertical Li DAR sensor and stacked to create a 3D map of the underground mine.The performance of the proposed method was superior to that of previous studies;the mean absolute error achieved was 0.08 m for the X-Y axes.A root mean square error of 0.05 m^(2)was achieved by comparing the tunnel section maps that were created by the autonomous driving robot to those of manual surveying.
文摘Background:Cryoablation of accessory pathways(APs)is effective and very safe in children,as previously reported by our group.The aim of this retrospective study was to evaluate the current efficacy of 3D non-fluoroscopic cryoablation of right sided APs in children,comparing results obtained with the Ensite VelocityTM and the more recent Ensite PrecisionTM 3D mapping systems.Methods and Results:From January 2016 to December 2019,102 pediatric patients[mean age 12.5±2.8,62 males(61%of total cohort)]with right APs underwent 3D non-fluoroscopic transcatheter cryoablation at our Institution.Fifteen(14.7%)patients had previously undergone catheter ablation.Acute procedural success rate was 95.1%(n=97).No significant differences were detected in acute success rates achieved with Ensite Velocity^(TM)or Ensite PrecisionTM systems nor between manifest(94%)and concealed APs(100%).No permanent complications occurred.During follow-up(428±286 days,median 396 days[interquartile range 179-713]),19 patients(19.6%)had recurrences.Recurrences were more frequent for parahissian/anterior APs compared to midseptal/posterior and lateral APs(p=0.043).Recurrences were not related to the Ensite system used.A redo ablation procedure was attempted in 13 cases,11 cryoablation and 2 radiofrequency ablations:the former was successful in 10 cases out of 11(90.9%).Conclusion:3D cryoablation of right-sided APs is associated with a very high acute success rate with limited use of fluoroscopy,resulting in great benefit to the children.Recurrence rates are not high and patients can be retreated with cryo-energy with higher success rates.
基金supported by the National Natural Science Foundation of China(Grant No.60832003)Key Laboratory of Advanced Display and System Application(Shanghai University),Ministry of Education,China(Grant No.P200902)the Key Project of Science and Technology Commission of Shanghai Municipality(Grant No.10510500500)
文摘Depth maps are used for synthesis virtual view in free-viewpoint television （FTV） systems. When depth maps are derived using existing depth estimation methods, the depth distortions will cause undesirable artifacts in the synthesized views. To solve this problem, a 3D video quality model base depth maps （D-3DV） for virtual view synthesis and depth map coding in the FTV applications is proposed. First, the relationships between distortions in coded depth map and rendered view are derived. Then, a precisely 3DV quality model based depth characteristics is develop for the synthesized virtual views. Finally, based on D-3DV model, a multilateral filtering is applied as a pre-processed filter to reduce rendering artifacts. The experimental results evaluated by objective and subjective methods indicate that the proposed D-3DV model can reduce bit-rate of depth coding and achieve better rendering quality.
文摘Biometric security is a growing trend,as it supports the authentication of persons using confidential biometric data.Most of the transmitted data in multi-media systems are susceptible to attacks,which affect the security of these sys-tems.Biometric systems provide sufficient protection and privacy for users.The recently-introduced cancellable biometric recognition systems have not been investigated in the presence of different types of attacks.In addition,they have not been studied on different and large biometric datasets.Another point that deserves consideration is the hardware implementation of cancellable biometric recognition systems.This paper presents a suggested hybrid cancellable biometric recognition system based on a 3D chaotic cryptosystem.The rationale behind the utilization of the 3D chaotic cryptosystem is to guarantee strong encryption of biometric templates,and hence enhance the security and privacy of users.The suggested cryptosystem adds significant permutation and diffusion to the encrypted biometric templates.We introduce some sort of attack analysis in this paper to prove the robustness of the proposed cryptosystem against attacks.In addition,a Field Programmable Gate Array(FPGA)implementation of the pro-posed system is introduced.The obtained results with the proposed cryptosystem are compared with those of the traditional encryption schemes,such as Double Random Phase Encoding(DRPE)to reveal superiority,and hence high recogni-tion performance of the proposed cancellable biometric recognition system.The obtained results prove that the proposed cryptosystem enhances the security and leads to better efficiency of the cancellable biometric recognition system in the presence of different types of attacks.
基金supported by the Australian Indian Strategic Research Fund(Project AISRF53820).
文摘Background Lack of depth perception from medical imaging systems is one of the long-standing technological limitations of minimally invasive surgeries.The ability to visualize anatomical structures in 3D can improve conventional arthroscopic surgeries,as a full 3D semantic representation of the surgical site can directly improve surgeons’ability.It also brings the possibility of intraoperative image registration with preoperative clinical records for the development of semi-autonomous,and fully autonomous platforms.This study aimed to present a novel monocular depth prediction model to infer depth maps from a single-color arthroscopic video frame.Methods We applied a novel technique that provides the ability to combine both supervised and self-supervised loss terms and thus eliminate the drawback of each technique.It enabled the estimation of edge-preserving depth maps from a single untextured arthroscopic frame.The proposed image acquisition technique projected artificial textures on the surface to improve the quality of disparity maps from stereo images.Moreover,following the integration of the attention-ware multi-scale feature extraction technique along with scene global contextual constraints and multiscale depth fusion,the model could predict reliable and accurate tissue depth of the surgical sites that complies with scene geometry.Results A total of 4,128 stereo frames from a knee phantom were used to train a network,and during the pre-trained stage,the network learned disparity maps from the stereo images.The fine-tuned training phase uses 12,695 knee arthroscopic stereo frames from cadaver experiments along with their corresponding coarse disparity maps obtained from the stereo matching technique.In a supervised fashion,the network learns the left image to the disparity map transformation process,whereas the self-supervised loss term refines the coarse depth map by minimizing reprojection,gradients,and structural dissimilarity loss.Together,our method produces high-quality 3D maps with minimum re-projection loss that are 0.0004132(structural similarity index),0.00036120156(L1 error distance)and 6.591908×10^(−5)(L1 gradient error distance).Conclusion Machine learning techniques for monocular depth prediction is studied to infer accurate depth maps from a single-color arthroscopic video frame.Moreover,the study integrates segmentation model hence,3D segmented maps are inferred that provides extended perception ability and tissue awareness.
