Brickognize: Applying Photo-Realistic Image Synthesis for Lego Bricks Recognition with Limited Data.

During the last few years, supervised deep convolutional neural networks have become the state-of-the-art for image recognition tasks. Nevertheless, their performance is severely linked to the amount and quality of the training data. Acquiring and labeling data is a major challenge that limits their expansion to new applications, especially with limited data. Recognition of Lego bricks is a clear example of a real-world deep learning application that has been limited by the difficulties associated with data gathering and training. In this work, photo-realistic image synthesis and few-shot fine-tuning are proposed to overcome limited data in the context of Lego bricks recognition. Using synthetic images and a limited set of 20 real-world images from a controlled environment, the proposed system is evaluated on controlled and uncontrolled real-world testing datasets. Results show the good performance of the synthetically generated data and how limited data from a controlled domain can be successfully used for the few-shot fine-tuning of the synthetic training without a perceptible narrowing of its domain. Obtained results reach an AP50 value of 91.33% for uncontrolled scenarios and 98.7% for controlled ones.

A U-Net Ensemble for breast lesion segmentation in DCE MRI.

Dynamic Contrast Enhanced Magnetic Resonance Imaging (DCE-MRI) has been recognized as an effective tool for Breast Cancer (BC) diagnosis. Automatic BC analysis from DCE-MRI depends on features extracted particularly from lesions, hence, lesions need to be accurately segmented as a prior step. Due to the time and experience required to manually segment lesions in 4D DCE-MRI, automating this task is expected to reduce the workload, reduce observer variability and improve diagnostic accuracy. In this paper we propose an automated method for breast lesion segmentation from DCE-MRI based on a U-Net framework. The contributions of this work are the proposal of a modified U-Net architecture and the analysis of the input DCE information. In that sense, we propose the use of an ensemble method combining three U-Net models, each using a different input combination, outperforming all individual methods and other existing approaches. For evaluation, we use a subset of 46 cases from the TCGA-BRCA dataset, a challenging and publicly available dataset not reported to date for this task. Due to the incomplete annotations provided, we complement them with the help of a radiologist in order to include secondary lesions that were not originally segmented. The proposed ensemble method obtains a mean Dice Similarity Coefficient (DSC) of 0.680 (0.802 for main lesions) which outperforms state-of-the art methods using the same dataset, demonstrating the effectiveness of our method considering the complexity of the dataset.

Visual Attention and Color Cues for 6D Pose Estimation on Occluded Scenarios Using RGB-D Data.

Recently, 6D pose estimation methods have shown robust performance on highly cluttered scenes and different illumination conditions. However, occlusions are still challenging, with recognition rates decreasing to less than 10% for half-visible objects in some datasets. In this paper, we propose to use top-down visual attention and color cues to boost performance of a state-of-the-art method on occluded scenarios. More specifically, color information is employed to detect potential points in the scene, improve feature-matching, and compute more precise fitting scores. The proposed method is evaluated on the Linemod occluded (LM-O), TUD light (TUD-L), Tejani (IC-MI) and Doumanoglou (IC-BIN) datasets, as part of the SiSo BOP benchmark, which includes challenging highly occluded cases, illumination changing scenarios, and multiple instances. The method is analyzed and discussed for different parameters, color spaces and metrics. The presented results show the validity of the proposed approach and their robustness against illumination changes and multiple instance scenarios, specially boosting the performance on relatively high occluded cases. The proposed solution provides an absolute improvement of up to 30% for levels of occlusion between 40% to 50%, outperforming other approaches with a best overall recall of 71% for the LM-O, 92% for TUD-L, 99.3% for IC-MI and 97.5% for IC-BIN.

A Method for 6D Pose Estimation of Free-Form Rigid Objects Using Point Pair Features on Range Data.

Pose estimation of free-form objects is a crucial task towards flexible and reliable highly complex autonomous systems. Recently, methods based on range and RGB-D data have shown promising results with relatively high recognition rates and fast running times. On this line, this paper presents a feature-based method for 6D pose estimation of rigid objects based on the Point Pair Features voting approach. The presented solution combines a novel preprocessing step, which takes into consideration the discriminative value of surface information, with an improved matching method for Point Pair Features. In addition, an improved clustering step and a novel view-dependent re-scoring process are proposed alongside two scene consistency verification steps. The proposed method performance is evaluated against 15 state-of-the-art solutions on a set of extensive and variate publicly available datasets with real-world scenarios under clutter and occlusion. The presented results show that the proposed method outperforms all tested state-of-the-art methods for all datasets with an overall 6.6% relative improvement compared to the second best method.