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Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric…

Localization systems based on ultra-wide band (UWB) measurements can have unsatisfactory performance in harsh environments due to the presence of non-line-of-sight (NLOS) errors. Learning-based methods for error mitigation have shown great…

The performance of supervised deep learning methods for medical image segmentation is often limited by the scarcity of labeled data. As a promising research direction, semi-supervised learning addresses this dilemma by leveraging unlabeled…

3D anomaly detection targets the detection and localization of defects in 3D point clouds trained solely on normal data. While a unified model improves scalability by learning across multiple categories, it often suffers from Inter-Category…

International Classification of Diseases (ICD) are the de facto codes used globally for clinical coding. These codes enable healthcare providers to claim reimbursement and facilitate efficient storage and retrieval of diagnostic…

Lesion detection in brain Magnetic Resonance Images (MRIs) remains a challenging task. MRIs are typically read and interpreted by domain experts, which is a tedious and time-consuming process. Recently, unsupervised anomaly detection (UAD)…

Automatic breast lesion segmentation in ultrasound helps to diagnose breast cancer, which is one of the dreadful diseases that affect women globally. Segmenting breast regions accurately from ultrasound image is a challenging task due to…

Existing Building Damage Detection (BDD) methods always require labour-intensive pixel-level annotations of buildings and their conditions, hence largely limiting their applications. In this paper, we investigate a challenging yet practical…

Universal lesion detection and tagging (ULDT) in CT studies is critical for tumor burden assessment and tracking the progression of lesion status (growth/shrinkage) over time. However, a lack of fully annotated data hinders the development…

Medical image segmentation has been significantly advanced by deep learning (DL) techniques, though the data scarcity inherent in medical applications poses a great challenge to DL-based segmentation methods. Self-supervised learning offers…

This work presents a novel Bayesian framework for unsupervised domain adaptation (UDA) in medical image segmentation. While prior works have explored this clinically significant task using various strategies of domain alignment, they often…

In this paper, we present a new fault diagnosis (FD) -based approach for detection of imagery changes that can detect significant changes as inconsistencies between different sub-modules (e.g., self-localizaiton) of visual SLAM. Unlike…

The AI-based assisted diagnosis programs have been widely investigated on medical ultrasound images. Complex scenario of ultrasound image, in which the coupled interference of internal and external factors is severe, brings a unique…

Lumbar disc herniation (LDH) is a common musculoskeletal disease that requires magnetic resonance imaging (MRI) for effective clinical management. However, the interpretation of MRI images heavily relies on the expertise of radiologists,…

Weakly supervised segmentation methods using bounding box annotations focus on obtaining a pixel-level mask from each box containing an object. Existing methods typically depend on a class-agnostic mask generator, which operates on the…

Usually, lesions are not isolated but are associated with the surrounding tissues. For example, the growth of a tumour can depend on or infiltrate into the surrounding tissues. Due to the pathological nature of the lesions, it is…

We consider machine-learning-based malignancy prediction and lesion identification from clinical dermatological images, which can be indistinctly acquired via smartphone or dermoscopy capture. Additionally, we do not assume that images…

Anomaly detection on tabular data is commonly studied under three supervision regimes, including one-class settings that assume access to anomaly-free training samples, fully unsupervised settings with unlabeled and potentially contaminated…

Since the rise of deep learning, many computer vision tasks have seen significant advancements. However, the downside of deep learning is that it is very data-hungry. Especially for segmentation problems, training a deep neural net requires…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…