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Author |
Zhen Xu; Sergio Escalera; Adrien Pavao; Magali Richard; Wei-Wei Tu; Quanming Yao; Huan Zhao; Isabelle Guyon |
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Title |
Codabench: Flexible, easy-to-use, and reproducible meta-benchmark platform |
Type |
Journal Article |
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Year |
2022 |
Publication |
Patterns |
Abbreviated Journal |
PATTERNS |
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Volume |
3 |
Issue |
7 |
Pages |
100543 |
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Keywords |
Machine learning; data science; benchmark platform; reproducibility; competitions |
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Abstract |
Obtaining a standardized benchmark of computational methods is a major issue in data-science communities. Dedicated frameworks enabling fair benchmarking in a unified environment are yet to be developed. Here, we introduce Codabench, a meta-benchmark platform that is open sourced and community driven for benchmarking algorithms or software agents versus datasets or tasks. A public instance of Codabench is open to everyone free of charge and allows benchmark organizers to fairly compare submissions under the same setting (software, hardware, data, algorithms), with custom protocols and data formats. Codabench has unique features facilitating easy organization of flexible and reproducible benchmarks, such as the possibility of reusing templates of benchmarks and supplying compute resources on demand. Codabench has been used internally and externally on various applications, receiving more than 130 users and 2,500 submissions. As illustrative use cases, we introduce four diverse benchmarks covering graph machine learning, cancer heterogeneity, clinical diagnosis, and reinforcement learning. |
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June 24, 2022 |
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Science Direct |
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HuPBA |
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no |
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Admin @ si @ XEP2022 |
Serial |
3764 |
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Author |
Eduardo Aguilar; Bhalaji Nagarajan; Beatriz Remeseiro; Petia Radeva |
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Title |
Bayesian deep learning for semantic segmentation of food images |
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Journal Article |
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Year |
2022 |
Publication |
Computers and Electrical Engineering |
Abbreviated Journal |
CEE |
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Volume |
103 |
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Pages |
108380 |
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Keywords |
Deep learning; Uncertainty quantification; Bayesian inference; Image segmentation; Food analysis |
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Abstract |
Deep learning has provided promising results in various applications; however, algorithms tend to be overconfident in their predictions, even though they may be entirely wrong. Particularly for critical applications, the model should provide answers only when it is very sure of them. This article presents a Bayesian version of two different state-of-the-art semantic segmentation methods to perform multi-class segmentation of foods and estimate the uncertainty about the given predictions. The proposed methods were evaluated on three public pixel-annotated food datasets. As a result, we can conclude that Bayesian methods improve the performance achieved by the baseline architectures and, in addition, provide information to improve decision-making. Furthermore, based on the extracted uncertainty map, we proposed three measures to rank the images according to the degree of noisy annotations they contained. Note that the top 135 images ranked by one of these measures include more than half of the worst-labeled food images. |
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October 2022 |
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Science Direct |
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MILAB |
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no |
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Admin @ si @ ANR2022 |
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3763 |
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Author |
Diego Velazquez; Pau Rodriguez; Josep M. Gonfaus; Xavier Roca; Jordi Gonzalez |
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Title |
A Closer Look at Embedding Propagation for Manifold Smoothing |
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Journal Article |
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Year |
2022 |
Publication |
Journal of Machine Learning Research |
Abbreviated Journal |
JMLR |
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Volume |
23 |
Issue |
252 |
Pages |
1-27 |
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Keywords |
Regularization; emi-supervised learning; self-supervised learning; adversarial robustness; few-shot classification |
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Abstract |
Supervised training of neural networks requires a large amount of manually annotated data and the resulting networks tend to be sensitive to out-of-distribution (OOD) data.
Self- and semi-supervised training schemes reduce the amount of annotated data required during the training process. However, OOD generalization remains a major challenge for most methods. Strategies that promote smoother decision boundaries play an important role in out-of-distribution generalization. For example, embedding propagation (EP) for manifold smoothing has recently shown to considerably improve the OOD performance for few-shot classification. EP achieves smoother class manifolds by building a graph from sample embeddings and propagating information through the nodes in an unsupervised manner. In this work, we extend the original EP paper providing additional evidence and experiments showing that it attains smoother class embedding manifolds and improves results in settings beyond few-shot classification. Concretely, we show that EP improves the robustness of neural networks against multiple adversarial attacks as well as semi- and
self-supervised learning performance. |
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9/2022 |
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no |
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Admin @ si @ VRG2022 |
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3762 |
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Author |
Saad Minhas; Zeba Khanam; Shoaib Ehsan; Klaus McDonald Maier; Aura Hernandez-Sabate |
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Title |
Weather Classification by Utilizing Synthetic Data |
Type |
Journal Article |
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Year |
2022 |
Publication |
Sensors |
Abbreviated Journal |
SENS |
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Volume |
22 |
Issue |
9 |
Pages |
3193 |
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Keywords |
Weather classification; synthetic data; dataset; autonomous car; computer vision; advanced driver assistance systems; deep learning; intelligent transportation systems |
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Abstract |
Weather prediction from real-world images can be termed a complex task when targeting classification using neural networks. Moreover, the number of images throughout the available datasets can contain a huge amount of variance when comparing locations with the weather those images are representing. In this article, the capabilities of a custom built driver simulator are explored specifically to simulate a wide range of weather conditions. Moreover, the performance of a new synthetic dataset generated by the above simulator is also assessed. The results indicate that the use of synthetic datasets in conjunction with real-world datasets can increase the training efficiency of the CNNs by as much as 74%. The article paves a way forward to tackle the persistent problem of bias in vision-based datasets. |
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21 April 2022 |
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MDPI |
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IAM; 600.139; 600.159; 600.166; 600.145; |
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no |
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Call Number |
Admin @ si @ MKE2022 |
Serial |
3761 |
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Author |
David Castells; Vinh Ngo; Juan Borrego-Carazo; Marc Codina; Carles Sanchez; Debora Gil; Jordi Carrabina |
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Title |
A Survey of FPGA-Based Vision Systems for Autonomous Cars |
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Journal Article |
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Year |
2022 |
Publication |
IEEE Access |
Abbreviated Journal |
ACESS |
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Volume |
10 |
Issue |
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Pages |
132525-132563 |
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Keywords |
Autonomous automobile; Computer vision; field programmable gate arrays; reconfigurable architectures |
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Abstract |
On the road to making self-driving cars a reality, academic and industrial researchers are working hard to continue to increase safety while meeting technical and regulatory constraints Understanding the surrounding environment is a fundamental task in self-driving cars. It requires combining complex computer vision algorithms. Although state-of-the-art algorithms achieve good accuracy, their implementations often require powerful computing platforms with high power consumption. In some cases, the processing speed does not meet real-time constraints. FPGA platforms are often used to implement a category of latency-critical algorithms that demand maximum performance and energy efficiency. Since self-driving car computer vision functions fall into this category, one could expect to see a wide adoption of FPGAs in autonomous cars. In this paper, we survey the computer vision FPGA-based works from the literature targeting automotive applications over the last decade. Based on the survey, we identify the strengths and weaknesses of FPGAs in this domain and future research opportunities and challenges. |
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16 December 2022 |
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IEEE |
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Notes |
IAM; 600.166 |
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no |
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Call Number |
Admin @ si @ CNB2022 |
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3760 |
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Author |
Sonia Baeza; Debora Gil; I.Garcia Olive; M.Salcedo; J.Deportos; Carles Sanchez; Guillermo Torres; G.Moragas; Antoni Rosell |
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Title |
A novel intelligent radiomic analysis of perfusion SPECT/CT images to optimize pulmonary embolism diagnosis in COVID-19 patients |
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Journal Article |
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Year |
2022 |
Publication |
EJNMMI Physics |
Abbreviated Journal |
EJNMMI-PHYS |
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Volume |
9 |
Issue |
1, Article 84 |
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1-17 |
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Abstract |
Background: COVID-19 infection, especially in cases with pneumonia, is associated with a high rate of pulmonary embolism (PE). In patients with contraindications for CT pulmonary angiography (CTPA) or non-diagnostic CTPA, perfusion single-photon emission computed tomography/computed tomography (Q-SPECT/CT) is a diagnostic alternative. The goal of this study is to develop a radiomic diagnostic system to detect PE based only on the analysis of Q-SPECT/CT scans.
Methods: This radiomic diagnostic system is based on a local analysis of Q-SPECT/CT volumes that includes both CT and Q-SPECT values for each volume point. We present a combined approach that uses radiomic features extracted from each scan as input into a fully connected classifcation neural network that optimizes a weighted crossentropy loss trained to discriminate between three diferent types of image patterns (pixel sample level): healthy lungs (control group), PE and pneumonia. Four types of models using diferent confguration of parameters were tested.
Results: The proposed radiomic diagnostic system was trained on 20 patients (4,927 sets of samples of three types of image patterns) and validated in a group of 39 patients (4,410 sets of samples of three types of image patterns). In the training group, COVID-19 infection corresponded to 45% of the cases and 51.28% in the test group. In the test group, the best model for determining diferent types of image patterns with PE presented a sensitivity, specifcity, positive predictive value and negative predictive value of 75.1%, 98.2%, 88.9% and 95.4%, respectively. The best model for detecting
pneumonia presented a sensitivity, specifcity, positive predictive value and negative predictive value of 94.1%, 93.6%, 85.2% and 97.6%, respectively. The area under the curve (AUC) was 0.92 for PE and 0.91 for pneumonia. When the results obtained at the pixel sample level are aggregated into regions of interest, the sensitivity of the PE increases to 85%, and all metrics improve for pneumonia.
Conclusion: This radiomic diagnostic system was able to identify the diferent lung imaging patterns and is a frst step toward a comprehensive intelligent radiomic system to optimize the diagnosis of PE by Q-SPECT/CT. |
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5 dec 2022 |
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Springer |
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IAM |
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no |
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Call Number |
Admin @ si @ BGG2022 |
Serial |
3759 |
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Author |
Danna Xue; Fei Yang; Pei Wang; Luis Herranz; Jinqiu Sun; Yu Zhu; Yanning Zhang |
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Title |
SlimSeg: Slimmable Semantic Segmentation with Boundary Supervision |
Type |
Conference Article |
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Year |
2022 |
Publication |
30th ACM International Conference on Multimedia |
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Pages |
6539-6548 |
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Accurate semantic segmentation models typically require significant computational resources, inhibiting their use in practical applications. Recent works rely on well-crafted lightweight models to achieve fast inference. However, these models cannot flexibly adapt to varying accuracy and efficiency requirements. In this paper, we propose a simple but effective slimmable semantic segmentation (SlimSeg) method, which can be executed at different capacities during inference depending on the desired accuracy-efficiency tradeoff. More specifically, we employ parametrized channel slimming by stepwise downward knowledge distillation during training. Motivated by the observation that the differences between segmentation results of each submodel are mainly near the semantic borders, we introduce an additional boundary guided semantic segmentation loss to further improve the performance of each submodel. We show that our proposed SlimSeg with various mainstream networks can produce flexible models that provide dynamic adjustment of computational cost and better performance than independent models. Extensive experiments on semantic segmentation benchmarks, Cityscapes and CamVid, demonstrate the generalization ability of our framework. |
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Lisboa, Portugal, October 2022 |
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Association for Computing Machinery |
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978-1-4503-9203-7 |
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MM |
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Notes |
MACO; 600.161; 601.400 |
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no |
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Call Number |
Admin @ si @ XYW2022 |
Serial |
3758 |
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Author |
Mohamed Ali Souibgui |
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Title |
Document Image Enhancement and Recognition in Low Resource Scenarios: Application to Ciphers and Handwritten Text |
Type |
Book Whole |
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Year |
2022 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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In this thesis, we propose different contributions with the goal of enhancing and recognizing historical handwritten document images, especially the ones with rare scripts, such as cipher documents.
In the first part, some effective end-to-end models for Document Image Enhancement (DIE) using deep learning models were presented. First, Generative Adversarial Networks (cGAN) for different tasks (document clean-up, binarization, deblurring, and watermark removal) were explored. Next, we further improve the results by recovering the degraded document images into a clean and readable form by integrating a text recognizer into the cGAN model to promote the generated document image to be more readable. Afterward, we present a new encoder-decoder architecture based on vision transformers to enhance both machine-printed and handwritten document images, in an end-to-end fashion.
The second part of the thesis addresses Handwritten Text Recognition (HTR) in low resource scenarios, i.e. when only few labeled training data is available. We propose novel methods for recognizing ciphers with rare scripts. First, a few-shot object detection based method was proposed. Then, we incorporate a progressive learning strategy that automatically assignspseudo-labels to a set of unlabeled data to reduce the human labor of annotating few pages while maintaining the good performance of the model. Secondly, a data generation technique based on Bayesian Program Learning (BPL) is proposed to overcome the lack of data in such rare scripts. Thirdly, we propose a Text-Degradation Invariant Auto Encoder (Text-DIAE). This latter self-supervised model is designed to tackle two tasks, text recognition and document image enhancement. The proposed model does not exhibit limitations of previous state-of-the-art methods based on contrastive losses, while at the same time, it requires substantially fewer data samples to converge.
In the third part of the thesis, we analyze, from the user perspective, the usage of HTR systems in low resource scenarios. This contrasts with the usual research on HTR, which often focuses on technical aspects only and rarely devotes efforts on implementing software tools for scholars in Humanities. |
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Thesis |
Ph.D. thesis |
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Publisher |
IMPRIMA |
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Editor |
Alicia Fornes;Yousri Kessentini |
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978-84-124793-8-6 |
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DAG |
Approved |
no |
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Call Number |
Admin @ si @ Sou2022 |
Serial |
3757 |
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Author |
Andres Mafla |
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Title |
Leveraging Scene Text Information for Image Interpretation |
Type |
Book Whole |
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Year |
2022 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Until recently, most computer vision models remained illiterate, largely ignoring the semantically rich and explicit information contained in scene text. Recent progress in scene text detection and recognition has recently allowed exploring its role in a diverse set of open computer vision problems, e.g. image classification, image-text retrieval, image captioning, and visual question answering to name a few. The explicit semantics of scene text closely requires specific modeling similar to language. However, scene text is a particular signal that has to be interpreted according to a comprehensive perspective that encapsulates all the visual cues in an image. Incorporating this information is a straightforward task for humans, but if we are unfamiliar with a language or scripture, achieving a complete world understanding is impossible (e.a. visiting a foreign country with a different alphabet). Despite the importance of scene text, modeling it requires considering the several ways in which scene text interacts with an image, processing and fusing an additional modality. In this thesis, we mainly focus
on two tasks, scene text-based fine-grained image classification, and cross-modal retrieval. In both studied tasks we identify existing limitations in current approaches and propose plausible solutions. Concretely, in each chapter: i) We define a compact way to embed scene text that generalizes to unseen words at training time while performing in real-time. ii) We incorporate the previously learned scene text embedding to create an image-level descriptor that overcomes optical character recognition (OCR) errors which is well-suited to the fine-grained image classification task. iii) We design a region-level reasoning network that learns the interaction through semantics among salient visual regions and scene text instances. iv) We employ scene text information in image-text matching and introduce the Scene Text Aware Cross-Modal retrieval StacMR task. We gather a dataset that incorporates scene text and design a model suited for the newly studied modality. v) We identify the drawbacks of current retrieval metrics in cross-modal retrieval. An image captioning metric is proposed as a way of better evaluating semantics in retrieved results. Ample experimentation shows that incorporating such semantics into a model yields better semantic results while
requiring significantly less data to converge. |
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Thesis |
Ph.D. thesis |
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IMPRIMA |
Place of Publication |
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Editor |
Dimosthenis Karatzas;Lluis Gomez |
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978-84-124793-6-2 |
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DAG |
Approved |
no |
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Admin @ si @ Maf2022 |
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3756 |
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Permanent link to this record |
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Author |
Ali Furkan Biten |
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Title |
A Bitter-Sweet Symphony on Vision and Language: Bias and World Knowledge |
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Book Whole |
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Year |
2022 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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Vision and Language are broadly regarded as cornerstones of intelligence. Even though language and vision have different aims – language having the purpose of communication, transmission of information and vision having the purpose of constructing mental representations around us to navigate and interact with objects – they cooperate and depend on one another in many tasks we perform effortlessly. This reliance is actively being studied in various Computer Vision tasks, e.g. image captioning, visual question answering, image-sentence retrieval, phrase grounding, just to name a few. All of these tasks share the inherent difficulty of the aligning the two modalities, while being robust to language
priors and various biases existing in the datasets. One of the ultimate goal for vision and language research is to be able to inject world knowledge while getting rid of the biases that come with the datasets. In this thesis, we mainly focus on two vision and language tasks, namely Image Captioning and Scene-Text Visual Question Answering (STVQA).
In both domains, we start by defining a new task that requires the utilization of world knowledge and in both tasks, we find that the models commonly employed are prone to biases that exist in the data. Concretely, we introduce new tasks and discover several problems that impede performance at each level and provide remedies or possible solutions in each chapter: i) We define a new task to move beyond Image Captioning to Image Interpretation that can utilize Named Entities in the form of world knowledge. ii) We study the object hallucination problem in classic Image Captioning systems and develop an architecture-agnostic solution. iii) We define a sub-task of Visual Question Answering that requires reading the text in the image (STVQA), where we highlight the limitations of current models. iv) We propose an architecture for the STVQA task that can point to the answer in the image and show how to combine it with classic VQA models. v) We show how far language can get us in STVQA and discover yet another bias which causes the models to disregard the image while doing Visual Question Answering. |
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Ph.D. thesis |
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IMPRIMA |
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Editor |
Dimosthenis Karatzas;Lluis Gomez |
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978-84-124793-5-5 |
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DAG |
Approved |
no |
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Call Number |
Admin @ si @ Bit2022 |
Serial |
3755 |
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Permanent link to this record |
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Author |
Arnau Baro |
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Title |
Reading Music Systems: From Deep Optical Music Recognition to Contextual Methods |
Type |
Book Whole |
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2022 |
Publication |
PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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The transcription of sheet music into some machine-readable format can be carried out manually. However, the complexity of music notation inevitably leads to burdensome software for music score editing, which makes the whole process
very time-consuming and prone to errors. Consequently, automatic transcription
systems for musical documents represent interesting tools.
Document analysis is the subject that deals with the extraction and processing
of documents through image and pattern recognition. It is a branch of computer
vision. Taking music scores as source, the field devoted to address this task is
known as Optical Music Recognition (OMR). Typically, an OMR system takes an
image of a music score and automatically extracts its content into some symbolic
structure such as MEI or MusicXML.
In this dissertation, we have investigated different methods for recognizing a
single staff section (e.g. scores for violin, flute, etc.), much in the same way as most text recognition research focuses on recognizing words appearing in a given line image. These methods are based in two different methodologies. On the one hand, we present two methods based on Recurrent Neural Networks, in particular, the
Long Short-Term Memory Neural Network. On the other hand, a method based on Sequence to Sequence models is detailed.
Music context is needed to improve the OMR results, just like language models
and dictionaries help in handwriting recognition. For example, syntactical rules
and grammars could be easily defined to cope with the ambiguities in the rhythm.
In music theory, for example, the time signature defines the amount of beats per
bar unit. Thus, in the second part of this dissertation, different methodologies
have been investigated to improve the OMR recognition. We have explored three
different methods: (a) a graphic tree-structure representation, Dendrograms, that
joins, at each level, its primitives following a set of rules, (b) the incorporation of Language Models to model the probability of a sequence of tokens, and (c) graph neural networks to analyze the music scores to avoid meaningless relationships between music primitives.
Finally, to train all these methodologies, and given the method-specificity of
the datasets in the literature, we have created four different music datasets. Two of them are synthetic with a modern or old handwritten appearance, whereas the
other two are real handwritten scores, being one of them modern and the other
old. |
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Ph.D. thesis |
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Publisher |
IMPRIMA |
Place of Publication |
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Editor |
Alicia Fornes |
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978-84-124793-8-6 |
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DAG; |
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no |
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Call Number |
Admin @ si @ Bar2022 |
Serial |
3754 |
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Author |
Iban Berganzo-Besga; Hector A. Orengo; Felipe Lumbreras; Paloma Aliende; Monica N. Ramsey |
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Title |
Automated detection and classification of multi-cell Phytoliths using Deep Learning-Based Algorithms |
Type |
Journal Article |
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Year |
2022 |
Publication |
Journal of Archaeological Science |
Abbreviated Journal |
JArchSci |
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Volume |
148 |
Issue |
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Pages |
105654 |
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Abstract |
This paper presents an algorithm for automated detection and classification of multi-cell phytoliths, one of the major components of many archaeological and paleoenvironmental deposits. This identification, based on phytolith wave pattern, is made using a pretrained VGG19 deep learning model. This approach has been tested in three key phytolith genera for the study of agricultural origins in Near East archaeology: Avena, Hordeum and Triticum. Also, this classification has been validated at species-level using Triticum boeoticum and dicoccoides images. Due to the diversity of microscopes, cameras and chemical treatments that can influence images of phytolith slides, three types of data augmentation techniques have been implemented: rotation of the images at 45-degree angles, random colour and brightness jittering, and random blur/sharpen. The implemented workflow has resulted in an overall accuracy of 93.68% for phytolith genera, improving previous attempts. The algorithm has also demonstrated its potential to automatize the classification of phytoliths species with an overall accuracy of 100%. The open code and platforms employed to develop the algorithm assure the method's accessibility, reproducibility and reusability. |
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December 2022 |
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Notes |
MSIAU; MACO; 600.167 |
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no |
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Call Number |
Admin @ si @ BOL2022 |
Serial |
3753 |
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Author |
Ana Garcia Rodriguez; Yael Tudela; Henry Cordova; S. Carballal; I. Ordas; L. Moreira; E. Vaquero; O. Ortiz; L. Rivero; F. Javier Sanchez; Miriam Cuatrecasas; Maria Pellise; Jorge Bernal; Gloria Fernandez Esparrach |
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Title |
In vivo computer-aided diagnosis of colorectal polyps using white light endoscopy |
Type |
Journal Article |
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Year |
2022 |
Publication |
Endoscopy International Open |
Abbreviated Journal |
ENDIO |
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Volume |
10 |
Issue |
9 |
Pages |
E1201-E1207 |
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Background and study aims Artificial intelligence is currently able to accurately predict the histology of colorectal polyps. However, systems developed to date use complex optical technologies and have not been tested in vivo. The objective of this study was to evaluate the efficacy of a new deep learning-based optical diagnosis system, ATENEA, in a real clinical setting using only high-definition white light endoscopy (WLE) and to compare its performance with endoscopists. Methods ATENEA was prospectively tested in real life on consecutive polyps detected in colorectal cancer screening colonoscopies at Hospital Clínic. No images were discarded, and only WLE was used. The in vivo ATENEA's prediction (adenoma vs non-adenoma) was compared with the prediction of four staff endoscopists without specific training in optical diagnosis for the study purposes. Endoscopists were blind to the ATENEA output. Histology was the gold standard. Results Ninety polyps (median size: 5 mm, range: 2-25) from 31 patients were included of which 69 (76.7 %) were adenomas. ATENEA correctly predicted the histology in 63 of 69 (91.3 %, 95 % CI: 82 %-97 %) adenomas and 12 of 21 (57.1 %, 95 % CI: 34 %-78 %) non-adenomas while endoscopists made correct predictions in 52 of 69 (75.4 %, 95 % CI: 60 %-85 %) and 20 of 21 (95.2 %, 95 % CI: 76 %-100 %), respectively. The global accuracy was 83.3 % (95 % CI: 74%-90 %) and 80 % (95 % CI: 70 %-88 %) for ATENEA and endoscopists, respectively. Conclusion ATENEA can accurately be used for in vivo characterization of colorectal polyps, enabling the endoscopist to make direct decisions. ATENEA showed a global accuracy similar to that of endoscopists despite an unsatisfactory performance for non-adenomatous lesions. |
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2022 Sep 14 |
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PMID |
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Notes |
ISE; 600.157 |
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no |
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Call Number |
Admin @ si @ GTC2022b |
Serial |
3752 |
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Author |
Xavier Soria; Gonzalo Pomboza-Junez; Angel Sappa |
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Title |
LDC: Lightweight Dense CNN for Edge Detection |
Type |
Journal Article |
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Year |
2022 |
Publication |
IEEE Access |
Abbreviated Journal |
ACCESS |
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Volume |
10 |
Issue |
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Pages |
68281-68290 |
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This paper presents a Lightweight Dense Convolutional (LDC) neural network for edge detection. The proposed model is an adaptation of two state-of-the-art approaches, but it requires less than 4% of parameters in comparison with these approaches. The proposed architecture generates thin edge maps and reaches the highest score (i.e., ODS) when compared with lightweight models (models with less than 1 million parameters), and reaches a similar performance when compare with heavy architectures (models with about 35 million parameters). Both quantitative and qualitative results and comparisons with state-of-the-art models, using different edge detection datasets, are provided. The proposed LDC does not use pre-trained weights and requires straightforward hyper-parameter settings. The source code is released at https://github.com/xavysp/LDC |
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27 June 2022 |
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IEEE |
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Notes |
MSIAU; MACO; 600.160; 600.167 |
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no |
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Call Number |
Admin @ si @ SPS2022 |
Serial |
3751 |
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Author |
Daniela Rato; Miguel Oliveira; Vitor Santos; Manuel Gomes; Angel Sappa |
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Title |
A sensor-to-pattern calibration framework for multi-modal industrial collaborative cells |
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Journal Article |
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Year |
2022 |
Publication |
Journal of Manufacturing Systems |
Abbreviated Journal |
JMANUFSYST |
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64 |
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497-507 |
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Calibration; Collaborative cell; Multi-modal; Multi-sensor |
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Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is necessary. To ensure this, collaborative cells are equipped with a large set of sensors of multiple modalities, covering the entire work volume. However, the fusion of information from all these sensors requires an accurate extrinsic calibration. The calibration of such complex systems is challenging, due to the number of sensors and modalities, and also due to the small overlapping fields of view between the sensors, which are positioned to capture different viewpoints of the cell. This paper proposes a sensor to pattern methodology that can calibrate a complex system such as a collaborative cell in a single optimization procedure. Our methodology can tackle RGB and Depth cameras, as well as LiDARs. Results show that our methodology is able to accurately calibrate a collaborative cell containing three RGB cameras, a depth camera and three 3D LiDARs. |
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Science Direct |
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MSIAU; MACO |
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Call Number |
Admin @ si @ ROS2022 |
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3750 |
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