Leveraging Equivariant Features for Absolute Pose Regression

in IEEE Conference on Computer Vision and Pattern Recognition. (2022)

Pose estimation enables vision-based systems to refer to their environment, supporting activities ranging from scene navigation to object manipulation. However, end-to-end approaches, that have achieved ... [more ▼]

Pose estimation enables vision-based systems to refer to their environment, supporting activities ranging from scene navigation to object manipulation. However, end-to-end approaches, that have achieved state-of-the-art performance in many perception tasks, are still unable to compete with 3D geometry-based methods in pose estimation. Indeed, absolute pose regression has been proven to be more related to image retrieval than to 3D structure. Our assumption is that statistical features learned by classical convolutional neural networks do not carry enough geometrical information for reliably solving this task. This paper studies the use of deep equivariant features for end-to-end pose regression. We further propose a translation and rotation equivariant Convolutional Neural Network whose architecture directly induces representations of camera motions into the feature space. In the context of absolute pose regression, this geometric property allows for implicitly augmenting the training data under a whole group of image plane-preserving transformations. Therefore, directly learning equivariant features efficiently compensates for learning intermediate representations that are indirectly equivariant yet data-intensive. Extensive experimental validation demonstrates that our lightweight model outperforms existing ones on standard datasets. [less ▲]

Leveraging Temporal Information for 3D Trajectory Estimation of Space Objects

in Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) Workshops (2021, October)

Automatic Diagnosis of Bipolar Disorder Using Optical Coherence Tomography Data and Artificial Intelligence

in Journal of Personalized Medicine (2021)

Background: The aim of this study is to explore an objective approach that aids the diagnosis of bipolar disorder (BD), based on optical coherence tomography (OCT) data which are analyzed using artificial ... [more ▼]

Background: The aim of this study is to explore an objective approach that aids the diagnosis of bipolar disorder (BD), based on optical coherence tomography (OCT) data which are analyzed using artificial intelligence. Methods: Structural analyses of nine layers of the retina were analyzed in 17 type I BD patients and 42 controls, according to the areas defined by the Early Treatment Diabetic Retinopathy Study (ETDRS) chart. The most discriminating variables made up the feature vector of several automatic classifiers: Gaussian Naive Bayes, K-nearest neighbors and support vector machines. Results: BD patients presented retinal thinning affecting most layers, compared to controls. The retinal thickness of the parafoveolar area showed a high capacity to discriminate BD subjects from healthy individuals, specifically for the ganglion cell (area under the curve (AUC) = 0.82) and internal plexiform (AUC = 0.83) layers. The best classifier showed an accuracy of 0.95 for classifying BD versus controls, using as variables of the feature vector the IPL (inner nasal region) and the INL (outer nasal and inner inferior regions) thickness. Conclusions: Our patients with BD present structural alterations in the retina, and artificial intelligence seem to be a useful tool in BD diagnosis, but larger studies are needed to confirm our findings. [less ▲]