Efficient Obstacle Detection and Tracking Using RGB-D Sensor Data in Dynamic Environments for Robotic Applications.

Obstacle detection is an essential task for the autonomous navigation by robots. The task becomes more complex in a dynamic and cluttered environment. In this context, the RGB-D camera sensor is one of the most common devices that provides a quick and reasonable estimation of the environment in the form of RGB and depth images. This work proposes an efficient obstacle detection and tracking method using depth images to facilitate quick dynamic obstacle detection. To achieve early detection of dynamic obstacles and stable estimation of their states, as in previous methods, we applied a u-depth map for obstacle detection. Unlike existing methods, the present method provides dynamic thresholding facilities on the u-depth map to detect obstacles more accurately. Here, we propose a restricted v-depth map technique, using post-processing after the u-depth map processing to obtain a better prediction of the obstacle dimension. We also propose a new algorithm to track obstacles until they are within the field of view (FOV). We evaluate the performance of the proposed system on different kinds of data sets. The proposed method outperformed the vision-based state-of-the-art (SoA) methods in terms of state estimation of dynamic obstacles and execution time.

Efficient Evolving Deep Ensemble Medical Image Captioning Network.

With the advancement in artificial intelligence (AI) based E-healthcare applications, the role of automated diagnosis of various diseases has increased at a rapid rate. However, most of the existing diagnosis models provide results in a binary fashion such as whether the patient is infected with a specific disease or not. But there are many cases where it is required to provide suitable explanatory information such as the patient being infected from a particular disease along with the infection rate. Therefore, in this paper, to provide explanatory information to the doctors and patients, an efficient deep ensemble medical image captioning network (DCNet) is proposed. DCNet ensembles three well-known pre-trained models such as VGG16, ResNet152V2, and DenseNet201. Ensembling of these models achieves better results by preventing an over-fitting problem. However, DCNet is sensitive to its control parameters. Thus, to tune the control parameters, an evolving DCNet (EDC-Net) was proposed. Evolution process is achieved using the self-adaptive parameter control-based differential evolution (SAPCDE). Experimental results show that EDC-Net can efficiently extract the potential features of biomedical images. Comparative analysis shows that on the Open-i dataset, EDC-Net outperforms the existing models in terms of BLUE-1, BLUE-2, BLUE-3, BLUE-4, and kappa statistics (KS) by 1.258%, 1.185%, 1.289%, 1.098%, and 1.548%, respectively.

Single-image reconstruction using novel super-resolution technique for large-scaled images.

A fast and novel method for single-image reconstruction using the super-resolution (SR) technique has been proposed in this paper. The working principle of the proposed scheme has been divided into three components. A low-resolution image is divided into several homogeneous or non-homogeneous regions in the first component. This partition is based on the analysis of texture patterns within that region. Only the non-homogeneous regions undergo the sparse representation for SR image reconstruction in the second component. The obtained reconstructed region from the second component undergoes a statistical-based prediction model to generate its more enhanced version in the third component. The remaining homogeneous regions are bicubic interpolated and reflect the required high-resolution image. The proposed technique is applied to some Large-scale electrical, machine and civil architectural design images. The purpose of using these images is that these images are huge in size, and processing such large images for any application is time-consuming. The proposed SR technique results in a better reconstructed SR image from its lower version with low time complexity. The performance of the proposed system on the electrical, machine and civil architectural design images is compared with the state-of-the-art methods, and it is shown that the proposed scheme outperforms the other competing methods.

An Efficient Stacked Deep Transfer Learning Model for Automated Diagnosis of Lyme Disease.

Lyme disease is one of the most common vector-borne infections. It typically causes cardiac illnesses, neurologic illnesses, musculoskeletal disorders, and dermatologic conditions. However, most of the time, it is poorly diagnosed due to many similarities with other diseases such as drug rash. Given the potentially serious consequences of unnecessary antimicrobial treatments, it is essential to understand frequent and uncommon diagnoses that explain symptoms in this population. Recently, deep learning models have been used for the diagnosis of various rash-related diseases. However, these models suffer from overfitting and color variation problems. To overcome these problems, an efficient stacked deep transfer learning model is proposed that can efficiently distinguish between patients infected with Lyme (+) or infected with other infections. 2nd order edge-based color constancy is used as a preprocessing approach to reduce the impact of multisource light from images acquired under different setups. The AlexNet pretrained learning model is used for building the Lyme disease diagnosis model. To prevent overfitting, data augmentation techniques are also used to augment the dataset. In addition, 5-fold cross-validation is also used. Comparative analysis indicates that the proposed model outperforms the existing models in terms of accuracy, f-measure, sensitivity, specificity, and area under the curve.