arXiv subjects

Manveen Kaur

Publications and source records attributed to Manveen Kaur.

7 recordsLinked to original sources

arXiv2026

A Multi Center Breast FNAC Whole-Slide Cytology Dataset for AI-Assisted Patch-Wise Classification Using C1 to C5 Reporting Categories

We present a multi center breast fine needle aspiration cytology (FNAC) dataset designed for patch wise classification using C1 to C5 reporting labels. The prospective dataset includes 321 patients and 470 whole-slide images (WSIs) collected from participating tertiary medical centers in India between May 2023 and March 2026. Slides were stained using Papanicolaou (190 WSIs) or MayGrunwald Giemsa (280 WSIs), scanned on a Hamamatsu NanoZoomer S360 at 40X magnification and 0.25 microns per pixel, and stored directly in NDPI format. Across the 470 WSIs, 446 WSIs contain annotated patch regions, yielding 7,398 PNG image patches with expert-verified C1 to C5 labels. The release includes NDPI WSIs, WSI-level GeoJSON annotation files, extracted patch images, deidentified metadata, a data dictionary, a validation summary, a manifest linking WSIs to Zenodo records, and code for dataset inspection and reuse. The complete dataset is approximately 950 GB and is available through Zenodo.

cs.CV↗

arXiv2026

Curvature-aware 3D length estimation of greenhouse cucumbers using RGB-D imaging and cubic spline arc-length integration

Commercial greenhouse cucumber production is graded by fruit length, which drives harvest scheduling, labour allocation, and logistics. Manual measurement with thread or caliper is accurate but infeasible at commercial scale. This paper presents CucumberVision, a non-contact length estimation framework using an Intel RealSense D435 RGB-D camera. A YOLO26n instance segmentation model locates cucumbers, and SAM (ViT-B backbone) refines each detection to a pixel-precise mask. Five methods are evaluated under matched conditions: (M1) a dominant-axis skeleton scan-line baseline; (M2) PCA on the bounding-box depth point cloud; (M3) SAM mask with medial-axis skeletonisation; (M4) a hybrid keypoint-guided approach using a YOLO26-pose model predicting five anatomical landmarks (KP0--KP4) with piecewise 3D arc-length; and (M5) a novel medial arc spline method fitting a cubic spline through the 3D medial axis of the SAM mask and computing arc length by trapezoidal integration -- the first such application to elongated vegetable measurement. All methods share five-frame burst depth averaging, colour-stream intrinsic alignment, and adaptive method selection with cascading fallbacks ensuring 100% coverage. A benchmark of 48 captures across seven cucumbers in three size categories (small ~8 cm, medium ~13 cm, large ~25 cm) with thread-based ground truth establishes a significant accuracy hierarchy: M1 (MAPE 9.68%) > M2 (5.31%) > M4 (5.51%) > M3 (5.82%) > M5 (4.13%). M5 significantly outperforms all competitors at Bonferroni-corrected alpha=0.0125. A secondary contribution is identifying a 12--18% length underestimation caused by using depth-stream rather than colour-stream intrinsics after rs.align(rs.stream.color) -- an under-reported error source. The complete system is released open source and runs in real time on a single consumer-grade GPU.

cs.CV↗

arXiv2026

YOLO26-RipeLoc Lite: A lightweight architecture for tomato ripeness detection and picking point localization in greenhouse robotic harvesting

In greenhouse tomato production, automated harvesting requires accurate detection of ripe tomatoes, ripeness classification, and precise picking-point localization for robotic end-effectors. This paper proposes YOLO26-RipeLoc Lite, a lightweight deep learning architecture based on YOLO26 for simultaneous detection, ripeness classification, and center-point localization of greenhouse tomatoes. The model introduces three modifications: (1) a Lightweight Feature Pyramid Network (LFPN) with depthwise separable convolutions for efficient multi-scale fusion, (2) a Ripeness-Aware Attention Module (RAAM) with dual pooling and a learnable ripeness bias vector for enhanced color-texture discrimination, and (3) a Compact Detection Head (CDH) with shared convolutions and an integrated center-point regression branch for direct grasp planning. The model is evaluated on a custom dataset of 1,500 images with 6,227 instances (3,566 ripe, 2,661 unripe) from the SILAL greenhouse, Abu Dhabi, UAE. YOLO26-RipeLoc Lite achieves mAP@0.5 of 92.9% (95.2% ripe, 90.6% unripe) with the highest precision (95.2%) among all evaluated architectures using only 2.38M parameters. Post-training BatchNorm pruning at 30% reduces parameters to ~1.8M with negligible accuracy loss. Ablation studies confirm that greenhouse-aware HSV augmentation provides the largest improvement (+2.02 pp mAP@50), backbone freezing achieves peak precision (93.8%), and 3-phase progressive unfreezing yields the best localization quality (mAP@50:95 of 64.6%). Comparisons with YOLOv8n/s, YOLO11n/s, YOLO12n/s, and YOLO26s confirm superior accuracy-efficiency: 2.9 pp higher precision than YOLO12n with 7.0% fewer parameters and integrated center-point localization for robotic end-effector guidance.

cs.CV↗

arXiv2025

A Cytology Dataset for Early Detection of Oral Squamous Cell Carcinoma

Oral squamous cell carcinoma OSCC is a major global health burden, particularly in several regions across Asia, Africa, and South America, where it accounts for a significant proportion of cancer cases. Early detection dramatically improves outcomes, with stage I cancers achieving up to 90 percent survival. However, traditional diagnosis based on histopathology has limited accessibility in low-resource settings because it is invasive, resource-intensive, and reliant on expert pathologists. On the other hand, oral cytology of brush biopsy offers a minimally invasive and lower cost alternative, provided that the remaining challenges, inter observer variability and unavailability of expert pathologists can be addressed using artificial intelligence. Development and validation of robust AI solutions requires access to large, labeled, and multi-source datasets to train high capacity models that generalize across domain shifts. We introduce the first large and multicenter oral cytology dataset, comprising annotated slides stained with Papanicolaou(PAP) and May-Grunwald-Giemsa(MGG) protocols, collected from ten tertiary medical centers in India. The dataset is labeled and annotated by expert pathologists for cellular anomaly classification and detection, is designed to advance AI driven diagnostic methods. By filling the gap in publicly available oral cytology datasets, this resource aims to enhance automated detection, reduce diagnostic errors, and improve early OSCC diagnosis in resource-constrained settings, ultimately contributing to reduced mortality and better patient outcomes worldwide.

eess.IV↗

arXiv2025

Graph Based Deep Reinforcement Learning Aided by Transformers for Multi-Agent Cooperation

Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveillance, is challenging, especially under partial observability, limited communication range, and uncertain environments. Traditional path-planning algorithms struggle in these scenarios, particularly when prior information is not available. To address these challenges, we propose a novel framework that integrates Graph Neural Networks (GNNs), Deep Reinforcement Learning (DRL), and transformer-based mechanisms for enhanced multi-agent coordination and collective task execution. Our approach leverages GNNs to model agent-agent and agent-goal interactions through adaptive graph construction, enabling efficient information aggregation and decision-making under constrained communication. A transformer-based message-passing mechanism, augmented with edge-feature-enhanced attention, captures complex interaction patterns, while a Double Deep Q-Network (Double DQN) with prioritized experience replay optimizes agent policies in partially observable environments. This integration is carefully designed to address specific requirements of multi-agent navigation, such as scalability, adaptability, and efficient task execution. Experimental results demonstrate superior performance, with 90% service provisioning and 100% grid coverage (node discovery), while reducing the average steps per episode to 200, compared to 600 for benchmark methods such as particle swarm optimization (PSO), greedy algorithms and DQN.

cs.MA↗

arXiv2024

Adaptive Data Transport Mechanism for UAV Surveillance Missions in Lossy Environments

Unmanned Aerial Vehicles (UAVs) play an increasingly critical role in Intelligence, Surveillance, and Reconnaissance (ISR) missions such as border patrolling and criminal detection, thanks to their ability to access remote areas and transmit real-time imagery to processing servers. However, UAVs are highly constrained by payload size, power limits, and communication bandwidth, necessitating the development of highly selective and efficient data transmission strategies. This has driven the development of various compression and optimal transmission technologies for UAVs. Nevertheless, most methods strive to preserve maximal information in transferred video frames, missing the fact that only certain parts of images/video frames might offer meaningful contributions to the ultimate mission objectives in the ISR scenarios involving moving object detection and tracking (OD/OT). This paper adopts a different perspective, and offers an alternative AI-driven scheduling policy that prioritizes selecting regions of the image that significantly contributes to the mission objective. The key idea is tiling the image into small patches and developing a deep reinforcement learning (DRL) framework that assigns higher transmission probabilities to patches that present higher overlaps with the detected object of interest, while penalizing sharp transitions over consecutive frames to promote smooth scheduling shifts. Although we used Yolov-8 object detection and UDP transmission protocols as a benchmark testing scenario the idea is general and applicable to different transmission protocols and OD/OT methods. To further boost the system's performance and avoid OD errors for cluttered image patches, we integrate it with interframe interpolations.

eess.IV↗

arXiv2018

Towards Secure Infrastructure-based Cooperative Adaptive Cruise Control

Cooperative Adaptive Cruise Control (CACC) is a pivotal vehicular application that would allow transportation field to achieve its goals of increased traffic throughput and roadway capacity. This application is of paramount interest to the vehicular technology community with a large body of literature dedicated to research within different aspects of CACC, including but not limited to security with CACC. Of all available literature, the overwhelming focus in on CACC utilizing vehicle-to-vehicle (V2V) communication. In this work, we assert that a qualitative increase in vehicle-to-infrastructure (V2I) and infrastructure-to-vehicle (I2V) involvement has the potential to add greater value to CACC. In this study, we developed a strategy for detection of a denial-of-service (DoS) attack on a CACC platoon where the system edge in the vehicular network plays a central role in attack detection. The proposed security strategy is substantiated with a simulation-based evaluation using the ns-3 discrete event network simulator. Empirical evidence obtained through simulation-based results illustrate successful detection of the DoS attack at four different levels of attack severity using this security strategy.

cs.CR↗