arXiv subjects

Mathias Unberath

Publications and source records attributed to Mathias Unberath.

At least 91 records · Page 5Linked to original sources

arXiv2022

Temporally Consistent Online Depth Estimation in Dynamic Scenes

Temporally consistent depth estimation is crucial for online applications such as augmented reality. While stereo depth estimation has received substantial attention as a promising way to generate 3D information, there is relatively little work focused on maintaining temporal stability. Indeed, based on our analysis, current techniques still suffer from poor temporal consistency. Stabilizing depth temporally in dynamic scenes is challenging due to concurrent object and camera motion. In an online setting, this process is further aggravated because only past frames are available. We present a framework named Consistent Online Dynamic Depth (CODD) to produce temporally consistent depth estimates in dynamic scenes in an online setting. CODD augments per-frame stereo networks with novel motion and fusion networks. The motion network accounts for dynamics by predicting a per-pixel SE3 transformation and aligning the observations. The fusion network improves temporal depth consistency by aggregating the current and past estimates. We conduct extensive experiments and demonstrate quantitatively and qualitatively that CODD outperforms competing methods in terms of temporal consistency and performs on par in terms of per-frame accuracy.

cs.CV↗

arXiv2022

Rethinking Causality-driven Robot Tool Segmentation with Temporal Constraints

Purpose: Vision-based robot tool segmentation plays a fundamental role in surgical robots and downstream tasks. CaRTS, based on a complementary causal model, has shown promising performance in unseen counterfactual surgical environments in the presence of smoke, blood, etc. However, CaRTS requires over 30 iterations of optimization to converge for a single image due to limited observability. Method: To address the above limitations, we take temporal relation into consideration and propose a temporal causal model for robot tool segmentation on video sequences. We design an architecture named Temporally Constrained CaRTS (TC-CaRTS). TC-CaRTS has three novel modules to complement CaRTS - temporal optimization pipeline, kinematics correction network, and spatial-temporal regularization. Results: Experiment results show that TC-CaRTS requires much fewer iterations to achieve the same or better performance as CaRTS. TC- CaRTS also has the same or better performance in different domains compared to CaRTS. All three modules are proven to be effective. Conclusion: We propose TC-CaRTS, which takes advantage of temporal constraints as additional observability. We show that TC-CaRTS outperforms prior work in the robot tool segmentation task with improved convergence speed on test datasets from different domains.

cs.RO↗

arXiv2022

A Systematic Review of Robustness in Deep Learning for Computer Vision: Mind the gap?

Deep neural networks for computer vision are deployed in increasingly safety-critical and socially-impactful applications, motivating the need to close the gap in model performance under varied, naturally occurring imaging conditions. Robustness, ambiguously used in multiple contexts including adversarial machine learning, refers here to preserving model performance under naturally-induced image corruptions or alterations. We perform a systematic review to identify, analyze, and summarize current definitions and progress towards non-adversarial robustness in deep learning for computer vision. We find this area of research has received disproportionately less attention relative to adversarial machine learning, yet a significant robustness gap exists that manifests in performance degradation similar in magnitude to adversarial conditions. Toward developing a more transparent definition of robustness, we provide a conceptual framework based on a structural causal model of the data generating process and interpret non-adversarial robustness as pertaining to a model's behavior on corrupted images corresponding to low-probability samples from the unaltered data distribution. We identify key architecture-, data augmentation-, and optimization tactics for improving neural network robustness. This robustness perspective reveals that common practices in the literature correspond to causal concepts. We offer perspectives on how future research may mind this evident and significant non-adversarial robustness gap.

cs.CV↗

arXiv2022

Context-Enhanced Stereo Transformer

Stereo depth estimation is of great interest for computer vision research. However, existing methods struggles to generalize and predict reliably in hazardous regions, such as large uniform regions. To overcome these limitations, we propose Context Enhanced Path (CEP). CEP improves the generalization and robustness against common failure cases in existing solutions by capturing the long-range global information. We construct our stereo depth estimation model, Context Enhanced Stereo Transformer (CSTR), by plugging CEP into the state-of-the-art stereo depth estimation method Stereo Transformer. CSTR is examined on distinct public datasets, such as Scene Flow, Middlebury-2014, KITTI-2015, and MPI-Sintel. We find CSTR outperforms prior approaches by a large margin. For example, in the zero-shot synthetic-to-real setting, CSTR outperforms the best competing approaches on Middlebury-2014 dataset by 11%. Our extensive experiments demonstrate that the long-range information is critical for stereo matching task and CEP successfully captures such information.

cs.CV↗

arXiv2022

Explainable Medical Imaging AI Needs Human-Centered Design: Guidelines and Evidence from a Systematic Review

Transparency in Machine Learning (ML), attempts to reveal the working mechanisms of complex models. Transparent ML promises to advance human factors engineering goals of human-centered AI in the target users. From a human-centered design perspective, transparency is not a property of the ML model but an affordance, i.e. a relationship between algorithm and user; as a result, iterative prototyping and evaluation with users is critical to attaining adequate solutions that afford transparency. However, following human-centered design principles in healthcare and medical image analysis is challenging due to the limited availability of and access to end users. To investigate the state of transparent ML in medical image analysis, we conducted a systematic review of the literature. Our review reveals multiple severe shortcomings in the design and validation of transparent ML for medical image analysis applications. We find that most studies to date approach transparency as a property of the model itself, similar to task performance, without considering end users during neither development nor evaluation. Additionally, the lack of user research, and the sporadic validation of transparency claims put contemporary research on transparent ML for medical image analysis at risk of being incomprehensible to users, and thus, clinically irrelevant. To alleviate these shortcomings in forthcoming research while acknowledging the challenges of human-centered design in healthcare, we introduce the INTRPRT guideline, a systematic design directive for transparent ML systems in medical image analysis. The INTRPRT guideline suggests formative user research as the first step of transparent model design to understand user needs and domain requirements. Following this process produces evidence to support design choices, and ultimately, increases the likelihood that the algorithms afford transparency.

cs.HC↗

arXiv2022

CaRTS: Causality-driven Robot Tool Segmentation from Vision and Kinematics Data

Vision-based segmentation of the robotic tool during robot-assisted surgery enables downstream applications, such as augmented reality feedback, while allowing for inaccuracies in robot kinematics. With the introduction of deep learning, many methods were presented to solve instrument segmentation directly and solely from images. While these approaches made remarkable progress on benchmark datasets, fundamental challenges pertaining to their robustness remain. We present CaRTS, a causality-driven robot tool segmentation algorithm, that is designed based on a complementary causal model of the robot tool segmentation task. Rather than directly inferring segmentation masks from observed images, CaRTS iteratively aligns tool models with image observations by updating the initially incorrect robot kinematic parameters through forward kinematics and differentiable rendering to optimize image feature similarity end-to-end. We benchmark CaRTS with competing techniques on both synthetic as well as real data from the dVRK, generated in precisely controlled scenarios to allow for counterfactual synthesis. On training-domain test data, CaRTS achieves a Dice score of 93.4 that is preserved well (Dice score of 91.8) when tested on counterfactually altered test data, exhibiting low brightness, smoke, blood, and altered background patterns. This compares favorably to Dice scores of 95.0 and 86.7, respectively, of the SOTA image-based method. Future work will involve accelerating CaRTS to achieve video framerate and estimating the impact occlusion has in practice. Despite these limitations, our results are promising: In addition to achieving high segmentation accuracy, CaRTS provides estimates of the true robot kinematics, which may benefit applications such as force estimation. Code is available at: https://github.com/hding2455/CaRTS

cs.RO↗

arXiv2022

SyntheX: Scaling Up Learning-based X-ray Image Analysis Through In Silico Experiments

Artificial intelligence (AI) now enables automated interpretation of medical images for clinical use. However, AI's potential use for interventional images (versus those involved in triage or diagnosis), such as for guidance during surgery, remains largely untapped. This is because surgical AI systems are currently trained using post hoc analysis of data collected during live surgeries, which has fundamental and practical limitations, including ethical considerations, expense, scalability, data integrity, and a lack of ground truth. Here, we demonstrate that creating realistic simulated images from human models is a viable alternative and complement to large-scale in situ data collection. We show that training AI image analysis models on realistically synthesized data, combined with contemporary domain generalization or adaptation techniques, results in models that on real data perform comparably to models trained on a precisely matched real data training set. Because synthetic generation of training data from human-based models scales easily, we find that our model transfer paradigm for X-ray image analysis, which we refer to as SyntheX, can even outperform real data-trained models due to the effectiveness of training on a larger dataset. We demonstrate the potential of SyntheX on three clinical tasks: Hip image analysis, surgical robotic tool detection, and COVID-19 lung lesion segmentation. SyntheX provides an opportunity to drastically accelerate the conception, design, and evaluation of intelligent systems for X-ray-based medicine. In addition, simulated image environments provide the opportunity to test novel instrumentation, design complementary surgical approaches, and envision novel techniques that improve outcomes, save time, or mitigate human error, freed from the ethical and practical considerations of live human data collection.

eess.IV↗

arXiv2022

SAGE: SLAM with Appearance and Geometry Prior for Endoscopy

In endoscopy, many applications (e.g., surgical navigation) would benefit from a real-time method that can simultaneously track the endoscope and reconstruct the dense 3D geometry of the observed anatomy from a monocular endoscopic video. To this end, we develop a Simultaneous Localization and Mapping system by combining the learning-based appearance and optimizable geometry priors and factor graph optimization. The appearance and geometry priors are explicitly learned in an end-to-end differentiable training pipeline to master the task of pair-wise image alignment, one of the core components of the SLAM system. In our experiments, the proposed SLAM system is shown to robustly handle the challenges of texture scarceness and illumination variation that are commonly seen in endoscopy. The system generalizes well to unseen endoscopes and subjects and performs favorably compared with a state-of-the-art feature-based SLAM system. The code repository is available at https://github.com/lppllppl920/SAGE-SLAM.git.

cs.CV↗

arXiv2022

Mapping DNN Embedding Manifolds for Network Generalization Prediction

Understanding Deep Neural Network (DNN) performance in changing conditions is essential for deploying DNNs in safety critical applications with unconstrained environments, e.g., perception for self-driving vehicles or medical image analysis. Recently, the task of Network Generalization Prediction (NGP) has been proposed to predict how a DNN will generalize in a new operating domain. Previous NGP approaches have relied on labeled metadata and known distributions for the new operating domains. In this study, we propose the first NGP approach that predicts DNN performance based solely on how unlabeled images from an external operating domain map in the DNN embedding space. We demonstrate this technique for pedestrian, melanoma, and animal classification tasks and show state of the art NGP in 13 of 15 NGP tasks without requiring domain knowledge. Additionally, we show that our NGP embedding maps can be used to identify misclassified images when the DNN performance is poor.

cs.CV↗

arXiv2021

Virtual Reality for Synergistic Surgical Training and Data Generation

Surgical simulators not only allow planning and training of complex procedures, but also offer the ability to generate structured data for algorithm development, which may be applied in image-guided computer assisted interventions. While there have been efforts on either developing training platforms for surgeons or data generation engines, these two features, to our knowledge, have not been offered together. We present our developments of a cost-effective and synergistic framework, named Asynchronous Multibody Framework Plus (AMBF+), which generates data for downstream algorithm development simultaneously with users practicing their surgical skills. AMBF+ offers stereoscopic display on a virtual reality (VR) device and haptic feedback for immersive surgical simulation. It can also generate diverse data such as object poses and segmentation maps. AMBF+ is designed with a flexible plugin setup which allows for unobtrusive extension for simulation of different surgical procedures. We show one use case of AMBF+ as a virtual drilling simulator for lateral skull-base surgery, where users can actively modify the patient anatomy using a virtual surgical drill. We further demonstrate how the data generated can be used for validating and training downstream computer vision algorithms

cs.RO↗

arXiv2021

Pediatric Otoscopy Video Screening with Shift Contrastive Anomaly Detection

Ear related concerns and symptoms represents the leading indication for seeking pediatric healthcare attention. Despite the high incidence of such encounters, the diagnostic process of commonly encountered disease of the middle and external presents significant challenge. Much of this challenge stems from the lack of cost effective diagnostic testing, which necessitating the presence or absence of ear pathology to be determined clinically. Research has however demonstrated considerable variation among clinicians in their ability to accurately diagnose and consequently manage ear pathology. With recent advances in computer vision and machine learning, there is an increasing interest in helping clinicians to accurately diagnose middle and external ear pathology with computer-aided systems. It has been shown that AI has the capacity to analyse a single clinical image captured during examination of the ear canal and eardrum from which it can determine the likelihood of a pathognomonic pattern for a specific diagnosis being present. The capture of such an image can however be challenging especially to inexperienced clinicians. To help mitigate this technical challenge we have developed and tested a method using video sequences. We present a two stage method that first, identifies valid frames by detecting and extracting ear drum patches from the video sequence, and second, performs the proposed shift contrastive anomaly detection to flag the otoscopy video sequences as normal or abnormal. Our method achieves an AUROC of 88.0% on the patient-level and also outperforms the average of a group of 25 clinicians in a comparative study, which is the largest of such published to date. We conclude that the presented method achieves a promising first step towards automated analysis of otoscopy video.

cs.CV↗

arXiv2021

On the Sins of Image Synthesis Loss for Self-supervised Depth Estimation

Scene depth estimation from stereo and monocular imagery is critical for extracting 3D information for downstream tasks such as scene understanding. Recently, learning-based methods for depth estimation have received much attention due to their high performance and flexibility in hardware choice. However, collecting ground truth data for supervised training of these algorithms is costly or outright impossible. This circumstance suggests a need for alternative learning approaches that do not require corresponding depth measurements. Indeed, self-supervised learning of depth estimation provides an increasingly popular alternative. It is based on the idea that observed frames can be synthesized from neighboring frames if accurate depth of the scene is known - or in this case, estimated. We show empirically that - contrary to common belief - improvements in image synthesis do not necessitate improvement in depth estimation. Rather, optimizing for image synthesis can result in diverging performance with respect to the main prediction objective - depth. We attribute this diverging phenomenon to aleatoric uncertainties, which originate from data. Based on our experiments on four datasets (spanning street, indoor, and medical) and five architectures (monocular and stereo), we conclude that this diverging phenomenon is independent of the dataset domain and not mitigated by commonly used regularization techniques. To underscore the importance of this finding, we include a survey of methods which use image synthesis, totaling 127 papers over the last six years. This observed divergence has not been previously reported or studied in depth, suggesting room for future improvement of self-supervised approaches which might be impacted the finding.

cs.CV↗

arXiv2021

Revisiting Stereo Depth Estimation From a Sequence-to-Sequence Perspective with Transformers

Stereo depth estimation relies on optimal correspondence matching between pixels on epipolar lines in the left and right images to infer depth. In this work, we revisit the problem from a sequence-to-sequence correspondence perspective to replace cost volume construction with dense pixel matching using position information and attention. This approach, named STereo TRansformer (STTR), has several advantages: It 1) relaxes the limitation of a fixed disparity range, 2) identifies occluded regions and provides confidence estimates, and 3) imposes uniqueness constraints during the matching process. We report promising results on both synthetic and real-world datasets and demonstrate that STTR generalizes across different domains, even without fine-tuning.

cs.CV↗

arXiv2021

An Interpretable Algorithm for Uveal Melanoma Subtyping from Whole Slide Cytology Images

Algorithmic decision support is rapidly becoming a staple of personalized medicine, especially for high-stakes recommendations in which access to certain information can drastically alter the course of treatment, and thus, patient outcome; a prominent example is radiomics for cancer subtyping. Because in these scenarios the stakes are high, it is desirable for decision systems to not only provide recommendations but supply transparent reasoning in support thereof. For learning-based systems, this can be achieved through an interpretable design of the inference pipeline. Herein we describe an automated yet interpretable system for uveal melanoma subtyping with digital cytology images from fine needle aspiration biopsies. Our method embeds every automatically segmented cell of a candidate cytology image as a point in a 2D manifold defined by many representative slides, which enables reasoning about the cell-level composition of the tissue sample, paving the way for interpretable subtyping of the biopsy. Finally, a rule-based slide-level classification algorithm is trained on the partitions of the circularly distorted 2D manifold. This process results in a simple rule set that is evaluated automatically but highly transparent for human verification. On our in house cytology dataset of 88 uveal melanoma patients, the proposed method achieves an accuracy of 87.5% that compares favorably to all competing approaches, including deep "black box" models. The method comes with a user interface to facilitate interaction with cell-level content, which may offer additional insights for pathological assessment.

cs.CV↗

arXiv2021

The Impact of Machine Learning on 2D/3D Registration for Image-guided Interventions: A Systematic Review and Perspective

Image-based navigation is widely considered the next frontier of minimally invasive surgery. It is believed that image-based navigation will increase the access to reproducible, safe, and high-precision surgery as it may then be performed at acceptable costs and effort. This is because image-based techniques avoid the need of specialized equipment and seamlessly integrate with contemporary workflows. Further, it is expected that image-based navigation will play a major role in enabling mixed reality environments and autonomous, robotic workflows. A critical component of image guidance is 2D/3D registration, a technique to estimate the spatial relationships between 3D structures, e.g., volumetric imagery or tool models, and 2D images thereof, such as fluoroscopy or endoscopy. While image-based 2D/3D registration is a mature technique, its transition from the bench to the bedside has been restrained by well-known challenges, including brittleness of the optimization objective, hyperparameter selection, and initialization, difficulties around inconsistencies or multiple objects, and limited single-view performance. One reason these challenges persist today is that analytical solutions are likely inadequate considering the complexity, variability, and high-dimensionality of generic 2D/3D registration problems. The recent advent of machine learning-based approaches to imaging problems that, rather than specifying the desired functional mapping, approximate it using highly expressive parametric models holds promise for solving some of the notorious challenges in 2D/3D registration. In this manuscript, we review the impact of machine learning on 2D/3D registration to systematically summarize the recent advances made by introduction of this novel technology. Grounded in these insights, we then offer our perspective on the most pressing needs, significant open problems, and possible next steps.

cs.CV↗

arXiv2021

E-DSSR: Efficient Dynamic Surgical Scene Reconstruction with Transformer-based Stereoscopic Depth Perception

Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery education and intra-operative context awareness. However, current methods are mostly restricted to reconstructing static anatomy assuming no tissue deformation, tool occlusion and de-occlusion, and camera movement. However, these assumptions are not always satisfied in minimal invasive robotic surgeries. In this work, we present an efficient reconstruction pipeline for highly dynamic surgical scenes that runs at 28 fps. Specifically, we design a transformer-based stereoscopic depth perception for efficient depth estimation and a light-weight tool segmentor to handle tool occlusion. After that, a dynamic reconstruction algorithm which can estimate the tissue deformation and camera movement, and aggregate the information over time is proposed for surgical scene reconstruction. We evaluate the proposed pipeline on two datasets, the public Hamlyn Centre Endoscopic Video Dataset and our in-house DaVinci robotic surgery dataset. The results demonstrate that our method can recover the scene obstructed by the surgical tool and handle the movement of camera in realistic surgical scenarios effectively at real-time speed.

cs.CV↗

arXiv2021

Relational Graph Learning on Visual and Kinematics Embeddings for Accurate Gesture Recognition in Robotic Surgery

Automatic surgical gesture recognition is fundamentally important to enable intelligent cognitive assistance in robotic surgery. With recent advancement in robot-assisted minimally invasive surgery, rich information including surgical videos and robotic kinematics can be recorded, which provide complementary knowledge for understanding surgical gestures. However, existing methods either solely adopt uni-modal data or directly concatenate multi-modal representations, which can not sufficiently exploit the informative correlations inherent in visual and kinematics data to boost gesture recognition accuracies. In this regard, we propose a novel online approach of multi-modal relational graph network (i.e., MRG-Net) to dynamically integrate visual and kinematics information through interactive message propagation in the latent feature space. In specific, we first extract embeddings from video and kinematics sequences with temporal convolutional networks and LSTM units. Next, we identify multi-relations in these multi-modal embeddings and leverage them through a hierarchical relational graph learning module. The effectiveness of our method is demonstrated with state-of-the-art results on the public JIGSAWS dataset, outperforming current uni-modal and multi-modal methods on both suturing and knot typing tasks. Furthermore, we validated our method on in-house visual-kinematics datasets collected with da Vinci Research Kit (dVRK) platforms in two centers, with consistent promising performance achieved.

cs.CV↗

arXiv2021

An Interpretable Approach to Automated Severity Scoring in Pelvic Trauma

Pelvic ring disruptions result from blunt injury mechanisms and are often found in patients with multi-system trauma. To grade pelvic fracture severity in trauma victims based on whole-body CT, the Tile AO/OTA classification is frequently used. Due to the high volume of whole-body trauma CTs generated in busy trauma centers, an automated approach to Tile classification would provide substantial value, e.,g., to prioritize the reading queue of the attending trauma radiologist. In such scenario, an automated method should perform grading based on a transparent process and based on interpretable features to enable interaction with human readers and lower their workload by offering insights from a first automated read of the scan. This paper introduces an automated yet interpretable pelvic trauma decision support system to assist radiologists in fracture detection and Tile grade classification. The method operates similarly to human interpretation of CT scans and first detects distinct pelvic fractures on CT with high specificity using a Faster-RCNN model that are then interpreted using a structural causal model based on clinical best practices to infer an initial Tile grade. The Bayesian causal model and finally, the object detector are then queried for likely co-occurring fractures that may have been rejected initially due to the highly specific operating point of the detector, resulting in an updated list of detected fractures and corresponding final Tile grade. Our method is transparent in that it provides finding location and type using the object detector, as well as information on important counterfactuals that would invalidate the system's recommendation and achieves an AUC of 83.3%/85.1% for translational/rotational instability. Despite being designed for human-machine teaming, our approach does not compromise on performance compared to previous black-box approaches.

eess.IV↗