arXiv subjects

Tiago Cortinhal

Publications and source records attributed to Tiago Cortinhal.

5 recordsLinked to original sources

arXiv2026

Uncertainty-Aware Missing-Data Multimodal Latent for Fetal-Growth Analysis

Objective: Routine third-trimester examination yields fetal biometry, maternal, Doppler and fetal-cardiac measurements, acquired at clinical discretion and therefore often incomplete. We show that these four measurement blocks are close to mutually uninformative, and that this single property determines what a representation of them can impute, what it can audit, and what fetal size alone cannot indicate. Methods: A linear-Gaussian factor model (K = 8 by parallel analysis, VARIMAX-rotated) was fitted to 25 measurements in four blocks from 977 fetuses (169 SGA, 61 severe; 77 LGA). Posterior precision sums contributions from observed measurements only, so missing values are marginalized rather than imputed. Data quality was screened using the standardized residual between each measurement and its reconstruction. Results: Predicting any one block from the other three gives an out-of-fold R2 of 0.023. The representation is a continuous growth spectrum with no cluster structure (Hartigan dip p = 0.99, gap statistic k = 1, three-cluster silhouette 0.07) ordering fetuses by birthweight centile (Spearman rho = 0.55). Among 169 SGA fetuses the haemodynamic redistribution axis separated the 25 adverse outcomes (AUC 0.70, 0.585-0.808) where measured size did not (0.60, 0.451-0.738). With Doppler censored, the marginalized interval covered held-out measurements in 97% and 93% of cases against nominal 95% and 90%. The reconstruction residual flagged 38 of 977 records, 36 confirmed transcription errors in the registry. Conclusion: Marginalizing missing measurements yields a representation whose uncertainty reflects the available data, and whose reconstruction residual doubles as a data-quality screen. Because the blocks are nearly independent, confirmed flags are within-block errors, and a synthetic benchmark gives the coupling needed before cross-block detection becomes available.

stat.AP↗

arXiv2023

Semantics-aware LiDAR-Only Pseudo Point Cloud Generation for 3D Object Detection

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced pseudo-LiDAR, i.e., synthetic dense point clouds, using additional modalities such as cameras to enhance 3D object detection. We present a novel LiDAR-only framework that augments raw scans with denser pseudo point clouds by solely relying on LiDAR sensors and scene semantics, omitting the need for cameras. Our framework first utilizes a segmentation model to extract scene semantics from raw point clouds, and then employs a multi-modal domain translator to generate synthetic image segments and depth cues without real cameras. This yields a dense pseudo point cloud enriched with semantic information. We also introduce a new semantically guided projection method, which enhances detection performance by retaining only relevant pseudo points. We applied our framework to different advanced 3D object detection methods and reported up to 2.9% performance upgrade. We also obtained comparable results on the KITTI 3D object detection dataset, in contrast to other state-of-the-art LiDAR-only detectors.

cs.CV↗

arXiv2023

Depth- and Semantics-aware Multi-modal Domain Translation: Generating 3D Panoramic Color Images from LiDAR Point Clouds

This work presents a new depth- and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation in a multi-modal setup between LiDAR and camera sensors. The proposed model leverages scene semantics as a mid-level representation and is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments. We claim that this is the first framework of its kind and it has practical applications in autonomous vehicles such as providing a fail-safe mechanism and augmenting available data in the target image domain. The proposed model is evaluated on the large-scale and challenging Semantic-KITTI dataset, and experimental findings show that it considerably outperforms the original TITAN-Net and other strong baselines by 23.7$\%$ margin in terms of IoU.

cs.CV↗

arXiv2021

Semantics-aware Multi-modal Domain Translation:From LiDAR Point Clouds to Panoramic Color Images

In this work, we present a simple yet effective framework to address the domain translation problem between different sensor modalities with unique data formats. By relying only on the semantics of the scene, our modular generative framework can, for the first time, synthesize a panoramic color image from a given full 3D LiDAR point cloud. The framework starts with semantic segmentation of the point cloud, which is initially projected onto a spherical surface. The same semantic segmentation is applied to the corresponding camera image. Next, our new conditional generative model adversarially learns to translate the predicted LiDAR segment maps to the camera image counterparts. Finally, generated image segments are processed to render the panoramic scene images. We provide a thorough quantitative evaluation on the SemanticKitti dataset and show that our proposed framework outperforms other strong baseline models. Our source code is available at https://github.com/halmstad-University/TITAN-NET

cs.CV↗

arXiv2020

SalsaNext: Fast, Uncertainty-aware Semantic Segmentation of LiDAR Point Clouds for Autonomous Driving

In this paper, we introduce SalsaNext for the uncertainty-aware semantic segmentation of a full 3D LiDAR point cloud in real-time. SalsaNext is the next version of SalsaNet [1] which has an encoder-decoder architecture where the encoder unit has a set of ResNet blocks and the decoder part combines upsampled features from the residual blocks. In contrast to SalsaNet, we introduce a new context module, replace the ResNet encoder blocks with a new residual dilated convolution stack with gradually increasing receptive fields and add the pixel-shuffle layer in the decoder. Additionally, we switch from stride convolution to average pooling and also apply central dropout treatment. To directly optimize the Jaccard index, we further combine the weighted cross-entropy loss with Lovasz-Softmax loss [2]. We finally inject a Bayesian treatment to compute the epistemic and aleatoric uncertainties for each point in the cloud. We provide a thorough quantitative evaluation on the Semantic-KITTI dataset [3], which demonstrates that the proposed SalsaNext outperforms other state-of-the-art semantic segmentation networks and ranks first on the Semantic-KITTI leaderboard. We also release our source code https://github.com/TiagoCortinhal/SalsaNext.

cs.CV↗