In this paper, we present a pipeline and prototype vision system for near-real-time semantic segmentation and classification of objects such as roads, buildings, and vehicles in large high-resolution wide-area real-world aerial LiDAR point-cloud and RGBD imagery. Unlike previous works, which have focused on exploiting ground- based sensors or narrowed the scope to detecting the density of large objects, here we address the full semantic segmentation of aerial LiDAR and RGBD imagery by exploiting crowd-sourced labels that densely canvas each image in the 2015 Dublin dataset.1 Our results indicate important improvements to detection and segmentation accuracy with the addition of aerial LiDAR over RGB imagery alone, which has important implications for civilian applications such as autonomous navigation and rescue operations. Moreover, the prototype system can segment and search geographic areas as big as 1km2 in a matter of seconds on commodity hardware with high accuracy (_ 90%), suggesting the feasibility of real-time scene understanding on small aerial platforms.
We introduce a new approach for designing deep learning algorithms for computed tomography applications. Rather than training generically-structured neural network architectures to equivalently perform imaging tasks, we show how to leverage classical iterative-reconstruction algorithms such as Newton-Raphson and expectation- maximization (EM) to bootstrap network performance to a good initialization-point, with a well-understood baseline of performance. Specifically, we demonstrate a natural and systematic way to design these networks for both transmission-mode x-ray computed tomography (XRCT) and emission-mode single-photon computed tomography (SPECT), highlighting that our method is capable of preserving many of the nice properties, such as convergence and understandability, that is featured in classical approaches. The key contribution of this work is a formulation of the reconstruction task that enables data-driven improvements in image clarity and artifact reduction without sacrificing understandability. In this early work, we evaluate our method on a number of synthetic phantoms, highlighting some of the benefits and difficulties of this machine-learning approach.
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