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Santanu Chaudhury

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3 papers

2 author rows

AAAI Conference 2024 Conference Paper

LISR: Learning Linear 3D Implicit Surface Representation Using Compactly Supported Radial Basis Functions

Atharva Pandey
Vishal Yadav
Rajendra Nagar
Santanu Chaudhury

Implicit 3D surface reconstruction of an object from its partial and noisy 3D point cloud scan is the classical geometry processing and 3D computer vision problem. In the literature, various 3D shape representations have been developed, differing in memory efficiency and shape retrieval effectiveness, such as volumetric, parametric, and implicit surfaces. Radial basis functions provide memory-efficient parameterization of the implicit surface. However, we show that training a neural network using the mean squared error between the ground-truth implicit surface and the linear basis-based implicit surfaces does not converge to the global solution. In this work, we propose locally supported compact radial basis functions for a linear representation of the implicit surface. This representation enables us to generate 3D shapes with arbitrary topologies at any resolution due to their continuous nature. We then propose a neural network architecture for learning the linear implicit shape representation of the 3D surface of an object. We learn linear implicit shapes within a supervised learning framework using ground truth Signed-Distance Field (SDF) data for guidance. The classical strategies face difficulties in finding linear implicit shapes from a given 3D point cloud due to numerical issues (requires solving inverse of a large matrix) in basis and query point selection. The proposed approach achieves better Chamfer distance and comparable F-score than the state-of-the-art approach on the benchmark dataset. We also show the effectiveness of the proposed approach by using it for the 3D shape completion task.

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IJCAI Conference 2023 Conference Paper

On AI-Assisted Pneumoconiosis Detection from Chest X-rays

Yasmeena Akhter
Rishabh Ranjan
Richa Singh
Mayank Vatsa
Santanu Chaudhury

According to theWorld Health Organization, Pneumoconiosis affects millions of workers globally, with an estimated 260, 000 deaths annually. The burden of Pneumoconiosis is particularly high in low-income countries, where occupational safety standards are often inadequate, and the prevalence of the disease is increasing rapidly. The reduced availability of expert medical care in rural areas, where these diseases are more prevalent, further adds to the delayed screening and unfavourable outcomes of the disease. This paper aims to highlight the urgent need for early screening and detection of Pneumoconiosis, given its significant impact on affected individuals, their families, and societies as a whole. With the help of low-cost machine learning models, early screening, detection, and prevention of Pneumoconiosis can help reduce healthcare costs, particularly in low-income countries. In this direction, this research focuses on designing AI solutions for detecting different kinds of Pneumoconiosis from chest X-ray data. This will contribute to the Sustainable Development Goal 3 of ensuring healthy lives and promoting well-being for all at all ages, and present the framework for data collection and algorithm for detecting Pneumoconiosis for early screening. The baseline results show that the existing algorithms are unable to address this challenge. Therefore, it is our assertion that this research will improve state-of-the-art algorithms of segmentation, semantic segmentation, and classification not only for this disease but in general medical image analysis literature.

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IROS Conference 2016 Conference Paper

Pose estimation of texture-less cylindrical objects in bin picking using sensor fusion

Mayank Roy
Riby Abraham Boby
Shraddha Chaudhary
Santanu Chaudhury
Sumantra Dutta Roy
Subir Kumar Saha

We propose an approach for emptying of bin using a combination of Image and Range sensor. Offering a complete solution: calibration, segmentation and pose estimation, along with approachability analysis for the estimated pose. The work is novel in the sense that the objects to be picked are featureless and uniformly black in colour, hence existing approaches are not directly applicable. A key point involves optimal utilization of range data acquired from the laser scanner for 3-D segmentation using localized geometric information. This information guides segmentation of the image for better object pose estimation, used for pick-and-drop. We analytically assure the approachability of the object to avoid collision of the manipulator with the bin. Disturbance of objects caused during pick up has been modelled, which allows pickup of multiple pellets based on information from a single range scan. This eliminates the necessity of repeated scanning and data conditioning. The proposed method offers high object detection rate and pose estimation accuracy. The innovative techniques aimed at reducing the average pickup time makes it suitable for robust industrial operation.

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