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Yahui Wang

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3 papers

2 author rows

JBHI Journal 2023 Journal Article

BEA-Net: Body and Edge Aware Network With Multi-Scale Short-Term Concatenation for Medical Image Segmentation

Hulin Kuang
Yahui Wang
Yixiong Liang
Jin Liu
Jianxin Wang

Medical image segmentation is indispensable for diagnosis and prognosis of many diseases. To improve the segmentation performance, this study proposes a new 2D body and edge aware network with multi-scale short-term concatenation for medical image segmentation. Multi-scale short-term concatenation modules which concatenate successive convolution layers with different receptive fields, are proposed for capturing multi-scale representations with fewer parameters. Body generation modules with feature adjustment based on weight map computing via enlarging the receptive fields, and edge generation modules with multi-scale convolutions using Sobel kernels for edge detection, are proposed to separately learn body and edge features from convolutional features in decoders, making the proposed network be body and edge aware. Based on the body and edge modules, we design parallel body and edge decoders whose outputs are fused to achieve the final segmentation. Besides, deep supervision from the body and edge decoders is applied to ensure the effectiveness of the generated body and edge features and further improve the final segmentation. The proposed method is trained and evaluated on six public medical image segmentation datasets to show its effectiveness and generality. Experimental results show that the proposed method achieves better average Dice similarity coefficient and 95% Hausdorff distance than several benchmarks on all used datasets. Ablation studies validate the effectiveness of the proposed multi-scale representation learning modules, body and edge generation modules and deep supervision.

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IROS Conference 2023 Conference Paper

VIW-Fusion: Extrinsic Calibration and Pose Estimation for Visual-IMU-Wheel Encoder System

Chunxiao Qiao
Shuying Zhao
Yunzhou Zhang
Yahui Wang
Dan Zhang

The data fusion of camera, IMU, and wheel encoder measurements has proved its effectiveness in localizing ground robots, and obtaining accurate sensor extrinsic parameters is its premise. We propose an extrinsic parameter calibration algorithm and a multi-sensor-based pose estimation algorithm for the camera-IMU-wheel encoder system. First, we propose a joint calibration algorithm for the extrinsic parameters of the camera-IMU-wheel encoder system, which improves the accuracy and robustness of the camera-wheel encoder calibration. We then extend the visual-inertial odometry (VIO) to incorporate the measurements from the wheel encoder and weight the wheel encoder measurements according to angular velocity in global optimization to improve the performance. We further propose a novel method for VIO initialization by integrating wheel encoder information, which significantly reduces the scale error in initialization. We conduct extrinsic parameter calibration experiments on a real self-driving car and validate the performance of our multi-sensor-based localization system on the KAIST dataset and a dataset collected by our self-driving vehicles by performing an exhaust comparison with the state-of-the-art algorithms. Our implementations are open source 1 1 https://github.com/chunxiaoqiao/VIW-Fusion.git.

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IROS Conference 2018 Conference Paper

Structured Skip List: A Compact Data Structure for 3D Reconstruction

Shijie Li 0006
Ming-Ming Cheng
Yun Liu 0011
Shao-Ping Lu
Yahui Wang
Victor Adrian Prisacariu

The model produced by 3D reconstruction algorithm is usually represented by voxels. The management of these voxels is usually divided into two categories: ordered and unordered methods. The ordered method holds too many empty voxels to maintain data order which leads to a low storage efficiency. On the contrary, the unordered method keeps massive index data to only store nonempty voxels. In this paper, we design a new data management method for real-time indoor 3D reconstruction, called Structured Skip List (SSL). The SSL can be treated as a semi-ordered method, because the advantages of both the ordered and unordered methods are taken into account: 1) it only holds nonempty voxels similar to the unordered method; 2) the structured information is introduced to reduce the storage space of index data. By these designs, the SSL has a better performance on storage efficiency. To handle the data collision in voxel allocation, a hash allocation list (HAL) is proposed. The length of each Skip List is kept balanced by fusing the IMU (Inertial Measurement Unit) information for a high operation efficiency. The storage efficiency analysis of different data management methods is shown in this paper. What's more, exhaustive investigation is carried out on several datasets with these methods. The experimental result demonstrates that our design can achieve a high storage efficiency with little time loss compared to the state-of-the-art methods.

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