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Michal Drozdzal

Alumni

Publications

3D Shape Reconstruction from Vision and Touch
Edward J. Smith
Roberto Calandra
Adriana Romero Soriano
Georgia Gkioxari
David Meger
Jitendra Malik
Michal Drozdzal
When a toddler is presented a new toy, their instinctual behaviour is to pick it up and inspect it with their hand and eyes in tandem, clear… (see more)ly searching over its surface to properly understand what they are playing with. Here, touch provides high fidelity localized information while vision provides complementary global context. However, in 3D shape reconstruction, the complementary fusion of visual and haptic modalities remains largely unexplored. In this paper, we study this problem and present an effective chart-based approach to fusing vision and touch, which leverages advances in graph convolutional networks. To do so, we introduce a dataset of simulated touch and vision signals from the interaction between a robotic hand and a large array of 3D objects. Our results show that (1) leveraging both vision and touch signals consistently improves single-modality baselines; (2) our approach outperforms alternative modality fusion methods and strongly benefits from the proposed chart-based structure; (3) the reconstruction quality increases with the number of grasps provided; and (4) the touch information not only enhances the reconstruction at the touch site but also extrapolates to its local neighborhood.
arxiv.org
On the Iterative Refinement of Densely Connected Representation Levels for Semantic Segmentation
Arantxa Casanova
Guillem Cucurull
Michal Drozdzal
Adriana Romero Soriano
Yoshua Bengio
State-of-the-art semantic segmentation approaches increase the receptive field of their models by using either a downsampling path composed … (see more)of poolings/strided convolutions or successive dilated convolutions. However, it is not clear which operation leads to best results. In this paper, we systematically study the differences introduced by distinct receptive field enlargement methods and their impact on the performance of a novel architecture, called Fully Convolutional DenseResNet (FC-DRN). FC-DRN has a densely connected backbone composed of residual networks. Following standard image segmentation architectures, receptive field enlargement operations that change the representation level are interleaved among residual networks. This allows the model to exploit the benefits of both residual and dense connectivity patterns, namely: gradient flow, iterative refinement of representations, multi-scale feature combination and deep supervision. In order to highlight the potential of our model, we test it on the challenging CamVid urban scene understanding benchmark and make the following observations: 1) downsampling operations outperform dilations when the model is trained from scratch, 2) dilations are useful during the finetuning step of the model, 3) coarser representations require less refinement steps, and 4) ResNets (by model construction) are good regularizers, since they can reduce the model capacity when needed. Finally, we compare our architecture to alternative methods and report state-of-the-art result on the Camvid dataset, with at least twice fewer parameters.
2018-06-18
2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW) (published)
doi.org
arxiv.org
Convolutional neural networks for mesh-based parcellation of the cerebral cortex
Guillem Cucurull
Konrad Wagstyl
Arantxa Casanova
Petar Veličković
Estrid Jakobsen
Michal Drozdzal
Adriana Romero Soriano
Alan C. Evans
Yoshua Bengio
In order to understand the organization of the cerebral cortex, it is necessary to create a map or parcellation of cortical areas. Reconstru… (see more)ctions of the cortical surface created from structural MRI scans, are frequently used in neuroimaging as a common coordinate space for representing multimodal neuroimaging data. These meshes are used to investigate healthy brain organization as well as abnormalities in neurological and psychiatric conditions. We frame cerebral cortex parcellation as a mesh segmentation task, and address it by taking advantage of recent advances in generalizing convolutions to the graph domain. In particular, we propose to assess graph convolutional networks and graph attention networks, which, in contrast to previous mesh parcellation models, exploit the underlying structure of the data to make predictions. We show experimentally on the Human Connectome Project dataset that the proposed graph convolutional models outperform current state-of-the-art and baselines, highlighting the potential and applicability of these methods to tackle neuroimaging challenges, paving the road towards a better characterization of brain diseases.
2018-01-01
MIDL.amsterdam/2018/Conference (oral)
openreview.net
openreview.net
Learnable Explicit Density for Continuous Latent Space and Variational Inference
Chin-wei Huang
Ahmed Touati
Laurent Dinh
Michal Drozdzal
Mohammad Havaei
Laurent Charlin
Aaron Courville
In this paper, we study two aspects of the variational autoencoder (VAE): the prior distribution over the latent variables and its correspon… (see more)ding posterior. First, we decompose the learning of VAEs into layerwise density estimation, and argue that having a flexible prior is beneficial to both sample generation and inference. Second, we analyze the family of inverse autoregressive flows (inverse AF) and show that with further improvement, inverse AF could be used as universal approximation to any complicated posterior. Our analysis results in a unified approach to parameterizing a VAE, without the need to restrict ourselves to use factorial Gaussians in the latent real space.
2017-10-06
ArXiv (preprint)
arxiv.org
arxiv.org
A Benchmark for Endoluminal Scene Segmentation of Colonoscopy Images
David Vazquez
Jorge Bernal
F. Javier Sánchez
Gloria Fernández-Esparrach
Antonio M. López
Adriana Romero Soriano
Michal Drozdzal
Aaron Courville
Colorectal cancer (CRC) is the third cause of cancer death worldwide. Currently, the standard approach to reduce CRC-related mortality is to… (see more) perform regular screening in search for polyps and colonoscopy is the screening tool of choice. The main limitations of this screening procedure are polyp miss rate and the inability to perform visual assessment of polyp malignancy. These drawbacks can be reduced by designing decision support systems (DSS) aiming to help clinicians in the different stages of the procedure by providing endoluminal scene segmentation. Thus, in this paper, we introduce an extended benchmark of colonoscopy image segmentation, with the hope of establishing a new strong benchmark for colonoscopy image analysis research. The proposed dataset consists of 4 relevant classes to inspect the endoluminal scene, targeting different clinical needs. Together with the dataset and taking advantage of advances in semantic segmentation literature, we provide new baselines by training standard fully convolutional networks (FCNs). We perform a comparative study to show that FCNs significantly outperform, without any further postprocessing, prior results in endoluminal scene segmentation, especially with respect to polyp segmentation and localization.
2017-07-26
Journal of Healthcare Engineering (published)
doi.org
arxiv.org
A Benchmark for Endoluminal Scene Segmentation of Colonoscopy Images
David Vazquez
Jorge Bernal
F. Javier Sánchez
Gloria Fernández-Esparrach
Antonio M. López
Adriana Romero Soriano
Michal Drozdzal
Aaron Courville
Colorectal cancer (CRC) is the third cause of cancer death worldwide. Currently, the standard approach to reduce CRC-related mortality is to… (see more) perform regular screening in search for polyps and colonoscopy is the screening tool of choice. The main limitations of this screening procedure are polyp miss rate and the inability to perform visual assessment of polyp malignancy. These drawbacks can be reduced by designing decision support systems (DSS) aiming to help clinicians in the different stages of the procedure by providing endoluminal scene segmentation. Thus, in this paper, we introduce an extended benchmark of colonoscopy image segmentation, with the hope of establishing a new strong benchmark for colonoscopy image analysis research. The proposed dataset consists of 4 relevant classes to inspect the endoluminal scene, targeting different clinical needs. Together with the dataset and taking advantage of advances in semantic segmentation literature, we provide new baselines by training standard fully convolutional networks (FCNs). We perform a comparative study to show that FCNs significantly outperform, without any further postprocessing, prior results in endoluminal scene segmentation, especially with respect to polyp segmentation and localization.
2016-12-02
ArXiv (preprint)
doi.org
arxiv.org