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Full-Text Articles in Engineering
Systems And Methods For Scalable Retinal Screening Programs, Jeremy Richard Benson
Systems And Methods For Scalable Retinal Screening Programs, Jeremy Richard Benson
Computer Science ETDs
This dissertation addresses gaps in artificial intelligence-based computer vision tasks in the medical image processing field. We demonstrate effective methods for standardizing and augmenting digital fundus photographs so that robust convolutional neural network-based systems can perform high-throughput disease classification and generalize to never-before-seen data from novel camera technologies, scaling with the changing hardware landscape, as well as keeping up with vast amount of incoming data from the ever-increasing population. We also tackle the problem of discovering relevant samples in an unlabeled cohort of image data, thus widening the bottleneck to all downstream supervised machine learning tasks.
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Computer Science ETDs
Robot motion planning in dynamic environments is critical for many robotic applications, such as self-driving cars, UAVs and service robots operating in changing environments. However, motion planning in dynamic environments is very challenging as this problem has been shown to be NP-Hard and in PSPACE, even in the simplest case. As a result, the lack of safe, efficient planning solutions for real-world robots is one of the biggest obstacles for ubiquitous adoption of robots in everyday life. Specifically, there are four main challenges facing motion planning in dynamic environments: obstacle motion uncertainty, obstacle interaction, complex robot dynamics and noise, and …