Autonomous landing of an unmanned aerial vehicle or a drone is a challenging problem for the robotics research community. Previous researchers have attempted to solve this problem by combining multiple sensors such as global positioning system (GPS) receivers, inertial measurement unit, and multiple camera systems. Although these approaches successfully estimate an unmanned aerial vehicle location during landing, many calibration processes are required to achieve good detection accuracy. In addition, cases where drones operate in heterogeneous areas with no GPS signal should be considered. To overcome these problems, we determined how to safely land a drone in a GPS-denied environment using our remote-marker-based tracking algorithm based on a single visible-light-camera sensor. Instead of using hand-crafted features, our algorithm includes a convolutional neural network named lightDenseYOLO to extract trained features from an input image to predict a marker’s location by visible light camera sensor on drone. Experimental results show that our method significantly outperforms state-of-the-art object trackers both using and not using convolutional neural network in terms of both accuracy and processing time.

Conventional nighttime face detection studies mostly use near-infrared (NIR) light cameras or thermal cameras, which are robust to environmental illumination variation and low illumination. However, for the NIR camera, it is difficult to adjust the intensity and angle of the additional NIR illuminator according to its distance from an object. As for the thermal camera, it is expensive to use as a surveillance camera. For these reasons, we propose a nighttime face detection method based on deep learning using a single visible-light camera. In a long-distance night image, it is difficult to detect faces directly from the entire image due to noise and image blur. Therefore, we propose Two-Step Faster region-based convolutional neural network (R-CNN) based on the image preprocessed by histogram equalization (HE). As a two-step scheme, our method sequentially performs the detectors of body and face areas, and locates the face inside a limited body area. By using our two-step method, the processing time by Faster R-CNN can be reduced while maintaining the accuracy of face detection by Faster R-CNN. Using a self-constructed database called Dongguk Nighttime Face Detection database (DNFD-DB1) and an open database of Fudan University, we proved that the proposed method performs better compared to other existing face detectors. In addition, the proposed Two-Step Faster R-CNN outperformed single Faster R-CNN and our method with HE showed higher accuracies than those without our preprocessing in nighttime face detection.

Extracting powerful image features plays an important role in computer vision systems. Many methods have previously been proposed to extract image features for various computer vision applications, such as the scale-invariant feature transform (SIFT), speed-up robust feature (SURF), local binary patterns (LBP), histogram of oriented gradients (HOG), and weighted HOG. Recently, the convolutional neural network (CNN) method for image feature extraction and classification in computer vision has been used in various applications. In this research, we propose a new gender recognition method for recognizing males and females in observation scenes of surveillance systems based on feature extraction from visible-light and thermal camera videos through CNN. Experimental results confirm the superiority of our proposed method over state-of-the-art recognition methods for the gender recognition problem using human body images.

Background: Cardiac arrest (CA) is one of the leading causes of death among patients in the intensive care unit (ICU). Although many CA prediction models with high sensitivity have been developed to anticipate CA, their practical application has been challenging due to a lack of generalization and validation. Additionally, the heterogeneity among patients in different ICU subtypes has not been adequately addressed. Objective: This study aims to propose a clinically interpretable ensemble approach for the timely and accurate prediction of CA within 24 hours, regardless of patient heterogeneity, including variations across different populations and ICU subtypes. Additionally, we conducted patient-independent evaluations to emphasize the model’s generalization performance and analyzed interpretable results that can be readily adopted by clinicians in real-time. Methods: Patients were retrospectively analyzed using data from the Medical Information Mart for Intensive Care-IV (MIMIC-IV) and the eICU-Collaborative Research Database (eICU-CRD). To address the problem of underperformance, we constructed our framework using feature sets based on vital signs, multiresolution statistical analysis, and the Gini index, with a 12-hour window to capture the unique characteristics of CA. We extracted 3 types of features from each database to compare the performance of CA prediction between high-risk patient groups from MIMIC-IV and patients without CA from eICU-CRD. After feature extraction, we developed a tabular network (TabNet) model using feature screening with cost-sensitive learning. To assess real-time CA prediction performance, we used 10-fold leave-one-patient-out cross-validation and a cross–data set method. We evaluated MIMIC-IV and eICU-CRD across different cohort populations and subtypes of ICU within each database. Finally, external validation using the eICU-CRD and MIMIC-IV databases was conducted to assess the model’s generalization ability. The decision mask of the proposed method was used to capture the interpretability of the model. Results: The proposed method outperformed conventional approaches across different cohort populations in both MIMIC-IV and eICU-CRD. Additionally, it achieved higher accuracy than baseline models for various ICU subtypes within both databases. The interpretable prediction results can enhance clinicians’ understanding of CA prediction by serving as a statistical comparison between non-CA and CA groups. Next, we tested the eICU-CRD and MIMIC-IV data sets using models trained on MIMIC-IV and eICU-CRD, respectively, to evaluate generalization ability. The results demonstrated superior performance compared with baseline models. Conclusions: Our novel framework for learning unique features provides stable predictive power across different ICU environments. Most of the interpretable global information reveals statistical differences between CA and non-CA groups, demonstrating its utility as an indicator for clinical decisions. Consequently, the proposed CA prediction system is a clinically validated algorithm that enables clinicians to intervene early based on CA prediction information and can be applied to clinical trials in digital health.

Accurate nuclear segmentation in histopathology images plays a key role in digital pathology. It is considered a prerequisite for the determination of cell phenotype, nuclear morphometrics, cell classification, and the grading and prognosis of cancer. However, it is a very challenging task because of the different types of nuclei, large intraclass variations, and diverse cell morphologies. Consequently, the manual inspection of such images under high-resolution microscopes is tedious and time-consuming. Alternatively, artificial intelligence (AI)-based automated techniques, which are fast and robust, and require less human effort, can be used. Recently, several AI-based nuclear segmentation techniques have been proposed. They have shown a significant performance improvement for this task, but there is room for further improvement. Thus, we propose an AI-based nuclear segmentation technique in which we adopt a new nuclear segmentation network empowered by residual skip connections to address this issue. Experiments were performed on two publicly available datasets: (1) The Cancer Genome Atlas (TCGA), and (2) Triple-Negative Breast Cancer (TNBC). The results show that our proposed technique achieves an aggregated Jaccard index (AJI) of 0.6794, Dice coefficient of 0.8084, and F1-measure of 0.8547 on TCGA dataset, and an AJI of 0.7332, Dice coefficient of 0.8441, precision of 0.8352, recall of 0.8306, and F1-measure of 0.8329 on the TNBC dataset. These values are higher than those of the state-of-the-art methods.

In recent years, the importance of semantic segmentation has been widely recognized and the field has been actively studied. The existing state-of-the-art segmentation methods show high performance for bright and clear images. However, in low light or nighttime environments, images are blurred and noise increases due to the nature of the camera sensor, which makes it very difficult to perform segmentation for various objects. For this reason, there are few previous studies on multi-class segmentation in low light or nighttime environments. To address this challenge, we propose a modified cycle generative adversarial network (CycleGAN)-based multi-class segmentation method that improves multi-class segmentation performance for low light images. In this study, we used low light databases generated by two road scene open databases that provide segmentation labels, which are the Cambridge-driving labeled video database (CamVid) and Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago (KITTI) database. Consequently, the proposed method showed superior segmentation performance compared with the other state-of-the-art methods.