Deep learning systems, especially in critical fields like medicine, suffer from a significant drawback, their black box nature, which lacks mechanisms for explaining or interpreting their decisions. In this regard, our research aims to evaluate the use of surrogate models for interpreting convolutional neural network (CNN) decisions in glaucoma diagnosis. Our approach is novel in that we approximate the original model with an interpretable one and also change the input features, replacing pixels with tabular geometric features of the optic disc, cup, and neuroretinal rim. We trained CNNs with two types of images: original images of the optic nerve head and simplified images showing only the disc and cup contours on a uniform background. Decision trees were used as surrogate models due to their simplicity and visualization properties, while saliency maps were calculated for some images for comparison. The experiments carried out with 1271 images of healthy subjects and 721 images of glaucomatous eyes demonstrate that decision trees can closely approximate the predictions of neural networks trained on simplified contour images, with R-squared values near 0.9 for VGG19, Resnet50, InceptionV3 and Xception architectures. Saliency maps proved difficult to interpret and showed inconsistent results across architectures, in contrast to the decision trees. Additionally, some decision trees trained as surrogate models outperformed a decision tree trained on the actual outcomes without surrogation. Decision trees may be a more interpretable alternative to saliency methods. Moreover, the fact that we matched the performance of a decision tree without surrogation to that obtained by decision trees using knowledge distillation from neural networks is a great advantage since decision trees are inherently interpretable. Therefore, based on our findings, we think this approach would be the most recommendable choice for specialists as a diagnostic tool.

This paper describes a localization module for an autonomous wheelchair. This module includes a combination of various sensors such as odometers, laser scanners, IMU and Doppler speed sensors. Every sensor used in the module features variable covariance estimation in order to yield a final accurate localization. The main problem of a localization module composed of different sensors is the accuracy estimation of each sensor. Average static values are normally used, but these can lead to failure in some situations. In this paper, all the sensors have a variable covariance estimation that depends on the data quality. A Doppler speed sensor is used to estimate the covariance of the encoder odometric localization. Lidar is also used as a scan matching localization algorithm, comparing the difference between two consecutive scans to obtain the change in position. Matching quality gives the accuracy of the scan matcher localization. This structure yields a better position than a traditional odometric static covariance method. This is tested in a real prototype and compared to a standard fusion technique.