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4. Survey on Blood Vessels Contrast Enhancement Algorithms for Digital Image

Author

Khaniabadi, Shadi Mahmoodi, Mat Sakim, Harsa Amylia, Ibrahim, Haidi, Huqqani, Ilyas Ahmad, Khaniabadi, Farzad Mahmoodi, Teoh, Soo Siang, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Ahmad, Nur Syazreen, editor, Mohamad-Saleh, Junita, editor, and Teh, Jiashen, editor

Published
2024
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5. A Comparative Study of Noise Reduction Techniques for Blood Vessels Image

Author

Khaniabadi, Shadi Mahmoodi, Ibrahim, Haidi, Huqqani, Ilyas Ahmad, Mat Sakim, Harsa Amylia, Teoh, Soo Siang, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Ahmad, Nur Syazreen, editor, Mohamad-Saleh, Junita, editor, and Teh, Jiashen, editor

Published
2024
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6. Ground Truth from Multiple Manually Marked Images to Evaluate Blood Vessel Segmentation

Author

Tariq, Nazish, Tang, Michael Chi Seng, Ibrahim, Haidi, Siang, Teoh Soo, Embong, Zunaina, Hamid, Aini Ismafairus Abd, Zainon, Rafidah, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Ahmad, Nur Syazreen, editor, Mohamad-Saleh, Junita, editor, and Teh, Jiashen, editor

Published
2024
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7. Literature Survey on Edge Detection-Based Methods for Blood Vessel Segmentation from Retinal Fundus Images

Author

Tariq, Nazish, Khaniabadi, Shadi Mahmoodi, Teoh, Soo Siang, Wang, Shir Li, Ng, Theam Foo, Hamzah, Rostam Affendi, Embong, Zunaina, Ibrahim, Haidi, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Ahmad, Nur Syazreen, editor, Mohamad-Saleh, Junita, editor, and Teh, Jiashen, editor

Published
2024
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8. AGVs and AMRs Robots: A Brief Overview of the Differences and Navigation Principles

Author

Saleh, Sami Abdulla Mohsen, Suandi, Shahrel Azmin, Ibrahim, Haidi, Hamad, Qusay Shihab, Al Amoudi, Ibrahim, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Tan, Kay Chen, Series Editor, Ahmad, Nur Syazreen, editor, Mohamad-Saleh, Junita, editor, and Teh, Jiashen, editor

Published
2024
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22. Survey on Loss Function for Face Recognition

Author

Hoo, Seng Chun, Olagoke, Adeshina Sirajdin, Ibrahim, Haidi, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Mahyuddin, Nor Muzlifah, editor, Mat Noor, Nor Rizuan, editor, and Mat Sakim, Harsa Amylia, editor

Published
2022
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23. Impact of Similarity Measure Functions on the Performance of Coherent Filtering Detection

Author

Saleh, Sami Abdulla Mohsen, Suandi, Shahrel Azmin, Ibrahim, Haidi, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Mahyuddin, Nor Muzlifah, editor, Mat Noor, Nor Rizuan, editor, and Mat Sakim, Harsa Amylia, editor

Published
2022
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24. Convolutional Neural Network with Hidden Markov Model to Identify Non-severe Traumatic Brain Injury from Electroencephalography

Author

Lai, Chi Qin, Azman, Azlinda, Abdullah, Jafri Malin, Ibrahim, Haidi, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Mahyuddin, Nor Muzlifah, editor, Mat Noor, Nor Rizuan, editor, and Mat Sakim, Harsa Amylia, editor

Published
2022
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25. List of Contributors

Author

Abdel Razek, Ahmed Abdel Khalek, primary, Abdeltawab, Hisham, additional, Abdulsaboor, Ahmad, additional, Ashmalla, Germeen Albair, additional, Chen, Shan Wei, additional, Ebrahimzadeh, Farzad, additional, El-Baz, Ayman S., additional, Fahmy, Dalia, additional, Fukushima, Kenji, additional, Ganapathy, Priyanka, additional, Gebreil, Ahmad, additional, Ghazal, Mohammed, additional, Gholami, Mohammad, additional, Hussain, Shazia Fathima Jaffer, additional, Ibrahim, Haidi, additional, Jayaraman, Selvaraj, additional, Kandil, Heba, additional, Khalifa, Fahmi, additional, Kirubhanand, C., additional, Kulanthaivel, Langeswaran, additional, Mahmoud, Ali, additional, Nagao, Michinobu, additional, Najmi, Saba, additional, Ng, Theam Foo, additional, Pour, Fatemeh Jafari, additional, Rajagopal, Ponnulakshmi, additional, Rangasamy, Balamurugan, additional, Saki, Mandana, additional, Salama, Abou Bakr M., additional, Sekar, Ramya, additional, Shaker, Ahmed Mohammed, additional, Soliman, Ahmed, additional, Subbaraj, Gowtham Kumar, additional, Taher, Fatma, additional, Umapathy, Vidhya Rekha, additional, Wang, Shir Li, additional, and Yasam, Santhosh Kumar, additional

Published
2023
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28. A literature review of the state of the art of sustainable waste collection and vehicle routing problem.

Author

Li, Wensi, Ng, Theam Foo, Ibrahim, Haidi, and Wang, Shir Li

Subjects
SUSTAINABILITY, VEHICLE routing problem, MEDICAL wastes, SOLID waste, WASTE management
Abstract

Over the past decades, the amount of waste has dramatically increased worldwide due to rapid population growth and urbanization. Inefficient waste collection and transportation, known as the waste collection vehicle routing problem (WCVRP), negatively impacts economic, environmental, and social dimensions. This issue has drawn considerable attention from local and national governments. There is an urgent need for sustainable practices in waste collection and transportation. This paper conducts an exhaustive literature review on the WCVRP. The review covers various aspects, including waste types, common model characteristics, objective functions, solution methods, datasets and case studies. The analysis indicates a need for further research on underrepresented waste types, such as medical waste (MW). It also stresses the importance of incorporating more model characteristics to better capture the complexities of real-world scenarios. Moreover, there is a lack of multiple objectives optimization models that concurrently address economic, environmental, and social dimensions, in line with sustainable development goals. Additionally, there is insufficient research on hybrid algorithms, especially regarding their application to uncertainty management and advanced techniques. Finally, the use of hybrid testing is restricted, highlighting the need for diverse tests to validate solution methods under various real-world conditions. This study outlines a roadmap for decision-makers in the WCVRP domain, offering opportunities for the evolution of more efficient, adaptable, and sustainable waste collection and transportation systems. Implications: The discussion of WCVRP is an urgent global concern in waste management that requires immediate attention. Through a multi-dimensional evaluation of the research papers, this review paper provides recommendations for future research and practice in WCVRP. Initially, while urban solid waste has received significant attention, other categories remain insufficiently examined. Future research should focus on efficient collection and transportation strategies for these types. Then, although common characteristics are well-explored, this review emphasizes the need for further investigation into lesser-studied characteristics and vehicle types in WCVRP models. Next, current models predominantly prioritize cost and public health exposure risk minimization. There is a necessity for more holistic approaches that incorporate multiple objectives, particularly those crucial for achieving sustainable development goals. Moreover, hybrid algorithms have emerged as efficient solutions, yet advanced technologies coupled with uncertainty management strategies remain underutilized, presenting significant potential to address the evolving complexities of WCVRP. Finally, the study highlights the importance of datasets and case studies in validating WCVRP models. Hybrid tests enable researchers to comprehensively evaluate WCVRP solutions, providing insight into their performance under various conditions. In conclusion, these implications offer a roadmap for advancing WCVRP research and guiding practical strategies to contribute to the development of more efficient, adaptable, and sustainable waste collection and transportation systems. [ABSTRACT FROM AUTHOR]

Published
2025
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35. Biometric classification system for dorsal finger creases utilizing multi-block circular shift combination local binary pattern.

Author

Riaz, Imran, Ali, Ahmad Nazri, Ibrahim, Haidi, and Huqqani, Ilyas Ahmad

Subjects
SUPPORT vector machines, FEATURE extraction, BIOMETRY, FINGERS, CLASSIFICATION
Abstract

In recent years, there has been a growing interest in biometric recognition based on finger dorsal patterns, making it a significant area of research. This paper introduces a biometric classification system that utilizes dorsal finger middle creases. The viability of this trait is assessed through the implementation of a new method known as multi block circular shift combination local binary pattern (MBCSC-LBP). The MBCSC-LBP approach involves dividing the image into multiple blocks to enhance robustness and capture both local and global information, thereby extracting discriminative features. These features from each block are then concatenated to form a comprehensive feature vector. To evaluate the accuracy of the proposed MBCSC-LBP feature extractor, a support vector machine (SVM) with a linear kernel is utilized. The classification accuracy achieved by this method is 96.22% indicating a promising performance. [ABSTRACT FROM AUTHOR]

Published
2024
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37. Development of Health Monitoring System with Support Vector Machine Based Machine Learning

Author

Ooi, Yoong Khang, Ibrahim, Haidi, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martin, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Zawawi, Mohamad Adzhar Md, editor, Teoh, Soo Siang, editor, Abdullah, Noramalina Binti, editor, and Mohd Sazali, Mohd Ilyas Sobirin, editor

Published
2019
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38. A Literature Review on Data Conversion Methods on EEG for Convolution Neural Network Applications

Author

Lai, Chi Qin, Ibrahim, Haidi, Abdullah, Mohd Zaid, Abdullah, Jafri Malin, Suandi, Shahrel Azmin, Azman, Azlinda, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martin, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Zawawi, Mohamad Adzhar Md, editor, Teoh, Soo Siang, editor, Abdullah, Noramalina Binti, editor, and Mohd Sazali, Mohd Ilyas Sobirin, editor

Published
2019
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44. Segmentation of the liver from 3D MRI data

Author

Ibrahim, Haidi

Subjects
611.360284
Abstract

Three dimensional (3D) visualisation has the potential to significantly ease the decision making in presurgical planning. The first stage of creating a 3D model for this purpose is to segment the liver from magnetic resonance (MRI) images. However, MRI images often contain data corrupted by intensity variations in held strength due to the sensitivity of the radio frequency (rf) coils used in the A/IRI scanner. In this thesis, we investigate several approaches to arrive at a solution to overcome this inhomogeneity problem, and at the same time, improve the image quality. These experiments show that the use of local enhancement, followed by median filtering, and toboggan contrast enhancement, is a good solution to achieve this aim. We then automate a segmentation technique known as intelligent scissors to segment the liver. The user only needs to select an initial slice, and the method is executed automatically. From the initial slice, the contour propagates inside the volume and segments the liver in every slice using a dynamic programming algorithm.

Published
2005

50. MVS‐SLAM: Enhanced multiview geometry for improved semantic RGBD SLAM in dynamic environment.

Author

Islam, Qamar Ul, Ibrahim, Haidi, Chin, Pan Kok, Lim, Kevin, and Abdullah, Mohd Zaid

Subjects
K-means clustering, MOBILE robots, GEOMETRY, OPTICAL flow, PRIOR learning
Abstract

Simultaneous Localization and Mapping (SLAM) is a crucial technology for intelligent mobile robots to operate successfully in unknown environments. While many excellent SLAM systems have been developed in recent years, most assume that the environment is static, resulting in poor performance in dynamic environments. To address this limitation, we propose multiview stereo (MVS)‐SLAM (MVS‐SLAM), a real‐time semantic RGBD SLAM system with improved‐multiview geometry, built on the RGBD mode of ORB‐SLAM3. MVS‐SLAM tightly integrates semantic and geometric information to tackle the challenges posed by dynamic scenes. To meet the real‐time requirements, the semantic module leverages the latest and fastest object detection network, YOLOv7, to provide semantic prior knowledge for the geometric module. We introduce a novel geometric constraint method that capitalizes on depth images and semantic information to recover three‐dimensional (3D) feature points and initial camera pose. We use a 3D coordinate error threshold to identify dynamic points and remove them using the K‐means clustering algorithm. This approach effectively reduces the impact of dynamic points. We validate MVS‐SLAM using challenging dynamic sequences from the TUM data set, demonstrating that it significantly improves localization accuracy and system robustness in all types of dynamic environments. [ABSTRACT FROM AUTHOR]

Published
2024
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