Over the past few decades, recognition of early lung cancers was researched for effective treatments. In early lung cancers, the invasiveness is an important factor for expected survival rates. Hence, how to effectively identify the invasiveness by computed tomography (CT) images became a hot topic in the field of biomedical science. Although a number of previous works were shown to be effective on this topic, there remain some problems unsettled still. First, it needs a large amount of marked data for a better prediction, but the manual cost is high. Second, the accuracy is always limited in imbalance data. To alleviate these problems, in this paper, we propose an effective CT invasiveness recognizer by semi-automated segmentation. In terms of semi-automated segmentation, it is easy for doctors to mark the nodules. Just based on one clicked pixel, a nodule object in a CT image can be marked by fusing two proposed segmentation methods, including thresholding-based morphology and deep learning-based mask region-based convolutional neural network (Mask-RCNN). For thresholding-based morphology, an initial segmentation is derived by adaptive pixel connections. Then, a mathematical morphology is performed to achieve a better segmentation. For deep learning-based mask-RCNN, the anchor is fixed by the clicked pixel to reduce the computational complexity. To incorporate advantages of both, the segmentation is switched between these two sub-methods. After segmenting the nodules, a boosting ensemble classification model with feature selection is executed to identify the invasiveness by equalized down-sampling. The extensive experimental results on a real dataset reveal that the proposed segmentation method performs better than the traditional segmentation ones, which can reach an average dice improvement of 392.3%. Additionally, the proposed ensemble classification model infers better performances than the compared method, which can reach an area under curve (AUC) improvement of 5.3% and a specificity improvement of 14.3%. Moreover, in comparison with the models with imbalance data, the improvements of AUC and specificity can reach 10.4% and 33.3%, respectively.

The Amazon Picking Challenge and the Amazon Robotics Challenge have shown significant progress in object picking from a cluttered scene, yet object placement remains challenging. It is useful to have pose-aware placement based on human and machine readable pieces on an object. For example, the brandname of an object placed on a shelf should be facing the human customers. The robotic vision challenges in the object placement task: a) the semantics and geometry of the object to be placed need to be analysed jointly; b) and the occlusions among objects in a cluttered scene could make it hard for proper understanding and manipulation. To overcome these challenges, we develop a pose-aware placement approach by spotting the semantic labels (e.g., brandnames) of objects in a cluttered tote and then carrying out a sequence of actions to place the objects on a shelf or on a conveyor with desired poses. Our major contributions include 1) providing an open benchmark dataset of objects and brandnames with multi-view segmentation for training and evaluations; 2) carrying out comprehensive evaluations for our brandname-based fully convolutional network (FCN) that can predict the affordance and grasp to achieve pose-aware placement, whose success rates decrease along with clutters; 3) showing that active manipulation with two cooperative manipulators and grippers can effectively handle the occlusion of brandnames. We analyzed the success rates and discussed the failure cases to provide insights for future applications. All data and benchmarks are available at https://text-pick-n-place.github.io/TextPNP/.