Stefan Williams

Luca Ebner, Gideon Billings, Stefan Williams

In this work, we address the problem of real-time dense depth estimation from monocular images for mobile underwater vehicles. We formulate a deep learning model that fuses sparse depth measurements from triangulated features to improve the depth predictions and solve the problem of scale ambiguity. To allow prior inputs of arbitrary sparsity, we apply a dense parameterization method. Our model extends recent state-of-the-art approaches to monocular image based depth estimation, using an efficient encoder-decoder backbone and modern lightweight transformer optimization stage to encode global context. The network is trained in a supervised fashion on the forward-looking underwater dataset, FLSea. Evaluation results on this dataset demonstrate significant improvement in depth prediction accuracy by the fusion of the sparse feature priors. In addition, without any retraining, our method achieves similar depth prediction accuracy on a downward looking dataset we collected with a diver operated camera rig, conducting a survey of a coral reef. The method achieves real-time performance, running at 160 FPS on a laptop GPU and 7 FPS on a single CPU core and is suitable for direct deployment on embedded systems. The implementation of this work is made publicly available at https://github.com/ebnerluca/uw_depth.

Ziting Wen, Oscar Pizarro, Stefan Williams

Training deep models with limited annotations poses a significant challenge when applied to diverse practical domains. Employing semi-supervised learning alongside the self-supervised model offers the potential to enhance label efficiency. However, this approach faces a bottleneck in reducing the need for labels. We observed that the semi-supervised model disrupts valuable information from self-supervised learning when only limited labels are available. To address this issue, this paper proposes a simple yet effective framework, active self-semi-supervised learning (AS3L). AS3L bootstraps semi-supervised models with prior pseudo-labels (PPL). These PPLs are obtained by label propagation over self-supervised features. Based on the observations the accuracy of PPL is not only affected by the quality of features but also by the selection of the labeled samples. We develop active learning and label propagation strategies to obtain accurate PPL. Consequently, our framework can significantly improve the performance of models in the case of limited annotations while demonstrating fast convergence. On the image classification tasks across four datasets, our method outperforms the baseline by an average of 5.4\%. Additionally, it achieves the same accuracy as the baseline method in about 1/3 of the training time.

Ziting Wen, Oscar Pizarro, Stefan Williams

High annotation cost for training machine learning classifiers has driven extensive research in active learning and self-supervised learning. Recent research has shown that in the context of supervised learning different active learning strategies need to be applied at various stages of the training process to ensure improved performance over the random baseline. We refer to the point where the number of available annotations changes the suitable active learning strategy as the phase transition point. In this paper, we establish that when combining active learning with self-supervised models to achieve improved performance, the phase transition point occurs earlier. It becomes challenging to determine which strategy should be used for previously unseen datasets. We argue that existing active learning algorithms are heavily influenced by the phase transition because the empirical risk over the entire active learning pool estimated by these algorithms is inaccurate and influenced by the number of labeled samples. To address this issue, we propose a novel active learning strategy, neural tangent kernel clustering-pseudo-labels (NTKCPL). It estimates empirical risk based on pseudo-labels and the model prediction with NTK approximation. We analyze the factors affecting this approximation error and design a pseudo-label clustering generation method to reduce the approximation error. We validate our method on five datasets, empirically demonstrating that it outperforms the baseline methods in most cases and is valid over a wider range of training budgets.

James Bungay, Osasenaga Emokpae, Samuel D. Relton et al.

Background: Physiological tremor is defined as an involuntary and rhythmic shaking. Tremor of the hand is a key symptom of multiple neurological diseases, and its frequency and amplitude differs according to both disease type and disease progression. In routine clinical practice, tremor frequency and amplitude are assessed by expert rating using a 0 to 4 integer scale. Such ratings are subjective and have poor inter-rater reliability. There is thus a clinical need for a practical and accurate method for objectively assessing hand tremor. Objective: to develop a proof of principle method to measure hand tremor amplitude from smartphone videos. Methods: We created a computer vision pipeline that automatically extracts salient points on the hand and produces a 1-D time series of movement due to tremor, in pixels. Using the smartphones' depth measurement, we convert this measure into real distance units. We assessed the accuracy of the method using 60 videos of simulated tremor of different amplitudes from two healthy adults. Videos were taken at distances of 50, 75 and 100 cm between hand and camera. The participants had skin tone II and VI on the Fitzpatrick scale. We compared our method to a gold-standard measurement from a slide rule. Bland-Altman methods agreement analysis indicated a bias of 0.04 cm and 95% limits of agreement from -1.27 to 1.20 cm. Furthermore, we qualitatively observed that the method was robust to differences in skin tone and limited occlusion, such as a band-aid affixed to the participant's hand. Clinical relevance: We have demonstrated how tremor amplitude can be measured from smartphone videos. In conjunction with tremor frequency, this approach could be used to help diagnose and monitor neurological diseases

Ziting Wen, Oscar Pizarro, Stefan Williams

Fine-tuning the pre-trained model with active learning holds promise for reducing annotation costs. However, this combination introduces significant computational costs, particularly with the growing scale of pre-trained models. Recent research has proposed proxy-based active learning, which pre-computes features to reduce computational costs. Yet, this approach often incurs a significant loss in active learning performance, sometimes outweighing the computational cost savings. This paper demonstrates that not all sample selection differences result in performance degradation. Furthermore, we show that suitable training methods can mitigate the decline of active learning performance caused by certain selection discrepancies. Building upon detailed analysis, we propose a novel method, aligned selection via proxy, which improves proxy-based active learning performance by updating pre-computed features and selecting a proper training method. Extensive experiments validate that our method improves the total cost of efficient active learning while maintaining computational efficiency. The code is available at \url{https://github.com/ZiTingW/asvp}.

Heather Doig, Oscar Pizarro, Jacquomo Monk et al.

One use of Autonomous Underwater Vehicles (AUVs) is the monitoring of habitats associated with threatened, endangered and protected marine species, such as the handfish of Tasmania, Australia. Seafloor imagery collected by AUVs can be used to identify individuals within their broader habitat context, but the sheer volume of imagery collected can overwhelm efforts to locate rare or cryptic individuals. Machine learning models can be used to identify the presence of a particular species in images using a trained object detector, but the lack of training examples reduces detection performance, particularly for rare species that may only have a small number of examples in the wild. In this paper, inspired by recent work in few-shot learning, images and annotations of common marine species are exploited to enhance the ability of the detector to identify rare and cryptic species. Annotated images of six common marine species are used in two ways. Firstly, the common species are used in a pre-training step to allow the backbone to create rich features for marine species. Secondly, a copy-paste operation is used with the common species images to augment the training data. While annotations for more common marine species are available in public datasets, they are often in point format, which is unsuitable for training an object detector. A popular semantic segmentation model efficiently generates bounding box annotations for training from the available point annotations. Our proposed framework is applied to AUV images of handfish, increasing average precision by up to 48\% compared to baseline object detection training. This approach can be applied to other objects with low numbers of annotations and promises to increase the ability to actively monitor threatened, endangered and protected species.

Zhibin Zhao, Darcy Murphy, Hugh Gifford et al.

Background: Twelve lead ECGs are a core diagnostic tool for cardiovascular diseases. Here, we describe and analyse an ensemble deep neural network architecture to classify 24 cardiac abnormalities from 12-lead ECGs. Method: We proposed a squeeze and excite ResNet to automatically learn deep features from 12-lead ECGs, in order to identify 24 cardiac conditions. The deep features were augmented with age and gender features in the final fully connected layers. Output thresholds for each class were set using a constrained grid search. To determine why the model made incorrect predictions, two expert clinicians independently interpreted a random set of 100 misclassified ECGs concerning Left Axis Deviation. Results: Using the bespoke weighted accuracy metric, we achieved a 5-fold cross validation score of 0.684, and sensitivity and specificity of 0.758 and 0.969, respectively. We scored 0.520 on the full test data, and ranked 2nd out of 41 in the official challenge rankings. On a random set of misclassified ECGs, agreement between two clinicians and training labels was poor (clinician 1: kappa = -0.057, clinician 2: kappa = -0.159). In contrast, agreement between the clinicians was very high (kappa = 0.92). Discussion: The proposed prediction model performed well on the validation and hidden test data in comparison to models trained on the same data. We also discovered considerable inconsistency in training labels, which is likely to hinder development of more accurate models.