Publications

Connected Components Labeling represents a fundamental step for many Computer Vision and Image Processing pipelines. Since the first appearance of the task in the sixties, many algorithmic solutions to optimize the computational load needed to label an image have been proposed. Among them, block-based scan approaches and decision trees revealed to be some of the most valuable strategies. However, due to the cost of the manual construction of optimal decision trees and the computational limitations of automatic strategies employed in the past, the application of blocks and decision trees has been restricted to small masks, and thus to 2D algorithms. With this paper we present a novel heuristic algorithm based on decision tree learning methodology, called Entropy Partitioning Decision Tree (EPDT). It allows to compute near-optimal decision trees for large scan masks. Experimental results demonstrate that algorithms based on the generated decision trees outperform state-of-the-art competitors.

Vision-and-Language Navigation (VLN) is a challenging task in which an agent needs to follow a language-specified path to reach a target destination. The goal gets even harder as the actions available to the agent get simpler and move towards low-level, atomic interactions with the environment. This setting takes the name of low-level VLN. In this paper, we strive for the creation of an agent able to tackle three key issues: multi-modality, long-term dependencies, and adaptability towards different locomotive settings. To that end, we devise "Perceive, Transform, and Act" (PTA): a fully-attentive VLN architecture that leaves the recurrent approach behind and the first Transformer-like architecture incorporating three different modalities -- natural language, images, and low-level actions for the agent control. In particular, we adopt an early fusion strategy to merge lingual and visual information efficiently in our encoder. We then propose to refine the decoding phase with a late fusion extension between the agent's history of actions and the perceptual modalities. We experimentally validate our model on two datasets: PTA achieves promising results in low-level VLN on R2R and achieves good performance in the recently proposed R4R benchmark. Our code is publicly available at https://github.com/aimagelab/perceive-transform-and-act.

This paper provides a detailed description of how to install, setup, and use the YACCLAB benchmark to test the algorithms published in "A Heuristic-Based Decision Tree for Connected Components Labeling of 3D Volumes," underlying how the parameters affect and influence experimental results.

Low-rank tensor completion (LRTC) has gained significant attention due to its powerful capability of recovering missing entries. However, it has to repeatedly calculate the time-consuming singular value decomposition (SVD). To address this drawback, we, based on the tensor-tensor product (t-product), propose a new LRTC method-the unified tensor factorization (UTF)-for 3-way tensor completion. We first integrate the tensor factorization (TF) and the tensor nuclear norm (TNN) regularization into a framework that inherits the benefits of both TF and TNN: fast calculation and convex optimization. The conditions under which TF and TNN are equivalent are analyzed. Then, UTF for tensor completion is presented and an efficient iterative updated algorithm based on the alternate direction method of multipliers (ADMM) is used for our UTF optimization, and the solution of the proposed alternate minimization algorithm is also proven to be able to converge to a Karush–Kuhn–Tucker (KKT) point. Finally, numerical experiments on synthetic data completion and image/video inpainting tasks demonstrate the effectiveness of our method over other state-of-the-art tensor completion methods.

Action Detection is a complex task that aims to detect and classify human actions in video clips. Typically, it has been addressed by processing fine-grained features extracted from a video classification backbone. Recently, thanks to the robustness of object and people detectors, a deeper focus has been added on relationship modelling. Following this line, we propose a graph-based framework to learn high-level interactions between people and objects, in both space and time. In our formulation, spatio-temporal relationships are learned through self-attention on a multi-layer graph structure which can connect entities from consecutive clips, thus considering long-range spatial and temporal dependencies. The proposed module is backbone independent by design and does not require end-to-end training. Extensive experiments are conducted on the AVA dataset, where our model demonstrates state-of-the-art results and consistent improvements over baselines built with different backbones. Code is publicly available at https://github.com/aimagelab/STAGE_action_detection.

While most of the recent literature on semantic segmentation has focused on outdoor scenarios, the generation of accurate indoor segmentation maps has been partially under-investigated, although being a relevant task with applications in augmented reality, image retrieval, and personalized robotics. With the goal of increasing the accuracy of semantic segmentation in indoor scenarios, we develop and propose two novel boundary-level training objectives, which foster the generation of accurate boundaries between different semantic classes. In particular, we take inspiration from the Boundary and Active Boundary losses, two recent proposals which deal with the prediction of semantic boundaries, and propose modified geometric distance functions that improve predictions at the boundary level. Through experiments on the NYUDv2 dataset, we assess the appropriateness of our proposal in terms of accuracy and quality of boundary prediction and demonstrate its accuracy gain.

Understanding human motion behaviour is a critical task for several possible applications like self-driving cars or social robots, and in general for all those settings where an autonomous agent has to navigate inside a human-centric environment. This is non-trivial because human motion is inherently multi-modal: given a history of human motion paths, there are many plausible ways by which people could move in the future. Additionally, people activities are often driven by goals, e.g. reaching particular locations or interacting with the environment. We address the aforementioned aspects by proposing a new recurrent generative model that considers both single agents' future goals and interactions between different agents. The model exploits a double attention-based graph neural network to collect information about the mutual influences among different agents and to integrate it with data about agents' possible future objectives. Our proposal is general enough to be applied to different scenarios: the model achieves state-of-the-art results in both urban environments and also in sports applications.

In recent years, deep learning has been employed in several medical fields, achieving impressive results. Unfortunately, these algorithms require a huge amount of annotated data to ensure the correct learning process. When dealing with medical imaging, collecting and annotating data can be cumbersome and expensive. This is mainly related to the nature of data, often three-dimensional, and to the need for well-trained expert technicians. In maxillofacial imagery, recent works have been focused on the detection of the Inferior Alveolar Nerve (IAN), since its position is of great relevance for avoiding severe injuries during surgery operations such as third molar extraction or implant installation. In this work, we introduce a novel tool for analyzing and labeling the alveolar nerve from Cone Beam Computed Tomography (CBCT) 3D volumes.

Traditionally, the analysis of histological samples is visually performed by a pathologist, who inspects under the microscope the tissue samples, looking for malignancies and anomalies. This visual assessment is both time consuming and highly unreliable due to the subjectivity of the evaluation. Hence, there are growing efforts towards the automatisation of such analysis, oriented to the development of computer-aided diagnostic tools, with a ever-growing role of techniques based on deep learning. In this work, we analyze some of the issues commonly associated with providing deep learning based techniques to medical professionals. We thus introduce a tool, aimed at both researchers and medical professionals, which simplifies and accelerates the training and exploitation of such models. The outcome of the tool is an attention map representing cancer probability distribution on top of the Whole Slide Image, driving the pathologist through a faster and more accurate diagnostic procedure.