Abstract: Systems and methods for automatic multi-modality sensor calibration with near-infrared images (NIR). Image keypoints from collected images and NIR keypoints from NIR can be detected. A deep-learning-based neural network that learns relation graphs between the image keypoints and the NIR keypoints can match the image keypoints and the NIR keypoints. Three dimensional (3D) points from 3D point cloud data can be filtered based on corresponding 3D points from the NIR keypoints (NIR-to-3D points) to obtain filtered NIR-to-3D points. An extrinsic calibration can be optimized based on a reprojection error computed from the filtered NIR-to-3D points to obtain an optimized extrinsic calibration for an autonomous entity control system. An entity can be controlled by employing the optimized extrinsic calibration for the autonomous entity control system.

Abstract: One embodiment provides a method for training a machine-learning model to detect a location of a person's appendix, comprising: receiving, at the machine-learning model, a plurality of images, each image being a slice of a body taken by a CT scan; identifying, for each of the plurality of images, features of the appendix, wherein the identifying comprises analyzing a plurality of slices of each of the plurality of images and classifying each of the plurality of slices, into one of a plurality of classification groups, based upon a feature of the appendix within the slice; segmenting each of the plurality of image slices included in the one of the plurality of classification groups that classifies the slice as containing the appendix, thereby identifying probable locations of the appendix, via utilizing a probability mask for each of the probable locations.