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SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion and computing optimal gripper pose to grasp objects. In this work, we propose the methods to analyze the accuracy of a 3D environment reconstructed using a LSD-SLAM system with a monocular camera mounted onto the gripper of a collaborative robot. We discuss and propose a solution to the pose space conversion problem. Finally, we present several criteria to analyze the 3D reconstruction accuracy. These could be used as guidelines to improve the accuracy of 3D reconstructions with monocular LSD-SLAM and other SLAM based solutions.
This paper presents a generic method to enhance performance and incorporate temporal information for cardiorespiratory-based sleep stage classification with a limited feature set and limited data. The classification algorithm relies on random forests and a feature set extracted from long-time home monitoring for sleep analysis. Employing temporal feature stacking, the system could be significantly improved in terms of Cohen’s κ and accuracy. The detection performance could be improved for three classes of sleep stages (Wake, REM, Non-REM sleep), four classes (Wake, Non-REM-Light sleep, Non-REM Deep sleep, REM sleep), and five classes (Wake, N1, N2, N3/4, REM sleep) from a κ of 0.44 to 0.58, 0.33 to 0.51, and 0.28 to 0.44 respectively by stacking features before and after the epoch to be classified. Further analysis was done for the optimal length and combination method for this stacking approach. Overall, three methods and a variable duration between 30 s and 30 min have been analyzed. Overnight recordings of 36 healthy subjects from the Interdisciplinary Center for Sleep Medicine at Charité-Universitätsmedizin Berlin and Leave-One-Out-Cross-Validation on a patient-level have been used to validate the method.
Advancing mental health diagnostics: AI-based method for depression detection in patient interviews
(2023)
In this paper, we present a novel artificial intelligence (AI) application for depression detection, using advanced transformer networks to analyse clinical interviews. By incorporating simulated data to enhance traditional datasets, we overcome limitations in data protection and privacy, consequently improving the model’s performance. Our methodology employs BERT-based models, GPT-3.5, and ChatGPT-4, demonstrating state-of-the-art results in detecting depression from linguistic patterns and contextual information that significantly outperform previous approaches. Utilising the DAIC-WOZ and Extended-DAIC datasets, our study showcases the potential of the proposed application in revolutionising mental health care through early depression detection and intervention. Empirical results from various experiments highlight the efficacy of our approach and its suitability for real-world implementation. Furthermore, we acknowledge the ethical, legal, and social implications of AI in mental health diagnostics. Ultimately, our study underscores the transformative potential of AI in mental health diagnostics, paving the way for innovative solutions that can facilitate early intervention and improve patient outcomes.