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Yayın Adaptive visual obstacle detection for mobile robots using monocular camera and ultrasonic sensor(Springer-Verlag, 2012-10-07) İyidir, İbrahim Kamil; Tek, Faik Boray; Kırcalı, DoğanThis paper presents a novel vision based obstacle detection algorithm that is adapted from a powerful background subtraction algorithm: ViBe (VIsual Background Extractor). We describe an adaptive obstacle detection method using monocular color vision and an ultrasonic distance sensor. Our approach assumes an obstacle free region in front of the robot in the initial frame. However, the method dynamically adapts to its environment in the succeeding frames. The adaptation is performed using a model update rule based on using ultrasonic distance sensor reading. Our detailed experiments validate the proposed concept and ultrasonic sensor based model update.Yayın Retinal disease diagnosis in OCT scans using a foundational model(Springer Science and Business Media Deutschland GmbH, 2025) Nazlı, Muhammet Serdar; Turkan, Yasemin; Tek, Faik Boray; Toslak, Devrim; Bulut, Mehmet; Arpacı, Fatih; Öcal, Mevlüt CelalThis study examines the feasibility and performance of using single OCT slices from the OCTA-500 dataset to classify DR (Diabetic Retinopathy) and AMD (Age-Related Macular Degeneration) with a pre-trained transformer-based model (RETFound). The experiments revealed the effective adaptation capability of the pretrained model to the retinal disease classification problem. We further explored the impact of using different slices from the OCT volume, assessing the sensitivity of the results to the choice of a single slice (e.g., “middle slice”) and whether analyzing both horizontal and vertical cross-sectional slices could improve outcomes. However, deep neural networks are complex systems that do not indicate directly whether they have learned and generalized the disease appearance as human experts do. The original dataset lacked disease localization annotations. Therefore, we collected new disease classification and localization annotations from independent experts for a subset of OCTA-500 images. We compared RETFound’s explainability-based localization outputs with these newly collected annotations and found that the region attributions aligned well with the expert annotations. Additionally, we assessed the agreement and variability between experts and RETFound in classifying disease conditions. The Kappa values, ranging from 0.35 to 0.69, indicated moderate agreement among experts and between the experts and the model. The transformer-based RETFound model using single or multiple OCT slices, is an efficient approach to diagnosing AMD and DR.
