Abstract
The usage of unmanned aerial vehicles (UAV) has increased in recent years and new application scenarios have emerged. Some of them involve tasks that require a high degree of autonomy, leading to increasingly complex systems. In order for a robot to be autonomous, it requires appropriate perception sensors that interpret the environment and enable the correct execution of the main task of mobile robotics: navigation. In the case of UAVs, flying at low altitude greatly increases the probability of encountering obstacles, so they need a fast, simple, and robust method of collision avoidance. This work covers the problem of navigation in unknown scenarios by implementing a simple, yet robust, environment-reactive approach. The implementation is done with both CPU and GPU map representations to allow wider coverage of possible applications. This method searches for obstacles that cross a cylindrical safety volume, and selects an escape point from a spiral for avoiding the obstacle. The algorithm is able to successfully navigate in complex scenarios, using both a high and low-power computer, typically found aboard UAVs, relying only on a depth camera with a limited FOV and range. Depending on the configuration, the algorithm can process point clouds at nearly 40 Hz in Jetson Nano, while checking for threats at 10 kHz. Some preliminary tests were conducted with real-world scenarios, showing both the advantages and limitations of CPU and GPU-based methodologies.

Abstract
Cervical cancer ranks as the fourth most common cancer among females worldwide with roughly 528,000 new cases yearly. Significant progress in the realm of artificial intel-ligence particularly in neural networks and deep learning help physicians to diagnose cervical cancer more accurately. In this paper, we address a classification problem with the widely used VGG16 architecture. In addition to classification error, our model considers a regularization part during tuning of the weights, acting as prior knowledge of the colposcopic image. This embedded regularization approach. using a 2D Gaussian kernel, has enabled the model to learn which sections of the medical images are more crucial for the classification task. The experimental results show an improvement compared with standard transfer learning and multimodal approaches of cervical cancer classification in literature.

Abstract
Most oncological cases can be detected by imaging techniques, but diagnosis is based on pathological assessment of tissue samples. In recent years, the pathology field has evolved to a digital era where tissue samples are digitised and evaluated on screen. As a result, digital pathology opened up many research opportunities, allowing the development of more advanced image processing techniques, as well as artificial intelligence (AI) methodologies. Nevertheless, despite colorectal cancer (CRC) being the second deadliest cancer type worldwide, with increasing incidence rates, the application of AI for CRC diagnosis, particularly on whole-slide images (WSI), is still a young field. In this review, we analyse some relevant works published on this particular task and highlight the limitations that hinder the application of these works in clinical practice. We also empirically investigate the feasibility of using weakly annotated datasets to support the development of computer-aided diagnosis systems for CRC from WSI. Our study underscores the need for large datasets in this field and the use of an appropriate learning methodology to gain the most benefit from partially annotated datasets. The CRC WSI dataset used in this study, containing 1,133 colorectal biopsy and polypectomy samples, is available upon reasonable request.

Abstract
This paper presents a summary of the Masked Face Recognition Competitions (MFR) held within the 2021 International Joint Conference on Biometrics (IJCB 2021). The competition attracted a total of 10 participating teams with valid submissions. The affiliations of these teams are diverse and associated with academia and industry in nine different countries. These teams successfully submitted 18 valid solutions. The competition is designed to motivate solutions aiming at enhancing the face recognition accuracy of masked faces. Moreover, the competition considered the deployability of the proposed solutions by taking the compactness of the face recognition models into account. A private dataset representing a collaborative, multi-session, real masked, capture scenario is used to evaluate the submitted solutions. In comparison to one of the top-performing academic face recognition solutions, 10 out of the 18 submitted solutions did score higher masked face verification accuracy.

Abstract
Convolutional neural networks are shown to be vulnerable to changes in the background. The proposed method is an end-to-end method that augments the training set by introducing new backgrounds during the training process. These backgrounds are created by a generative network that is trained as an adversary to the model. A case study is explored based on overhead power line insulators detection using a drone - a training set is prepared from photographs taken inside a laboratory and then evaluated using photographs that are harder to collect from outside the laboratory. The proposed method improves performance by over 20% for this case study.

Abstract
The recent Covid-19 pandemic and the fact that wearing masks in public is now mandatory in several countries, created challenges in the use of face recognition systems (FRS). In this work, we address the challenge of masked face recognition (MFR) and focus on evaluating the verification performance in FRS when verifying masked vs unmasked faces compared to verifying only unmasked faces. We propose a methodology that combines the traditional triplet loss and the mean squared error (MSE) intending to improve the robustness of an MFR system in the masked-unmasked comparison mode. The results obtained by our proposed method show improvements in a detailed step-wise ablation study. The conducted study showed significant performance gains induced by our proposed training paradigm and modified triplet loss on two evaluation databases.