Statistical modeling of ground motion relations for seismic hazard analysis

We introduce a new approach for ground motion relations (GMR) in the probabilistic seismic hazard analysis (PSHA), being influenced by the extreme value theory of mathematical statistics. Therein, we understand a GMR as a random function. We derive mathematically the principle of area-equivalence; wherein two alternative GMRs have an equivalent influence on the hazard if these GMRs have equivalent area functions. This includes local biases. An interpretation of the difference between these GMRs (an actual and a modeled one) as a random component leads to a general overestimation of residual variance and hazard. Beside this, we discuss important aspects of classical approaches and discover discrepancies with the state of the art of stochastics and statistics (model selection and significance, test of distribution assumptions, extreme value statistics). We criticize especially the assumption of logarithmic normally distributed residuals of maxima like the peak ground acceleration (PGA). The natural distribution of its individual random component (equivalent to exp(epsilon_0) of Joyner and Boore 1993) is the generalized extreme value. We show by numerical researches that the actual distribution can be hidden and a wrong distribution assumption can influence the PSHA negatively as the negligence of area equivalence does. Finally, we suggest an estimation concept for GMRs of PSHA with a regression-free variance estimation of the individual random component. We demonstrate the advantages of event-specific GMRs by analyzing data sets from the PEER strong motion database and estimate event-specific GMRs. Therein, the majority of the best models base on an anisotropic point source approach. The residual variance of logarithmized PGA is significantly smaller than in previous models. We validate the estimations for the event with the largest sample by empirical area functions. etc

MoSculp: Interactive Visualization of Shape and Time

We present a system that allows users to visualize complex human motion via 3D motion sculptures---a representation that conveys the 3D structure swept by a human body as it moves through space. Given an input video, our system computes the motion sculptures and provides a user interface for rendering it in different styles, including the options to insert the sculpture back into the original video, render it in a synthetic scene or physically print it. To provide this end-to-end workflow, we introduce an algorithm that estimates that human's 3D geometry over time from a set of 2D images and develop a 3D-aware image-based rendering approach that embeds the sculpture back into the scene. By automating the process, our system takes motion sculpture creation out of the realm of professional artists, and makes it applicable to a wide range of existing video material. By providing viewers with 3D information, motion sculptures reveal space-time motion information that is difficult to perceive with the naked eye, and allow viewers to interpret how different parts of the object interact over time. We validate the effectiveness of this approach with user studies, finding that our motion sculpture visualizations are significantly more informative about motion than existing stroboscopic and space-time visualization methods.Comment: UIST 2018. Project page: http://mosculp.csail.mit.edu

GANVO: Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks

In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep learning approaches for localization and mapping in unknown environments from unlabelled data have received comparatively less attention in VO research. In this study, we propose a generative unsupervised learning framework that predicts 6-DoF pose camera motion and monocular depth map of the scene from unlabelled RGB image sequences, using deep convolutional Generative Adversarial Networks (GANs). We create a supervisory signal by warping view sequences and assigning the re-projection minimization to the objective loss function that is adopted in multi-view pose estimation and single-view depth generation network. Detailed quantitative and qualitative evaluations of the proposed framework on the KITTI and Cityscapes datasets show that the proposed method outperforms both existing traditional and unsupervised deep VO methods providing better results for both pose estimation and depth recovery.Comment: ICRA 2019 - accepte

Towards retrieving force feedback in robotic-assisted surgery: a supervised neuro-recurrent-vision approach

Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients. Nonetheless, they still suffer from some limitations that affect their outcome. One of them is the lack of force feedback which restricts the surgeon's sense of touch and might reduce precision during a procedure. To overcome this limitation, we propose a novel force estimation approach that combines a vision based solution with supervised learning to estimate the applied force and provide the surgeon with a suitable representation of it. The proposed solution starts with extracting the geometry of motion of the heart's surface by minimizing an energy functional to recover its 3D deformable structure. A deep network, based on a LSTM-RNN architecture, is then used to learn the relationship between the extracted visual-geometric information and the applied force, and to find accurate mapping between the two. Our proposed force estimation solution avoids the drawbacks usually associated with force sensing devices, such as biocompatibility and integration issues. We evaluate our approach on phantom and realistic tissues in which we report an average root-mean square error of 0.02 N.Peer ReviewedPostprint (author's final draft