7,430 research outputs found
A variational Bayesian method for inverse problems with impulsive noise
We propose a novel numerical method for solving inverse problems subject to
impulsive noises which possibly contain a large number of outliers. The
approach is of Bayesian type, and it exploits a heavy-tailed t distribution for
data noise to achieve robustness with respect to outliers. A hierarchical model
with all hyper-parameters automatically determined from the given data is
described. An algorithm of variational type by minimizing the Kullback-Leibler
divergence between the true posteriori distribution and a separable
approximation is developed. The numerical method is illustrated on several one-
and two-dimensional linear and nonlinear inverse problems arising from heat
conduction, including estimating boundary temperature, heat flux and heat
transfer coefficient. The results show its robustness to outliers and the fast
and steady convergence of the algorithm.Comment: 20 pages, to appear in J. Comput. Phy
Bayesian Image Quality Transfer with CNNs: Exploring Uncertainty in dMRI Super-Resolution
In this work, we investigate the value of uncertainty modeling in 3D
super-resolution with convolutional neural networks (CNNs). Deep learning has
shown success in a plethora of medical image transformation problems, such as
super-resolution (SR) and image synthesis. However, the highly ill-posed nature
of such problems results in inevitable ambiguity in the learning of networks.
We propose to account for intrinsic uncertainty through a per-patch
heteroscedastic noise model and for parameter uncertainty through approximate
Bayesian inference in the form of variational dropout. We show that the
combined benefits of both lead to the state-of-the-art performance SR of
diffusion MR brain images in terms of errors compared to ground truth. We
further show that the reduced error scores produce tangible benefits in
downstream tractography. In addition, the probabilistic nature of the methods
naturally confers a mechanism to quantify uncertainty over the super-resolved
output. We demonstrate through experiments on both healthy and pathological
brains the potential utility of such an uncertainty measure in the risk
assessment of the super-resolved images for subsequent clinical use.Comment: Accepted paper at MICCAI 201
Recovering from External Disturbances in Online Manipulation through State-Dependent Revertive Recovery Policies
Robots are increasingly entering uncertain and unstructured environments.
Within these, robots are bound to face unexpected external disturbances like
accidental human or tool collisions. Robots must develop the capacity to
respond to unexpected events. That is not only identifying the sudden anomaly,
but also deciding how to handle it. In this work, we contribute a recovery
policy that allows a robot to recovery from various anomalous scenarios across
different tasks and conditions in a consistent and robust fashion. The system
organizes tasks as a sequence of nodes composed of internal modules such as
motion generation and introspection. When an introspection module flags an
anomaly, the recovery strategy is triggered and reverts the task execution by
selecting a target node as a function of a state dependency chart. The new
skill allows the robot to overcome the effects of the external disturbance and
conclude the task. Our system recovers from accidental human and tool
collisions in a number of tasks. Of particular importance is the fact that we
test the robustness of the recovery system by triggering anomalies at each node
in the task graph showing robust recovery everywhere in the task. We also
trigger multiple and repeated anomalies at each of the nodes of the task
showing that the recovery system can consistently recover anywhere in the
presence of strong and pervasive anomalous conditions. Robust recovery systems
will be key enablers for long-term autonomy in robot systems. Supplemental info
including code, data, graphs, and result analysis can be found at [1].Comment: 8 pages, 8 figures, 1 tabl
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