A Data-Driven Edge-Preserving D-bar Method for Electrical Impedance Tomography

In Electrical Impedance Tomography (EIT), the internal conductivity of a body is recovered via current and voltage measurements taken at its surface. The reconstruction task is a highly ill-posed nonlinear inverse problem, which is very sensitive to noise, and requires the use of regularized solution methods, of which D-bar is the only proven method. The resulting EIT images have low spatial resolution due to smoothing caused by low-pass filtered regularization. In many applications, such as medical imaging, it is known \emph{a priori} that the target contains sharp features such as organ boundaries, as well as approximate ranges for realistic conductivity values. In this paper, we use this information in a new edge-preserving EIT algorithm, based on the original D-bar method coupled with a deblurring flow stopped at a minimal data discrepancy. The method makes heavy use of a novel data fidelity term based on the so-called {\em CGO sinogram}. This nonlinear data step provides superior robustness over traditional EIT data formats such as current-to-voltage matrices or Dirichlet-to-Neumann operators, for commonly used current patterns.Comment: 24 pages, 11 figure

Jointly Optimizing Placement and Inference for Beacon-based Localization

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a robot's location as it navigates. The accuracy of such a beacon-based localization system depends both on how beacons are distributed in the environment, and how the robot's location is inferred based on noisy and potentially ambiguous measurements. We propose an approach for making these design decisions automatically and without expert supervision, by explicitly searching for the placement and inference strategies that, together, are optimal for a given environment. Since this search is computationally expensive, our approach encodes beacon placement as a differential neural layer that interfaces with a neural network for inference. This formulation allows us to employ standard techniques for training neural networks to carry out the joint optimization. We evaluate this approach on a variety of environments and settings, and find that it is able to discover designs that enable high localization accuracy.Comment: Appeared at 2017 International Conference on Intelligent Robots and Systems (IROS