Total Denoising: Unsupervised Learning of 3D Point Cloud Cleaning

We show that denoising of 3D point clouds can be learned unsupervised, directly from noisy 3D point cloud data only. This is achieved by extending recent ideas from learning of unsupervised image denoisers to unstructured 3D point clouds. Unsupervised image denoisers operate under the assumption that a noisy pixel observation is a random realization of a distribution around a clean pixel value, which allows appropriate learning on this distribution to eventually converge to the correct value. Regrettably, this assumption is not valid for unstructured points: 3D point clouds are subject to total noise, i. e., deviations in all coordinates, with no reliable pixel grid. Thus, an observation can be the realization of an entire manifold of clean 3D points, which makes a na\"ive extension of unsupervised image denoisers to 3D point clouds impractical. Overcoming this, we introduce a spatial prior term, that steers converges to the unique closest out of the many possible modes on a manifold. Our results demonstrate unsupervised denoising performance similar to that of supervised learning with clean data when given enough training examples - whereby we do not need any pairs of noisy and clean training data.Comment: Proceedings of ICCV 201

Resting state correlates of subdimensions of anxious affect

Resting state fMRI may help identify markers of risk for affective disorder. Given the comorbidity of anxiety and depressive disorders and the heterogeneity of these disorders as defined by DSM, an important challenge is to identify alterations in resting state brain connectivity uniquely associated with distinct profiles of negative affect. The current study aimed to address this by identifying differences in brain connectivity specifically linked to cognitive and physiological profiles of anxiety, controlling for depressed affect. We adopted a two-stage multivariate approach. Hierarchical clustering was used to independently identify dimensions of negative affective style and resting state brain networks. Combining the clustering results, we examined individual differences in resting state connectivity uniquely associated with subdimensions of anxious affect, controlling for depressed affect. Physiological and cognitive subdimensions of anxious affect were identified. Physiological anxiety was associated with widespread alterations in insula connectivity, including decreased connectivity between insula subregions and between the insula and other medial frontal and subcortical networks. This is consistent with the insula facilitating communication between medial frontal and subcortical regions to enable control of physiological affective states. Meanwhile, increased connectivity within a frontoparietal-posterior cingulate cortex-precunous network was specifically associated with cognitive anxiety, potentially reflecting increased spontaneous negative cognition (e.g., worry). These findings suggest that physiological and cognitive anxiety comprise subdimensions of anxiety-related affect and reveal associated alterations in brain connectivity

Walking dynamics are symmetric (enough)

Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a physical system as a modeling convenience. For example, human locomotion is frequently treated as symmetric about the sagittal plane. In this work, we test this assumption by examining human walking dynamics around the steady-state (limit-cycle). Here we adapt statistical cross validation in order to examine whether there are statistically significant asymmetries, and even if so, test the consequences of assuming bilateral symmetry anyway. Indeed, we identify significant asymmetries in the dynamics of human walking, but nevertheless show that ignoring these asymmetries results in a more consistent and predictive model. In general, neglecting evident characteristics of a system can be more than a modeling convenience---it can produce a better model.Comment: Draft submitted to Journal of the Royal Society Interfac