Current Trends for 4D Space-Time Topology for Semantic Flow Segmentation

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Geospatial Information Research: State of the Art, Case Studies and Future Perspectives

Geospatial information science (GI science) is concerned with the development and application of geodetic and information science methods for modeling, acquiring, sharing, managing, exploring, analyzing, synthesizing, visualizing, and evaluating data on spatio-temporal phenomena related to the Earth. As an interdisciplinary scientific discipline, it focuses on developing and adapting information technologies to understand processes on the Earth and human-place interactions, to detect and predict trends and patterns in the observed data, and to support decision making. The authors – members of DGK, the Geoinformatics division, as part of the Committee on Geodesy of the Bavarian Academy of Sciences and Humanities, representing geodetic research and university teaching in Germany – have prepared this paper as a means to point out future research questions and directions in geospatial information science. For the different facets of geospatial information science, the state of art is presented and underlined with mostly own case studies. The paper thus illustrates which contributions the German GI community makes and which research perspectives arise in geospatial information science. The paper further demonstrates that GI science, with its expertise in data acquisition and interpretation, information modeling and management, integration, decision support, visualization, and dissemination, can help solve many of the grand challenges facing society today and in the future

Unsupervised image registration towards enhancing performance and explainability in cardiac and brain image analysis

Magnetic Resonance Imaging (MRI) typically recruits multiple sequences (defined here as “modalities”). As each modality is designed to offer different anatomical and functional clinical information, there are evident disparities in the imaging content across modalities. Inter- and intra-modality affine and non-rigid image registration is an essential medical image analysis process in clinical imaging, as for example before imaging biomarkers need to be derived and clinically evaluated across different MRI modalities, time phases and slices. Although commonly needed in real clinical scenarios, affine and non-rigid image registration is not extensively investigated using a single unsupervised model architecture. In our work, we present an unsupervised deep learning registration methodology that can accurately model affine and non-rigid transformations, simultaneously. Moreover, inverse-consistency is a fundamental inter-modality registration property that is not considered in deep learning registration algorithms. To address inverse consistency, our methodology performs bi-directional cross-modality image synthesis to learn modality-invariant latent representations, and involves two factorised transformation networks (one per each encoder-decoder channel) and an inverse-consistency loss to learn topology-preserving anatomical transformations. Overall, our model (named “FIRE”) shows improved performances against the reference standard baseline method (i.e., Symmetric Normalization implemented using the ANTs toolbox) on multi-modality brain 2D and 3D MRI and intra-modality cardiac 4D MRI data experiments. We focus on explaining model-data components to enhance model explainability in medical image registration. On computational time experiments, we show that the FIRE model performs on a memory-saving mode, as it can inherently learn topology-preserving image registration directly in the training phase. We therefore demonstrate an efficient and versatile registration technique that can have merit in multi-modal image registrations in the clinical setting

Repurposing existing skeletal spatial structure (SkS) system designs using the Field Information Modeling (FIM) framework for generative decision-support in future construction projects

Skeletal spatial structure (SkS) systems are modular systems which have shown promise to support mass customization, and sustainability in construction. SkS have been used extensively in the reconstruction efforts since World War II, particularly to build geometrically flexible and free-form structures. By employing advanced digital engineering and construction practices, the existing SkS designs may be repurposed to generate new optimal designs that satisfy current construction demands of contemporary societies. To this end, this study investigated the application of point cloud processing using the Field Information Modeling (FIM) framework for the digital documentation and generative redesign of existing SkS systems. Three new algorithms were proposed to (i) expand FIM to include generative decision-support; (ii) generate as-built building information modeling (BIM) for SkS; and (iii) modularize SkS designs with repeating patterns for optimal production and supply chain management. These algorithms incorporated a host of new AI-inspired methods, including support vector machine (SVM) for decision support; Bayesian optimization for neighborhood definition; Bayesian Gaussian mixture clustering for modularization; and Monte Carlo stochastic multi-criteria decision making (MCDM) for selection of the top Pareto front solutions obtained by the non-dominant sorting Genetic Algorithm (NSGA II). The algorithms were tested and validated on four real-world point cloud datasets to solve two generative modeling problems, namely, engineering design optimization and facility location optimization. It was observed that the proposed Bayesian neighborhood definition outperformed particle swarm and uniform sampling by 34% and 27%, respectively. The proposed SVM-based linear feature detection outperformed k-means and spectral clustering by 56% and 9%, respectively. Finally, the NSGA II algorithm combined with the stochastic MCDM produced diverse “top four” solutions based on project-specific criteria. The results indicate promise for future utilization of the framework to produce training datasets for generative adversarial networks that generate new designs based only on stakeholder requirements

Computerized Analysis of Magnetic Resonance Images to Study Cerebral Anatomy in Developing Neonates

The study of cerebral anatomy in developing neonates is of great importance for the understanding of brain development during the early period of life. This dissertation therefore focuses on three challenges in the modelling of cerebral anatomy in neonates during brain development. The methods that have been developed all use Magnetic Resonance Images (MRI) as source data. To facilitate study of vascular development in the neonatal period, a set of image analysis algorithms are developed to automatically extract and model cerebral vessel trees. The whole process consists of cerebral vessel tracking from automatically placed seed points, vessel tree generation, and vasculature registration and matching. These algorithms have been tested on clinical Time-of- Flight (TOF) MR angiographic datasets. To facilitate study of the neonatal cortex a complete cerebral cortex segmentation and reconstruction pipeline has been developed. Segmentation of the neonatal cortex is not effectively done by existing algorithms designed for the adult brain because the contrast between grey and white matter is reversed. This causes pixels containing tissue mixtures to be incorrectly labelled by conventional methods. The neonatal cortical segmentation method that has been developed is based on a novel expectation-maximization (EM) method with explicit correction for mislabelled partial volume voxels. Based on the resulting cortical segmentation, an implicit surface evolution technique is adopted for the reconstruction of the cortex in neonates. The performance of the method is investigated by performing a detailed landmark study. To facilitate study of cortical development, a cortical surface registration algorithm for aligning the cortical surface is developed. The method first inflates extracted cortical surfaces and then performs a non-rigid surface registration using free-form deformations (FFDs) to remove residual alignment. Validation experiments using data labelled by an expert observer demonstrate that the method can capture local changes and follow the growth of specific sulcus

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved