High-speed in vitro intensity diffraction tomography

We demonstrate a label-free, scan-free intensity diffraction tomography technique utilizing annular illumination (aIDT) to rapidly characterize large-volume three-dimensional (3-D) refractive index distributions in vitro. By optimally matching the illumination geometry to the microscope pupil, our technique reduces the data requirement by 60 times to achieve high-speed 10-Hz volume rates. Using eight intensity images, we recover volumes of ∼350 μm  ×  100 μm  ×  20  μm, with near diffraction-limited lateral resolution of   ∼  487  nm and axial resolution of   ∼  3.4  μm. The attained large volume rate and high-resolution enable 3-D quantitative phase imaging of complex living biological samples across multiple length scales. We demonstrate aIDT’s capabilities on unicellular diatom microalgae, epithelial buccal cell clusters with native bacteria, and live Caenorhabditis elegans specimens. Within these samples, we recover macroscale cellular structures, subcellular organelles, and dynamic micro-organism tissues with minimal motion artifacts. Quantifying such features has significant utility in oncology, immunology, and cellular pathophysiology, where these morphological features are evaluated for changes in the presence of disease, parasites, and new drug treatments. Finally, we simulate the aIDT system to highlight the accuracy and sensitivity of the proposed technique. aIDT shows promise as a powerful high-speed, label-free computational microscopy approach for applications where natural imaging is required to evaluate environmental effects on a sample in real time.https://arxiv.org/abs/1904.06004Accepted manuscrip

Deep Drone Racing: From Simulation to Reality with Domain Randomization

Dynamically changing environments, unreliable state estimation, and operation under severe resource constraints are fundamental challenges that limit the deployment of small autonomous drones. We address these challenges in the context of autonomous, vision-based drone racing in dynamic environments. A racing drone must traverse a track with possibly moving gates at high speed. We enable this functionality by combining the performance of a state-of-the-art planning and control system with the perceptual awareness of a convolutional neural network (CNN). The resulting modular system is both platform- and domain-independent: it is trained in simulation and deployed on a physical quadrotor without any fine-tuning. The abundance of simulated data, generated via domain randomization, makes our system robust to changes of illumination and gate appearance. To the best of our knowledge, our approach is the first to demonstrate zero-shot sim-to-real transfer on the task of agile drone flight. We extensively test the precision and robustness of our system, both in simulation and on a physical platform, and show significant improvements over the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854

A Retinex-based Image Enhancement Scheme with Noise Aware Shadow-up Function

This paper proposes a novel image contrast enhancement method based on both a noise aware shadow-up function and Retinex (retina and cortex) decomposition. Under low light conditions, images taken by digital cameras have low contrast in dark or bright regions. This is due to a limited dynamic range that imaging sensors have. For this reason, various contrast enhancement methods have been proposed. Our proposed method can enhance the contrast of images without not only over-enhancement but also noise amplification. In the proposed method, an image is decomposed into illumination layer and reflectance layer based on the retinex theory, and lightness information of the illumination layer is adjusted. A shadow-up function is used for preventing over-enhancement. The proposed mapping function, designed by using a noise aware histogram, allows not only to enhance contrast of dark region, but also to avoid amplifying noise, even under strong noise environments.Comment: To appear in IWAIT-IFMIA 201