3,298 research outputs found
Rotationally Invariant Image Representation for Viewing Direction Classification in Cryo-EM
We introduce a new rotationally invariant viewing angle classification method
for identifying, among a large number of Cryo-EM projection images, similar
views without prior knowledge of the molecule. Our rotationally invariant
features are based on the bispectrum. Each image is denoised and compressed
using steerable principal component analysis (PCA) such that rotating an image
is equivalent to phase shifting the expansion coefficients. Thus we are able to
extend the theory of bispectrum of 1D periodic signals to 2D images. The
randomized PCA algorithm is then used to efficiently reduce the dimensionality
of the bispectrum coefficients, enabling fast computation of the similarity
between any pair of images. The nearest neighbors provide an initial
classification of similar viewing angles. In this way, rotational alignment is
only performed for images with their nearest neighbors. The initial nearest
neighbor classification and alignment are further improved by a new
classification method called vector diffusion maps. Our pipeline for viewing
angle classification and alignment is experimentally shown to be faster and
more accurate than reference-free alignment with rotationally invariant K-means
clustering, MSA/MRA 2D classification, and their modern approximations
On The Continuous Steering of the Scale of Tight Wavelet Frames
In analogy with steerable wavelets, we present a general construction of
adaptable tight wavelet frames, with an emphasis on scaling operations. In
particular, the derived wavelets can be "dilated" by a procedure comparable to
the operation of steering steerable wavelets. The fundamental aspects of the
construction are the same: an admissible collection of Fourier multipliers is
used to extend a tight wavelet frame, and the "scale" of the wavelets is
adapted by scaling the multipliers. As an application, the proposed wavelets
can be used to improve the frequency localization. Importantly, the localized
frequency bands specified by this construction can be scaled efficiently using
matrix multiplication
Supervised Autonomous Locomotion and Manipulation for Disaster Response with a Centaur-like Robot
Mobile manipulation tasks are one of the key challenges in the field of
search and rescue (SAR) robotics requiring robots with flexible locomotion and
manipulation abilities. Since the tasks are mostly unknown in advance, the
robot has to adapt to a wide variety of terrains and workspaces during a
mission. The centaur-like robot Centauro has a hybrid legged-wheeled base and
an anthropomorphic upper body to carry out complex tasks in environments too
dangerous for humans. Due to its high number of degrees of freedom, controlling
the robot with direct teleoperation approaches is challenging and exhausting.
Supervised autonomy approaches are promising to increase quality and speed of
control while keeping the flexibility to solve unknown tasks. We developed a
set of operator assistance functionalities with different levels of autonomy to
control the robot for challenging locomotion and manipulation tasks. The
integrated system was evaluated in disaster response scenarios and showed
promising performance.Comment: In Proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), Madrid, Spain, October 201
Two-sided Clifford Fourier transform with two square roots of -1 in Cl(p,q)
We generalize quaternion and Clifford Fourier transforms to general two-sided
Clifford Fourier transforms (CFT), and study their properties (from linearity
to convolution). Two general \textit{multivector square roots} \in \cl{p,q}
\textit{of} -1 are used to split multivector signals, and to construct the left
and right CFT kernel factors.
Keywords: Clifford Fourier transform, Clifford algebra, signal processing,
square roots of -1 .Comment: 19 pages, 1 figur
Mahalanobis Distance for Class Averaging of Cryo-EM Images
Single particle reconstruction (SPR) from cryo-electron microscopy (EM) is a
technique in which the 3D structure of a molecule needs to be determined from
its contrast transfer function (CTF) affected, noisy 2D projection images taken
at unknown viewing directions. One of the main challenges in cryo-EM is the
typically low signal to noise ratio (SNR) of the acquired images. 2D
classification of images, followed by class averaging, improves the SNR of the
resulting averages, and is used for selecting particles from micrographs and
for inspecting the particle images. We introduce a new affinity measure, akin
to the Mahalanobis distance, to compare cryo-EM images belonging to different
defocus groups. The new similarity measure is employed to detect similar
images, thereby leading to an improved algorithm for class averaging. We
evaluate the performance of the proposed class averaging procedure on synthetic
datasets, obtaining state of the art classification.Comment: Final version accepted to the 14th IEEE International Symposium on
Biomedical Imaging (ISBI 2017
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