55,929 research outputs found
Analysis of Three-Dimensional Protein Images
A fundamental goal of research in molecular biology is to understand protein
structure. Protein crystallography is currently the most successful method for
determining the three-dimensional (3D) conformation of a protein, yet it
remains labor intensive and relies on an expert's ability to derive and
evaluate a protein scene model. In this paper, the problem of protein structure
determination is formulated as an exercise in scene analysis. A computational
methodology is presented in which a 3D image of a protein is segmented into a
graph of critical points. Bayesian and certainty factor approaches are
described and used to analyze critical point graphs and identify meaningful
substructures, such as alpha-helices and beta-sheets. Results of applying the
methodologies to protein images at low and medium resolution are reported. The
research is related to approaches to representation, segmentation and
classification in vision, as well as to top-down approaches to protein
structure prediction.Comment: See http://www.jair.org/ for any accompanying file
One-class classifiers based on entropic spanning graphs
One-class classifiers offer valuable tools to assess the presence of outliers
in data. In this paper, we propose a design methodology for one-class
classifiers based on entropic spanning graphs. Our approach takes into account
the possibility to process also non-numeric data by means of an embedding
procedure. The spanning graph is learned on the embedded input data and the
outcoming partition of vertices defines the classifier. The final partition is
derived by exploiting a criterion based on mutual information minimization.
Here, we compute the mutual information by using a convenient formulation
provided in terms of the -Jensen difference. Once training is
completed, in order to associate a confidence level with the classifier
decision, a graph-based fuzzy model is constructed. The fuzzification process
is based only on topological information of the vertices of the entropic
spanning graph. As such, the proposed one-class classifier is suitable also for
data characterized by complex geometric structures. We provide experiments on
well-known benchmarks containing both feature vectors and labeled graphs. In
addition, we apply the method to the protein solubility recognition problem by
considering several representations for the input samples. Experimental results
demonstrate the effectiveness and versatility of the proposed method with
respect to other state-of-the-art approaches.Comment: Extended and revised version of the paper "One-Class Classification
Through Mutual Information Minimization" presented at the 2016 IEEE IJCNN,
Vancouver, Canad
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
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