Left-Invariant Diffusion on the Motion Group in terms of the Irreducible Representations of SO(3)

In this work we study the formulation of convection/diffusion equations on the 3D motion group SE(3) in terms of the irreducible representations of SO(3). Therefore, the left-invariant vector-fields on SE(3) are expressed as linear operators, that are differential forms in the translation coordinate and algebraic in the rotation. In the context of 3D image processing this approach avoids the explicit discretization of SO(3) or $S_2$, respectively. This is particular important for SO(3), where a direct discretization is infeasible due to the enormous memory consumption. We show two applications of the framework: one in the context of diffusion-weighted magnetic resonance imaging and one in the context of object detection

Diffusive spin transport

Information to be stored and transported requires physical carriers. The quantum bit of information (qubit) can for instance be realised as the spin 1/2 degree of freedom of a massive particle like an electron or as the spin 1 polarisation of a massless photon. In this lecture, I first use irreducible representations of the rotation group to characterise the spin dynamics in a least redundant manner. Specifically, I describe the decoherence dynamics of an arbitrary spin S coupled to a randomly fluctuating magnetic field in the Liouville space formalism. Secondly, I discuss the diffusive dynamics of the particle's position in space due to the presence of randomly placed impurities. Combining these two dynamics yields a coherent, unified picture of diffusive spin transport, as applicable to mesoscopic electronic devices or photons propagating in cold atomic clouds.Comment: Lecture notes, published in A. Buchleitner, C. Viviescas, and M. Tiersch (Eds.), "Entanglement and Decoherence. Foundations and Modern Trends", Lecture Notes in Physics 768, Springer, Berlin (2009

Numerical Approaches for Linear Left-invariant Diffusions on SE(2), their Comparison to Exact Solutions, and their Applications in Retinal Imaging

Left-invariant PDE-evolutions on the roto-translation group $SE(2)$ (and their resolvent equations) have been widely studied in the fields of cortical modeling and image analysis. They include hypo-elliptic diffusion (for contour enhancement) proposed by Citti & Sarti, and Petitot, and they include the direction process (for contour completion) proposed by Mumford. This paper presents a thorough study and comparison of the many numerical approaches, which, remarkably, is missing in the literature. Existing numerical approaches can be classified into 3 categories: Finite difference methods, Fourier based methods (equivalent to $SE(2)$-Fourier methods), and stochastic methods (Monte Carlo simulations). There are also 3 types of exact solutions to the PDE-evolutions that were derived explicitly (in the spatial Fourier domain) in previous works by Duits and van Almsick in 2005. Here we provide an overview of these 3 types of exact solutions and explain how they relate to each of the 3 numerical approaches. We compute relative errors of all numerical approaches to the exact solutions, and the Fourier based methods show us the best performance with smallest relative errors. We also provide an improvement of Mathematica algorithms for evaluating Mathieu-functions, crucial in implementations of the exact solutions. Furthermore, we include an asymptotical analysis of the singularities within the kernels and we propose a probabilistic extension of underlying stochastic processes that overcomes the singular behavior in the origin of time-integrated kernels. Finally, we show retinal imaging applications of combining left-invariant PDE-evolutions with invertible orientation scores.Comment: A final and corrected version of the manuscript is Published in Numerical Mathematics: Theory, Methods and Applications (NM-TMA), vol. (9), p.1-50, 201

Discrepancy convergence for the drunkard's walk on the sphere

We analyze the drunkard's walk on the unit sphere with step size theta and show that the walk converges in order constant/sin^2(theta) steps in the discrepancy metric. This is an application of techniques we develop for bounding the discrepancy of random walks on Gelfand pairs generated by bi-invariant measures. In such cases, Fourier analysis on the acting group admits tractable computations involving spherical functions. We advocate the use of discrepancy as a metric on probabilities for state spaces with isometric group actions.Comment: 20 pages; to appear in Electron. J. Probab.; related work at http://www.math.hmc.edu/~su/papers.htm

New Exact and Numerical Solutions of the (Convection-)Diffusion Kernels on SE(3)

We consider hypo-elliptic diffusion and convection-diffusion on $\mathbb{R}^3 \rtimes S^2$, the quotient of the Lie group of rigid body motions SE(3) in which group elements are equivalent if they are equal up to a rotation around the reference axis. We show that we can derive expressions for the convolution kernels in terms of eigenfunctions of the PDE, by extending the approach for the SE(2) case. This goes via application of the Fourier transform of the PDE in the spatial variables, yielding a second order differential operator. We show that the eigenfunctions of this operator can be expressed as (generalized) spheroidal wave functions. The same exact formulas are derived via the Fourier transform on SE(3). We solve both the evolution itself, as well as the time-integrated process that corresponds to the resolvent operator. Furthermore, we have extended a standard numerical procedure from SE(2) to SE(3) for the computation of the solution kernels that is directly related to the exact solutions. Finally, we provide a novel analytic approximation of the kernels that we briefly compare to the exact kernels.Comment: Revised and restructure

The Eyring-Kramers law for Markovian jump processes with symmetries

We prove an Eyring-Kramers law for the small eigenvalues and mean first-passage times of a metastable Markovian jump process which is invariant under a group of symmetries. Our results show that the usual Eyring-Kramers law for asymmetric processes has to be corrected by a factor computable in terms of stabilisers of group orbits. Furthermore, the symmetry can produce additional Arrhenius exponents and modify the spectral gap. The results are based on representation theory of finite groups.Comment: 39 pages, 9 figure