3,369 research outputs found
Estimation of Fiber Orientations Using Neighborhood Information
Data from diffusion magnetic resonance imaging (dMRI) can be used to
reconstruct fiber tracts, for example, in muscle and white matter. Estimation
of fiber orientations (FOs) is a crucial step in the reconstruction process and
these estimates can be corrupted by noise. In this paper, a new method called
Fiber Orientation Reconstruction using Neighborhood Information (FORNI) is
described and shown to reduce the effects of noise and improve FO estimation
performance by incorporating spatial consistency. FORNI uses a fixed tensor
basis to model the diffusion weighted signals, which has the advantage of
providing an explicit relationship between the basis vectors and the FOs. FO
spatial coherence is encouraged using weighted l1-norm regularization terms,
which contain the interaction of directional information between neighbor
voxels. Data fidelity is encouraged using a squared error between the observed
and reconstructed diffusion weighted signals. After appropriate weighting of
these competing objectives, the resulting objective function is minimized using
a block coordinate descent algorithm, and a straightforward parallelization
strategy is used to speed up processing. Experiments were performed on a
digital crossing phantom, ex vivo tongue dMRI data, and in vivo brain dMRI data
for both qualitative and quantitative evaluation. The results demonstrate that
FORNI improves the quality of FO estimation over other state of the art
algorithms.Comment: Journal paper accepted in Medical Image Analysis. 35 pages and 16
figure
A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones
Fully-autonomous miniaturized robots (e.g., drones), with artificial
intelligence (AI) based visual navigation capabilities are extremely
challenging drivers of Internet-of-Things edge intelligence capabilities.
Visual navigation based on AI approaches, such as deep neural networks (DNNs)
are becoming pervasive for standard-size drones, but are considered out of
reach for nanodrones with size of a few cm. In this work, we
present the first (to the best of our knowledge) demonstration of a navigation
engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based
visual navigation. To achieve this goal we developed a complete methodology for
parallel execution of complex DNNs directly on-bard of resource-constrained
milliwatt-scale nodes. Our system is based on GAP8, a novel parallel
ultra-low-power computing platform, and a 27 g commercial, open-source
CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the
software mapping techniques that enable the state-of-the-art deep convolutional
neural network presented in [1] to be fully executed on-board within a strict 6
fps real-time constraint with no compromise in terms of flight results, while
all processing is done with only 64 mW on average. Our navigation engine is
flexible and can be used to span a wide performance range: at its peak
performance corner it achieves 18 fps while still consuming on average just
3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication
in the IEEE Internet of Things Journal (IEEE IOTJ
CUDA-Accelerated Geodesic Ray-Tracing for Fiber Tracking
Diffusion Tensor Imaging (DTI) allows to noninvasively measure the diffusion of water in fibrous tissue. By reconstructing the fibers from DTI data using a fiber-tracking algorithm, we can deduce the structure of the tissue. In this paper, we outline an approach to accelerating such a fiber-tracking algorithm using a Graphics Processing Unit (GPU). This algorithm, which is based on the calculation of geodesics, has shown promising results for both synthetic and real data, but is limited in its applicability by its high computational requirements. We present a solution which uses the parallelism offered by modern GPUs, in combination with the CUDA platform by NVIDIA, to significantly reduce the execution time of the fiber-tracking algorithm. Compared to a multithreaded CPU implementation of the same algorithm, our GPU mapping achieves a speedup factor of up to 40 times
Heterogeneous multireference alignment: a single pass approach
Multireference alignment (MRA) is the problem of estimating a signal from
many noisy and cyclically shifted copies of itself. In this paper, we consider
an extension called heterogeneous MRA, where signals must be estimated, and
each observation comes from one of those signals, unknown to us. This is a
simplified model for the heterogeneity problem notably arising in cryo-electron
microscopy. We propose an algorithm which estimates the signals without
estimating either the shifts or the classes of the observations. It requires
only one pass over the data and is based on low-order moments that are
invariant under cyclic shifts. Given sufficiently many measurements, one can
estimate these invariant features averaged over the signals. We then design
a smooth, non-convex optimization problem to compute a set of signals which are
consistent with the estimated averaged features. We find that, in many cases,
the proposed approach estimates the set of signals accurately despite
non-convexity, and conjecture the number of signals that can be resolved as
a function of the signal length is on the order of .Comment: 6 pages, 3 figure
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