PVR: Patch-to-Volume Reconstruction for Large Area Motion Correction of Fetal MRI

In this paper we present a novel method for the correction of motion artifacts that are present in fetal Magnetic Resonance Imaging (MRI) scans of the whole uterus. Contrary to current slice-to-volume registration (SVR) methods, requiring an inflexible anatomical enclosure of a single investigated organ, the proposed patch-to-volume reconstruction (PVR) approach is able to reconstruct a large field of view of non-rigidly deforming structures. It relaxes rigid motion assumptions by introducing a specific amount of redundant information that is exploited with parallelized patch-wise optimization, super-resolution, and automatic outlier rejection. We further describe and provide an efficient parallel implementation of PVR allowing its execution within reasonable time on commercially available graphics processing units (GPU), enabling its use in the clinical practice. We evaluate PVR's computational overhead compared to standard methods and observe improved reconstruction accuracy in presence of affine motion artifacts of approximately 30% compared to conventional SVR in synthetic experiments. Furthermore, we have evaluated our method qualitatively and quantitatively on real fetal MRI data subject to maternal breathing and sudden fetal movements. We evaluate peak-signal-to-noise ratio (PSNR), structural similarity index (SSIM), and cross correlation (CC) with respect to the originally acquired data and provide a method for visual inspection of reconstruction uncertainty. With these experiments we demonstrate successful application of PVR motion compensation to the whole uterus, the human fetus, and the human placenta.Comment: 10 pages, 13 figures, submitted to IEEE Transactions on Medical Imaging. v2: wadded funders acknowledgements to preprin

Fast and Robust Detection of Fallen People from a Mobile Robot

This paper deals with the problem of detecting fallen people lying on the floor by means of a mobile robot equipped with a 3D depth sensor. In the proposed algorithm, inspired by semantic segmentation techniques, the 3D scene is over-segmented into small patches. Fallen people are then detected by means of two SVM classifiers: the first one labels each patch, while the second one captures the spatial relations between them. This novel approach showed to be robust and fast. Indeed, thanks to the use of small patches, fallen people in real cluttered scenes with objects side by side are correctly detected. Moreover, the algorithm can be executed on a mobile robot fitted with a standard laptop making it possible to exploit the 2D environmental map built by the robot and the multiple points of view obtained during the robot navigation. Additionally, this algorithm is robust to illumination changes since it does not rely on RGB data but on depth data. All the methods have been thoroughly validated on the IASLAB-RGBD Fallen Person Dataset, which is published online as a further contribution. It consists of several static and dynamic sequences with 15 different people and 2 different environments

AlSub: Fully Parallel and Modular Subdivision

In recent years, mesh subdivision---the process of forging smooth free-form surfaces from coarse polygonal meshes---has become an indispensable production instrument. Although subdivision performance is crucial during simulation, animation and rendering, state-of-the-art approaches still rely on serial implementations for complex parts of the subdivision process. Therefore, they often fail to harness the power of modern parallel devices, like the graphics processing unit (GPU), for large parts of the algorithm and must resort to time-consuming serial preprocessing. In this paper, we show that a complete parallelization of the subdivision process for modern architectures is possible. Building on sparse matrix linear algebra, we show how to structure the complete subdivision process into a sequence of algebra operations. By restructuring and grouping these operations, we adapt the process for different use cases, such as regular subdivision of dynamic meshes, uniform subdivision for immutable topology, and feature-adaptive subdivision for efficient rendering of animated models. As the same machinery is used for all use cases, identical subdivision results are achieved in all parts of the production pipeline. As a second contribution, we show how these linear algebra formulations can effectively be translated into efficient GPU kernels. Applying our strategies to $\sqrt{3}$, Loop and Catmull-Clark subdivision shows significant speedups of our approach compared to state-of-the-art solutions, while we completely avoid serial preprocessing.Comment: Changed structure Added content Improved description

Identifying Sources of a Change in Metrics of a Stack of Servers

Generally, the present disclosure is directed to identifying a source of a change in one or more metrics of one or more servers. In particular, in some implementations, the systems and methods of the present disclosure can include or otherwise leverage one or more machine-learned models to predict contribution from a component within a stack of one or more servers based on one or more states of the component

Spectral-spatial classification of hyperspectral images: three tricks and a new supervised learning setting

Spectral-spatial classification of hyperspectral images has been the subject of many studies in recent years. In the presence of only very few labeled pixels, this task becomes challenging. In this paper we address the following two research questions: 1) Can a simple neural network with just a single hidden layer achieve state of the art performance in the presence of few labeled pixels? 2) How is the performance of hyperspectral image classification methods affected when using disjoint train and test sets? We give a positive answer to the first question by using three tricks within a very basic shallow Convolutional Neural Network (CNN) architecture: a tailored loss function, and smooth- and label-based data augmentation. The tailored loss function enforces that neighborhood wavelengths have similar contributions to the features generated during training. A new label-based technique here proposed favors selection of pixels in smaller classes, which is beneficial in the presence of very few labeled pixels and skewed class distributions. To address the second question, we introduce a new sampling procedure to generate disjoint train and test set. Then the train set is used to obtain the CNN model, which is then applied to pixels in the test set to estimate their labels. We assess the efficacy of the simple neural network method on five publicly available hyperspectral images. On these images our method significantly outperforms considered baselines. Notably, with just 1% of labeled pixels per class, on these datasets our method achieves an accuracy that goes from 86.42% (challenging dataset) to 99.52% (easy dataset). Furthermore we show that the simple neural network method improves over other baselines in the new challenging supervised setting. Our analysis substantiates the highly beneficial effect of using the entire image (so train and test data) for constructing a model.Comment: Remote Sensing 201