Generalizing Informed Sampling for Asymptotically Optimal Sampling-based Kinodynamic Planning via Markov Chain Monte Carlo

Asymptotically-optimal motion planners such as RRT* have been shown to incrementally approximate the shortest path between start and goal states. Once an initial solution is found, their performance can be dramatically improved by restricting subsequent samples to regions of the state space that can potentially improve the current solution. When the motion planning problem lies in a Euclidean space, this region $X_{inf}$, called the informed set, can be sampled directly. However, when planning with differential constraints in non-Euclidean state spaces, no analytic solutions exists to sampling $X_{inf}$ directly. State-of-the-art approaches to sampling $X_{inf}$ in such domains such as Hierarchical Rejection Sampling (HRS) may still be slow in high-dimensional state space. This may cause the planning algorithm to spend most of its time trying to produces samples in $X_{inf}$ rather than explore it. In this paper, we suggest an alternative approach to produce samples in the informed set $X_{inf}$ for a wide range of settings. Our main insight is to recast this problem as one of sampling uniformly within the sub-level-set of an implicit non-convex function. This recasting enables us to apply Monte Carlo sampling methods, used very effectively in the Machine Learning and Optimization communities, to solve our problem. We show for a wide range of scenarios that using our sampler can accelerate the convergence rate to high-quality solutions in high-dimensional problems

Deep Learning Paradigm and Its Bias for Coronary Artery Wall Segmentation in Intravascular Ultrasound Scans: A Closer Look

Background and motivation: Coronary artery disease (CAD) has the highest mortality rate; therefore, its diagnosis is vital. Intravascular ultrasound (IVUS) is a high-resolution imaging solution that can image coronary arteries, but the diagnosis software via wall segmentation and quantification has been evolving. In this study, a deep learning (DL) paradigm was explored along with its bias. Methods: Using a PRISMA model, 145 best UNet-based and non-UNet-based methods for wall segmentation were selected and analyzed for their characteristics and scientific and clinical validation. This study computed the coronary wall thickness by estimating the inner and outer borders of the coronary artery IVUS cross-sectional scans. Further, the review explored the bias in the DL system for the first time when it comes to wall segmentation in IVUS scans. Three bias methods, namely (i) ranking, (ii) radial, and (iii) regional area, were applied and compared using a Venn diagram. Finally, the study presented explainable AI (XAI) paradigms in the DL framework. Findings and conclusions: UNet provides a powerful paradigm for the segmentation of coronary walls in IVUS scans due to its ability to extract automated features at different scales in encoders, reconstruct the segmented image using decoders, and embed the variants in skip connections. Most of the research was hampered by a lack of motivation for XAI and pruned AI (PAI) models. None of the UNet models met the criteria for bias-free design. For clinical assessment and settings, it is necessary to move from a paper-to-practice approach

SGPN: Similarity Group Proposal Network for 3D Point Cloud Instance Segmentation

We introduce Similarity Group Proposal Network (SGPN), a simple and intuitive deep learning framework for 3D object instance segmentation on point clouds. SGPN uses a single network to predict point grouping proposals and a corresponding semantic class for each proposal, from which we can directly extract instance segmentation results. Important to the effectiveness of SGPN is its novel representation of 3D instance segmentation results in the form of a similarity matrix that indicates the similarity between each pair of points in embedded feature space, thus producing an accurate grouping proposal for each point. To the best of our knowledge, SGPN is the first framework to learn 3D instance-aware semantic segmentation on point clouds. Experimental results on various 3D scenes show the effectiveness of our method on 3D instance segmentation, and we also evaluate the capability of SGPN to improve 3D object detection and semantic segmentation results. We also demonstrate its flexibility by seamlessly incorporating 2D CNN features into the framework to boost performance

Model and Appearance Based Analysis of Neuronal Morphology from Different Microscopy Imaging Modalities

The neuronal morphology analysis is key for understanding how a brain works. This process requires the neuron imaging system with single-cell resolution; however, there is no feasible system for the human brain. Fortunately, the knowledge can be inferred from the model organism, Drosophila melanogaster, to the human system. This dissertation explores the morphology analysis of Drosophila larvae at single-cell resolution in static images and image sequences, as well as multiple microscopy imaging modalities. Our contributions are on both computational methods for morphology quantification and analysis of the influence of the anatomical aspect. We develop novel model-and-appearance-based methods for morphology quantification and illustrate their significance in three neuroscience studies. Modeling of the structure and dynamics of neuronal circuits creates understanding about how connectivity patterns are formed within a motor circuit and determining whether the connectivity map of neurons can be deduced by estimations of neuronal morphology. To address this problem, we study both boundary-based and centerline-based approaches for neuron reconstruction in static volumes. Neuronal mechanisms are related to the morphology dynamics; so the patterns of neuronal morphology changes are analyzed along with other aspects. In this case, the relationship between neuronal activity and morphology dynamics is explored to analyze locomotion procedures. Our tracking method models the morphology dynamics in the calcium image sequence designed for detecting neuronal activity. It follows the local-to-global design to handle calcium imaging issues and neuronal movement characteristics. Lastly, modeling the link between structural and functional development depicts the correlation between neuron growth and protein interactions. This requires the morphology analysis of different imaging modalities. It can be solved using the part-wise volume segmentation with artificial templates, the standardized representation of neurons. Our method follows the global-to-local approach to solve both part-wise segmentation and registration across modalities. Our methods address common issues in automated morphology analysis from extracting morphological features to tracking neurons, as well as mapping neurons across imaging modalities. The quantitative analysis delivered by our techniques enables a number of new applications and visualizations for advancing the investigation of phenomena in the nervous system

Utah Science Vol. 30 No. 1, March 1969

Bloat on dry alfalfa hay and legume pasture, C. R. Acord, J. E. Butcher, and D. W. Thomas 3 Utah\u27s too salty earth, Lois M. Cox 6 Beef production on irrigated pasture - a profitable alternative, Clair R. Acord 7 Soil cement linings for canals, C. W. Lauritzen 10 Bighorns along the Wasatch, Lois M. Cox 15 Louse-like keds cause sheepskin defects 16 Wildlife notes 16 Utah Science index for volumes 27 -29 17 New publications 23 Caecal worm may cause chukar loss 123 Utah again free from hog cholera 12

Automating the Reconstruction of Neuron Morphological Models: the Rivulet Algorithm Suite

The automatic reconstruction of single neuron cells is essential to enable large-scale data-driven investigations in computational neuroscience. The problem remains an open challenge due to various imaging artefacts that are caused by the fundamental limits of light microscopic imaging. Few previous methods were able to generate satisfactory neuron reconstruction models automatically without human intervention. The manual tracing of neuron models is labour heavy and time-consuming, making the collection of large-scale neuron morphology database one of the major bottlenecks in morphological neuroscience. This thesis presents a suite of algorithms that are developed to target the challenge of automatically reconstructing neuron morphological models with minimum human intervention. We first propose the Rivulet algorithm that iteratively backtracks the neuron fibres from the termini points back to the soma centre. By refining many details of the Rivulet algorithm, we later propose the Rivulet2 algorithm which not only eliminates a few hyper-parameters but also improves the robustness against noisy images. A soma surface reconstruction method was also proposed to make the neuron models biologically plausible around the soma body. The tracing algorithms, including Rivulet and Rivulet2, normally need one or more hyper-parameters for segmenting the neuron body out of the noisy background. To make this pipeline fully automatic, we propose to use 2.5D neural network to train a model to enhance the curvilinear structures of the neuron fibres. The trained neural networks can quickly highlight the fibres of interests and suppress the noise points in the background for the neuron tracing algorithms. We evaluated the proposed methods in the data released by both the DIADEM and the BigNeuron challenge. The experimental results show that our proposed tracing algorithms achieve the state-of-the-art results

VISIR : visual and semantic image label refinement

The social media explosion has populated the Internet with a wealth of images. There are two existing paradigms for image retrieval: 1) content-based image retrieval (CBIR), which has traditionally used visual features for similarity search (e.g., SIFT features), and 2) tag-based image retrieval (TBIR), which has relied on user tagging (e.g., Flickr tags). CBIR now gains semantic expressiveness by advances in deep-learning-based detection of visual labels. TBIR benefits from query-and-click logs to automatically infer more informative labels. However, learning-based tagging still yields noisy labels and is restricted to concrete objects, missing out on generalizations and abstractions. Click-based tagging is limited to terms that appear in the textual context of an image or in queries that lead to a click. This paper addresses the above limitations by semantically refining and expanding the labels suggested by learning-based object detection. We consider the semantic coherence between the labels for different objects, leverage lexical and commonsense knowledge, and cast the label assignment into a constrained optimization problem solved by an integer linear program. Experiments show that our method, called VISIR, improves the quality of the state-of-the-art visual labeling tools like LSDA and YOLO