Acoustic Space Learning for Sound Source Separation and Localization on Binaural Manifolds

In this paper we address the problems of modeling the acoustic space generated by a full-spectrum sound source and of using the learned model for the localization and separation of multiple sources that simultaneously emit sparse-spectrum sounds. We lay theoretical and methodological grounds in order to introduce the binaural manifold paradigm. We perform an in-depth study of the latent low-dimensional structure of the high-dimensional interaural spectral data, based on a corpus recorded with a human-like audiomotor robot head. A non-linear dimensionality reduction technique is used to show that these data lie on a two-dimensional (2D) smooth manifold parameterized by the motor states of the listener, or equivalently, the sound source directions. We propose a probabilistic piecewise affine mapping model (PPAM) specifically designed to deal with high-dimensional data exhibiting an intrinsic piecewise linear structure. We derive a closed-form expectation-maximization (EM) procedure for estimating the model parameters, followed by Bayes inversion for obtaining the full posterior density function of a sound source direction. We extend this solution to deal with missing data and redundancy in real world spectrograms, and hence for 2D localization of natural sound sources such as speech. We further generalize the model to the challenging case of multiple sound sources and we propose a variational EM framework. The associated algorithm, referred to as variational EM for source separation and localization (VESSL) yields a Bayesian estimation of the 2D locations and time-frequency masks of all the sources. Comparisons of the proposed approach with several existing methods reveal that the combination of acoustic-space learning with Bayesian inference enables our method to outperform state-of-the-art methods.Comment: 19 pages, 9 figures, 3 table

Dense Super-Resolution Imaging of Molecular Orientation via Joint Sparse Basis Deconvolution and Spatial Pooling

In single-molecule super-resolution microscopy, engineered point-spread functions (PSFs) are designed to efficiently encode new molecular properties, such as 3D orientation, into complex spatial features captured by a camera. To fully benefit from their optimality, algorithms must estimate multi-dimensional parameters such as molecular position and orientation in the presence of PSF overlap and model-experiment mismatches. Here, we present a novel joint sparse deconvolution algorithm based on the decomposition of fluorescence images into six basis images that characterize molecular orientation. The proposed algorithm exploits a group-sparsity structure across these basis images and applies a pooling strategy on corresponding spatial features for robust simultaneous estimates of the number, brightness, 2D position, and 3D orientation of fluorescent molecules. We demonstrate this method by imaging DNA transiently labeled with the intercalating dye YOYO-1. Imaging the position and orientation of each molecule reveals orientational order and disorder within DNA with nanoscale spatial precision.Comment: Copyright 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other work

Deep-STORM: super-resolution single-molecule microscopy by deep learning

We present an ultra-fast, precise, parameter-free method, which we term Deep-STORM, for obtaining super-resolution images from stochastically-blinking emitters, such as fluorescent molecules used for localization microscopy. Deep-STORM uses a deep convolutional neural network that can be trained on simulated data or experimental measurements, both of which are demonstrated. The method achieves state-of-the-art resolution under challenging signal-to-noise conditions and high emitter densities, and is significantly faster than existing approaches. Additionally, no prior information on the shape of the underlying structure is required, making the method applicable to any blinking data-set. We validate our approach by super-resolution image reconstruction of simulated and experimentally obtained data.Comment: 7 pages, added code download reference and DOI for the journal versio

Learned SPARCOM: Unfolded Deep Super-Resolution Microscopy

The use of photo-activated fluorescent molecules to create long sequences of low emitter-density diffraction-limited images enables high-precision emitter localization, but at the cost of low temporal resolution. We suggest combining SPARCOM, a recent high-performing classical method, with model-based deep learning, using the algorithm unfolding approach, to design a compact neural network incorporating domain knowledge. Our results show that we can obtain super-resolution imaging from a small number of high emitter density frames without knowledge of the optical system and across different test sets using the proposed learned SPARCOM (LSPARCOM) network. We believe LSPARCOM can pave the way to interpretable, efficient live-cell imaging in many settings, and find broad use in single-molecule localization microscopy of biological structures

Efficient Continuous-Time SLAM for 3D Lidar-Based Online Mapping

Modern 3D laser-range scanners have a high data rate, making online simultaneous localization and mapping (SLAM) computationally challenging. Recursive state estimation techniques are efficient but commit to a state estimate immediately after a new scan is made, which may lead to misalignments of measurements. We present a 3D SLAM approach that allows for refining alignments during online mapping. Our method is based on efficient local mapping and a hierarchical optimization back-end. Measurements of a 3D laser scanner are aggregated in local multiresolution maps by means of surfel-based registration. The local maps are used in a multi-level graph for allocentric mapping and localization. In order to incorporate corrections when refining the alignment, the individual 3D scans in the local map are modeled as a sub-graph and graph optimization is performed to account for drift and misalignments in the local maps. Furthermore, in each sub-graph, a continuous-time representation of the sensor trajectory allows to correct measurements between scan poses. We evaluate our approach in multiple experiments by showing qualitative results. Furthermore, we quantify the map quality by an entropy-based measure.Comment: In: Proceedings of the International Conference on Robotics and Automation (ICRA) 201