Motion Estimation Using a Spherical Camera

Robotic navigation algorithms increasingly make use of the panoramic field of view provided by omnidirectional images to assist with localization tasks. Since the images taken by a particular class of omnidirectional sensors can be mapped to the sphere, the problem of attitude estimation arising from 3D motions of the camera can be treated as a problem of estimating the camera motion between spherical images. This problem has traditionally been solved by tracking points or features between images. However, there are many natural scenes where the features cannot be tracked with confidence. We present an algorithm that uses image features to estimate ego-motion without explicitly searching for correspondences. We formulate the problem as a correlation of functions defined on the product of spheres S2 × S2 which are acted upon by elements of the direct product group SO(3) × SO(3). We efficiently compute this correlation and obtain our solution using the spectral information of functions in S2 × S2

Learning SO(3) Equivariant Representations with Spherical CNNs

We address the problem of 3D rotation equivariance in convolutional neural networks. 3D rotations have been a challenging nuisance in 3D classification tasks requiring higher capacity and extended data augmentation in order to tackle it. We model 3D data with multi-valued spherical functions and we propose a novel spherical convolutional network that implements exact convolutions on the sphere by realizing them in the spherical harmonic domain. Resulting filters have local symmetry and are localized by enforcing smooth spectra. We apply a novel pooling on the spectral domain and our operations are independent of the underlying spherical resolution throughout the network. We show that networks with much lower capacity and without requiring data augmentation can exhibit performance comparable to the state of the art in standard retrieval and classification benchmarks.Comment: Camera-ready. Accepted to ECCV'18 as oral presentatio

BMP signaling modulates hedgehog-induced secondary heart field proliferation

AbstractSonic hedgehog signaling in the secondary heart field has a clear role in cardiac arterial pole development. In the absence of hedgehog signaling, proliferation is reduced in secondary heart field progenitors, and embryos predominantly develop pulmonary atresia. While it is expected that proliferation in the secondary heart field would be increased with elevated hedgehog signaling, this idea has never been tested. We hypothesized that up-regulating hedgehog signaling would increase secondary heart field proliferation, which would lead to arterial pole defects. In culture, secondary heart field explants proliferated up to 6-fold more in response to the hedgehog signaling agonist SAG, while myocardial differentiation and migration were unaffected. Treatment of chick embryos with SAG at HH14, just before the peak in secondary heart field proliferation, resulted unexpectedly in stenosis of both the aortic and pulmonary outlets. We examined proliferation in the secondary heart field and found that SAG-treated embryos exhibited a much milder increase in proliferation than was indicated by the in vitro experiments. To determine the source of other signaling factors that could modulate increased hedgehog signaling, we co-cultured secondary heart field explants with isolated pharyngeal endoderm or outflow tract and found that outflow tract co-cultures prevented SAG-induced proliferation. BMP2 is made and secreted by the outflow tract myocardium. To determine whether BMP signaling could prevent SAG-induced proliferation, we treated explants with SAG and BMP2 and found that BMP2 inhibited SAG-induced proliferation. In vivo, SAG-treated embryos showed up-regulated BMP2 expression and signaling. Together, these results indicate that BMP signaling from the outflow tract modulates hedgehog-induced proliferation in the secondary heart field

On the recent cyclone lashed across Gujarat coast and its effect on marine flsheries sector

A heavy cyclonic wind crossed the coastal Gujarat on 9-6-'98 resulting in the destruction of life and property besides total disruptions of communication, electricity and water supply systems. The present report summarises the effect of this cyclone on the marine fishery sector of coastal Gujarat

OPTIMIZATION OF TOOL GEOMETRY AND CUTTING PARAMETERS FOR TURNING OPERATIONS BASED ON RESPONSE SURFACE METHODOLOGY

ABSTRACT This investigation focuses on the influence of tool geometry (nose radius) and cutting parameters (cutting speed, feed and depth of cut) on the surface finish obtained in turning of mild Steel. In order to find the effect of tool geometry and cutting parameters on the surface roughness during turning, response surface methodology (RSM) with (3 4 ) full factorial design was used and a prediction model was developed related to average surface roughness (Ra) using experimental data. The results indicated that the tool nose radius was the dominant factor on surface roughness. In addition, a good agreement between the predicted and measured surface roughness was observed. Therefore, the developed model can be effectively used to predict the surface roughness on the machining of mild steel with 95 % confidence interval within ranges of parameter studied

Combining Image-Level and Segment-Level Models for Automatic Annotation

Abstract. For the task of assigning labels to an image to summarize its contents, many early attempts use segment-level information and try to determine which parts of the images correspond to which labels. Best performing methods use global image similarity and nearest neighbor techniques to transfer labels from training images to test images. However, global methods cannot localize the labels in the images, unlike segment-level methods. Also, they cannot take advantage of training images that are only locally similar to a test image. We propose several ways to combine recent image-level and segment-level techniques to predict both image and segment labels jointly. We cast our experimental study in an unified framework for both image-level and segment-level annotation tasks. On three challenging datasets, our joint prediction of image and segment labels outperforms either prediction alone on both tasks. This confirms that the two levels offer complementary information

Joint Inference in Weakly-Annotated Image Datasets via Dense Correspondence

We present a principled framework for inferring pixel labels in weakly-annotated image datasets. Most previous, example-based approaches to computer vision rely on a large corpus of densely labeled images. However, for large, modern image datasets, such labels are expensive to obtain and are often unavailable. We establish a large-scale graphical model spanning all labeled and unlabeled images, then solve it to infer pixel labels jointly for all images in the dataset while enforcing consistent annotations over similar visual patterns. This model requires significantly less labeled data and assists in resolving ambiguities by propagating inferred annotations from images with stronger local visual evidences to images with weaker local evidences. We apply our proposed framework to two computer vision problems, namely image annotation with semantic segmentation, and object discovery and co-segmentation (segmenting multiple images containing a common object). Extensive numerical evaluations and comparisons show that our method consistently outperforms the state-of-the-art in automatic annotation and semantic labeling, while requiring significantly less labeled data. In contrast to previous co-segmentation techniques, our method manages to discover and segment objects well even in the presence of substantial amounts of noise images (images not containing the common object), as typical for datasets collected from Internet search

Phenotype Algorithms for the Identification and Characterization of Vaccine-Induced Thrombotic Thrombocytopenia in Real World Data: A Multinational Network Cohort Study

INTRODUCTION: Vaccine-induced thrombotic thrombocytopenia (VITT) has been identified as a rare but serious adverse event associated with coronavirus disease 2019 (COVID-19) vaccines. OBJECTIVES: In this study, we explored the pre-pandemic co-occurrence of thrombosis with thrombocytopenia (TWT) using 17 observational health data sources across the world. We applied multiple TWT definitions, estimated the background rate of TWT, characterized TWT patients, and explored the makeup of thrombosis types among TWT patients. METHODS: We conducted an international network retrospective cohort study using electronic health records and insurance claims data, estimating background rates of TWT amongst persons observed from 2017 to 2019. Following the principles of existing VITT clinical definitions, TWT was defined as patients with a diagnosis of embolic or thrombotic arterial or venous events and a diagnosis or measurement of thrombocytopenia within 7 days. Six TWT phenotypes were considered, which varied in the approach taken in defining thrombosis and thrombocytopenia in real world data. RESULTS: Overall TWT incidence rates ranged from 1.62 to 150.65 per 100,000 person-years. Substantial heterogeneity exists across data sources and by age, sex, and alternative TWT phenotypes. TWT patients were likely to be men of older age with various comorbidities. Among the thrombosis types, arterial thrombotic events were the most common. CONCLUSION: Our findings suggest that identifying VITT in observational data presents a substantial challenge, as implementing VITT case definitions based on the co-occurrence of TWT results in large and heterogeneous incidence rate and in a cohort of patints with baseline characteristics that are inconsistent with the VITT cases reported to date

Phenotype Algorithms for the Identification and Characterization of Vaccine-Induced Thrombotic Thrombocytopenia in Real World Data:A Multinational Network Cohort Study

INTRODUCTION: Vaccine-induced thrombotic thrombocytopenia (VITT) has been identified as a rare but serious adverse event associated with coronavirus disease 2019 (COVID-19) vaccines. OBJECTIVES: In this study, we explored the pre-pandemic co-occurrence of thrombosis with thrombocytopenia (TWT) using 17 observational health data sources across the world. We applied multiple TWT definitions, estimated the background rate of TWT, characterized TWT patients, and explored the makeup of thrombosis types among TWT patients. METHODS: We conducted an international network retrospective cohort study using electronic health records and insurance claims data, estimating background rates of TWT amongst persons observed from 2017 to 2019. Following the principles of existing VITT clinical definitions, TWT was defined as patients with a diagnosis of embolic or thrombotic arterial or venous events and a diagnosis or measurement of thrombocytopenia within 7 days. Six TWT phenotypes were considered, which varied in the approach taken in defining thrombosis and thrombocytopenia in real world data. RESULTS: Overall TWT incidence rates ranged from 1.62 to 150.65 per 100,000 person-years. Substantial heterogeneity exists across data sources and by age, sex, and alternative TWT phenotypes. TWT patients were likely to be men of older age with various comorbidities. Among the thrombosis types, arterial thrombotic events were the most common. CONCLUSION: Our findings suggest that identifying VITT in observational data presents a substantial challenge, as implementing VITT case definitions based on the co-occurrence of TWT results in large and heterogeneous incidence rate and in a cohort of patints with baseline characteristics that are inconsistent with the VITT cases reported to date. SUPPLEMENTARY INFORMATION: The online version contains supplementary material available at 10.1007/s40264-022-01187-y

After DART: Using the First Full-scale Test of a Kinetic Impactor to Inform a Future Planetary Defense Mission

NASA’s Double Asteroid Redirection Test (DART) is the first full-scale test of an asteroid deflection technology. Results from the hypervelocity kinetic impact and Earth-based observations, coupled with LICIACube and the later Hera mission, will result in measurement of the momentum transfer efficiency accurate to ∼10% and characterization of the Didymos binary system. But DART is a single experiment; how could these results be used in a future planetary defense necessity involving a different asteroid? We examine what aspects of Dimorphos’s response to kinetic impact will be constrained by DART results; how these constraints will help refine knowledge of the physical properties of asteroidal materials and predictive power of impact simulations; what information about a potential Earth impactor could be acquired before a deflection effort; and how design of a deflection mission should be informed by this understanding. We generalize the momentum enhancement factor β, showing that a particular direction-specific β will be directly determined by the DART results, and that a related direction-specific β is a figure of merit for a kinetic impact mission. The DART β determination constrains the ejecta momentum vector, which, with hydrodynamic simulations, constrains the physical properties of Dimorphos’s near-surface. In a hypothetical planetary defense exigency, extrapolating these constraints to a newly discovered asteroid will require Earth-based observations and benefit from in situ reconnaissance. We show representative predictions for momentum transfer based on different levels of reconnaissance and discuss strategic targeting to optimize the deflection and reduce the risk of a counterproductive deflection in the wrong direction