Utilizing U-Net Architectures with Auxiliary Information for Scatter Correction in CBCT Across Different Field-of-View Settings

Cone-beam computed tomography (CBCT) has become a vital imaging technique in various medical fields but scatter artifacts are a major limitation in CBCT scanning. This challenge is exacerbated by the use of large flat panel 2D detectors. The scatter-to-primary ratio increases significantly with the increase in the size of FOV being scanned. Several deep learning methods, particularly U-Net architectures, have shown promising capabilities in estimating the scatter directly from the CBCT projections. However, the influence of varying FOV sizes on these deep learning models remains unexplored. Having a single neural network for the scatter estimation of varying FOV projections can be of significant importance towards real clinical applications. This study aims to train and evaluate the performance of a U-Net network on a simulated dataset with varying FOV sizes. We further propose a new method (Aux-Net) by providing auxiliary information, such as FOV size, to the U-Net encoder. We validate our method on 30 different FOV sizes and compare it with the U-Net. Our study demonstrates that providing auxiliary information to the network enhances the generalization capability of the U-Net. Our findings suggest that this novel approach outperforms the baseline U-Net, offering a significant step towards practical application in real clinical settings where CBCT systems are employed to scan a wide range of FOVs.

Nesting Particle Filters for Experimental Design in Dynamical Systems

In this paper, we propose a novel approach to Bayesian Experimental Design (BED) for non-exchangeable data that formulates it as risk-sensitive policy optimization. We develop the Inside-Out SMC^2 algorithm that uses a nested sequential Monte Carlo (SMC) estimator of the expected information gain and embeds it into a particle Markov chain Monte Carlo (pMCMC) framework to perform gradient-based policy optimization. This is in contrast to recent approaches that rely on biased estimators of the expected information gain (EIG) to amortize the cost of experiments by learning a design policy in advance. Numerical validation on a set of dynamical systems showcases the efficacy of our method in comparison to other state-of-the-art strategies.

Quantum-Assisted Hilbert-Space Gaussian Process Regression

Gaussian processes are probabilistic models that are commonly used as functional priors in machine learning. Due to their probabilistic nature, they can be used to capture the prior information on the statistics of noise, smoothness of the functions, and training data uncertainty. However, their computational complexity quickly becomes intractable as the size of the data set grows. We propose a Hilbert space approximation-based quantum algorithm for Gaussian process regression to overcome this limitation. Our method consists of a combination of classical basis function expansion with quantum computing techniques of quantum principal component analysis, conditional rotations, and Hadamard and Swap tests. The quantum principal component analysis is used to estimate the eigenvalues while the conditional rotations and the Hadamard and Swap tests are employed to evaluate the posterior mean and variance of the Gaussian process. Our method provides polynomial computational complexity reduction over the classical method.

Risk-Sensitive Stochastic Optimal Control as Rao-Blackwellized Markovian Score Climbing

Stochastic optimal control of dynamical systems is a crucial challenge in sequential decision-making. Recently, control-as-inference approaches have had considerable success, providing a viable risk-sensitive framework to address the exploration-exploitation dilemma. Nonetheless, a majority of these techniques only invoke the inference-control duality to derive a modified risk objective that is then addressed within a reinforcement learning framework. This paper introduces a novel perspective by framing risk-sensitive stochastic control as Markovian score climbing under samples drawn from a conditional particle filter. Our approach, while purely inference-centric, provides asymptotically unbiased estimates for gradient-based policy optimization with optimal importance weighting and no explicit value function learning. To validate our methodology, we apply it to the task of learning neural non-Gaussian feedback policies, showcasing its efficacy on numerical benchmarks of stochastic dynamical systems.

Nonparametric modeling of the composite effect of multiple nutrients on blood glucose dynamics

In biomedical applications it is often necessary to estimate a physiological response to a treatment consisting of multiple components, and learn the separate effects of the components in addition to the joint effect. Here, we extend existing probabilistic nonparametric approaches to explicitly address this problem. We also develop a new convolution-based model for composite treatment-response curves that is more biologically interpretable. We validate our models by estimating the impact of carbohydrate and fat in meals on blood glucose. By differentiating treatment components, incorporating their dosages, and sharing statistical information across patients via a hierarchical multi-output Gaussian process, our method improves prediction accuracy over existing approaches, and allows us to interpret the different effects of carbohydrates and fat on the overall glucose response.

Parallel-in-Time Probabilistic Numerical ODE Solvers

Probabilistic numerical solvers for ordinary differential equations (ODEs) treat the numerical simulation of dynamical systems as problems of Bayesian state estimation. Aside from producing posterior distributions over ODE solutions and thereby quantifying the numerical approximation error of the method itself, one less-often noted advantage of this formalism is the algorithmic flexibility gained by formulating numerical simulation in the framework of Bayesian filtering and smoothing. In this paper, we leverage this flexibility and build on the time-parallel formulation of iterated extended Kalman smoothers to formulate a parallel-in-time probabilistic numerical ODE solver. Instead of simulating the dynamical system sequentially in time, as done by current probabilistic solvers, the proposed method processes all time steps in parallel and thereby reduces the span cost from linear to logarithmic in the number of time steps. We demonstrate the effectiveness of our approach on a variety of ODEs and compare it to a range of both classic and probabilistic numerical ODE solvers.

A Recursive Newton Method for Smoothing in Nonlinear State Space Models

In this paper, we use the optimization formulation of nonlinear Kalman filtering and smoothing problems to develop second-order variants of iterated Kalman smoother (IKS) methods. We show that Newton's method corresponds to a recursion over affine smoothing problems on a modified state-space model augmented by a pseudo measurement. The first and second derivatives required in this approach can be efficiently computed with widely available automatic differentiation tools. Furthermore, we show how to incorporate line-search and trust-region strategies into the proposed second-order IKS algorithm in order to regularize updates between iterations. Finally, we provide numerical examples to demonstrate the method's efficiency in terms of runtime compared to its batch counterpart.

Auxiliary MCMC and particle Gibbs samplers for parallelisable inference in latent dynamical systems

We introduce two new classes of exact Markov chain Monte Carlo (MCMC) samplers for inference in latent dynamical models. The first one, which we coin auxiliary Kalman samplers, relies on finding a linear Gaussian state-space model approximation around the running trajectory corresponding to the state of the Markov chain. The second, that we name auxiliary particle Gibbs samplers corresponds to deriving good local proposals in an auxiliary Feynman--Kac model for use in particle Gibbs. Both samplers are controlled by augmenting the target distribution with auxiliary observations, resulting in an efficient Gibbs sampling routine. We discuss the relative statistical and computational performance of the samplers introduced, and show how to parallelise the auxiliary samplers along the time dimension. We illustrate the respective benefits and drawbacks of the resulting algorithms on classical examples from the particle filtering literature.

Metal artifact correction in cone beam computed tomography using synthetic X-ray data

Metal artifact correction is a challenging problem in cone beam computed tomography (CBCT) scanning. Metal implants inserted into the anatomy cause severe artifacts in reconstructed images. Widely used inpainting-based metal artifact reduction (MAR) methods require segmentation of metal traces in the projections as a first step which is a challenging task. One approach is to use a deep learning method to segment metals in the projections. However, the success of deep learning methods is limited by the availability of realistic training data. It is challenging and time consuming to get reliable ground truth annotations due to unclear implant boundary and large number of projections. We propose to use X-ray simulations to generate synthetic metal segmentation training dataset from clinical CBCT scans. We compare the effect of simulations with different number of photons and also compare several training strategies to augment the available data. We compare our model's performance on real clinical scans with conventional threshold-based MAR and a recent deep learning method. We show that simulations with relatively small number of photons are suitable for the metal segmentation task and that training the deep learning model with full size and cropped projections together improves the robustness of the model. We show substantial improvement in the image quality affected by severe motion, voxel size under-sampling, and out-of-FOV metals. Our method can be easily implemented into the existing projection-based MAR pipeline to get improved image quality. This method can provide a novel paradigm to accurately segment metals in CBCT projections.

Online Pole Segmentation on Range Images for Long-term LiDAR Localization in Urban Environments

Robust and accurate localization is a basic requirement for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, and lamps are frequently used landmarks for localization in urban environments due to their local distinctiveness and long-term stability. In this paper, we present a novel, accurate, and fast pole extraction approach based on geometric features that runs online and has little computational demands. Our method performs all computations directly on range images generated from 3D LiDAR scans, which avoids processing 3D point clouds explicitly and enables fast pole extraction for each scan. We further use the extracted poles as pseudo labels to train a deep neural network for online range image-based pole segmentation. We test both our geometric and learning-based pole extraction methods for localization on different datasets with different LiDAR scanners, routes, and seasonal changes. The experimental results show that our methods outperform other state-of-the-art approaches. Moreover, boosted with pseudo pole labels extracted from multiple datasets, our learning-based method can run across different datasets and achieve even better localization results compared to our geometry-based method. We released our pole datasets to the public for evaluating the performance of pole extractors, as well as the implementation of our approach.