A Real-time and Registration-free Framework for Dynamic Shape Instantiation

Real-time 3D navigation during minimally invasive procedures is an essential yet challenging task, especially when considerable tissue motion is involved. To balance image acquisition speed and resolution, only 2D images or low-resolution 3D volumes can be used clinically. In this paper, a real-time and registration-free framework for dynamic shape instantiation, generalizable to multiple anatomical applications, is proposed to instantiate high-resolution 3D shapes of an organ from a single 2D image intra-operatively. Firstly, an approximate optimal scan plane was determined by analyzing the pre-operative 3D statistical shape model (SSM) of the anatomy with sparse principal component analysis (SPCA) and considering practical constraints . Secondly, kernel partial least squares regression (KPLSR) was used to learn the relationship between the pre-operative 3D SSM and a synchronized 2D SSM constructed from 2D images obtained at the approximate optimal scan plane. Finally, the derived relationship was applied to the new intra-operative 2D image obtained at the same scan plane to predict the high-resolution 3D shape intra-operatively. A major feature of the proposed framework is that no extra registration between the pre-operative 3D SSM and the synchronized 2D SSM is required. Detailed validation was performed on studies including the liver and right ventricle (RV) of the heart. The derived results (mean accuracy of 2.19mm on patients and computation speed of 1ms) demonstrate its potential clinical value for real-time, high-resolution, dynamic and 3D interventional guidance.

A Multi-View Approach To Audio-Visual Speaker Verification

Although speaker verification has conventionally been an audio-only task, some practical applications provide both audio and visual streams of input. In these cases, the visual stream provides complementary information and can often be leveraged in conjunction with the acoustics of speech to improve verification performance. In this study, we explore audio-visual approaches to speaker verification, starting with standard fusion techniques to learn joint audio-visual (AV) embeddings, and then propose a novel approach to handle cross-modal verification at test time. Specifically, we investigate unimodal and concatenation based AV fusion and report the lowest AV equal error rate (EER) of 0.7% on the VoxCeleb1 dataset using our best system. As these methods lack the ability to do cross-modal verification, we introduce a multi-view model which uses a shared classifier to map audio and video into the same space. This new approach achieves 28% EER on VoxCeleb1 in the challenging testing condition of cross-modal verification.

STOPPAGE: Spatio-temporal Data Driven Cloud-Fog-Edge Computing Framework for Pandemic Monitoring and Management

Several researches and evidence show the increasing likelihood of pandemics (large-scale outbreaks of infectious disease) which has far reaching sequels in all aspects of human lives ranging from rapid mortality rates to economic and social disruption across the world. In the recent time, COVID-19 (Coronavirus Disease 2019) pandemic disrupted normal human lives, and motivated by the urgent need of combating COVID-19, researchers have put significant efforts in modelling and analysing the disease spread patterns for effective preventive measures (in addition to developing pharmaceutical solutions, like vaccine). In this regards, it is absolutely necessary to develop an analytics framework by extracting and incorporating the knowledge of heterogeneous datasources to deliver insights in improving administrative policy and enhance the preparedness to combat the pandemic. Specifically, human mobility, travel history and other transport statistics have significant impacts on the spread of any infectious disease. In this direction, this paper proposes a spatio-temporal knowledge mining framework, named STOPPAGE to model the impact of human mobility and other contextual information over large geographic area in different temporal scales. The framework has two major modules: (i) Spatio-temporal data and computing infrastructure using fog/edge based architecture; and (ii) Spatio-temporal data analytics module to efficiently extract knowledge from heterogeneous data sources. Typically, we develop a Pandemic-knowledge graph to discover correlations among mobility information and disease spread, a deep learning architecture to predict the next hot-spot zones; and provide necessary support in home-health monitoring utilizing Femtolet and fog/edge based solutions. The experimental evaluations on real-life datasets related to COVID-19 in India illustrate the efficacy of the proposed methods.

CheckSoft : A Scalable Event-Driven Software Architecture for Keeping Track of People and Things in People-Centric Spaces

We present CheckSoft, a scalable event-driven software architecture for keeping track of people-object interactions in people-centric applications such as airport checkpoint security areas, automated retail stores, smart libraries, and so on. The architecture works off the video data generated in real time by a network of surveillance cameras. Although there are many different aspects to automating these applications, the most difficult part of the overall problem is keeping track of the interactions between the people and the objects. CheckSoft uses finite-state-machine (FSM) based logic for keeping track of such interactions which allows the system to quickly reject any false detections of the interactions by the video cameras. CheckSoft is easily scalable since the architecture is based on multi-processing in which a separate process is assigned to each human and to each "storage container" for the objects. A storage container may be a shelf on which the objects are displayed or a bin in which the objects are stored, depending on the specific application in which CheckSoft is deployed.

Three-Dimensional Virtual Histology in Unprocessed Resected Tissues with Photoacoustic Remote Sensing (PARS) Microscopy and Optical Coherence Tomography

Histological visualizations are critical in the diagnosis and treatment of cancers and other malignancies. Unfortunately, the current method for capturing these visualizations requires resource intensive tissue preparation which can delay diagnostics for weeks. To streamline this process, clinicians are limited to assessing small macroscopically representative subsets of tissues. Here, we present a conjoined photoacoustic remote sensing (PARS) microscope and swept source optical coherence tomography (SS-OCT) system aiming to circumvent these diagnostic limitations. The proposed multimodal microscope provides label-free three-dimensional depth resolved virtual histology visualizations, capturing nuclear and extranuclear tissue morphology directly on thick unprocessed specimens. The capabilities of the proposed method are demonstrated directly in unprocessed formalin fixed resected tissues. Here, we present the first images of nuclear contrast in resected human tissues, and the first 3-dimensional visualization of subsurface nuclear morphology in resected Rattus tissues, captured with a non-contact photoacoustic system. Moreover, we present the first co-registered OCT and PARS images enabling direct histological assessment of unprocessed tissues. This work represents a vital step towards the development of a real-time histological imaging modality to circumvent the limitations of current histopathology techniques.

Improving Robotic Grasping on Monocular Images Via Multi-Task Learning and Positional Loss

In this paper, we introduce two methods of improving real-time object grasping performance from monocular colour images in an end-to-end CNN architecture. The first is the addition of an auxiliary task during model training (multi-task learning). Our multi-task CNN model improves grasping performance from a baseline average of 72.04% to 78.14% on the large Jacquard grasping dataset when performing a supplementary depth reconstruction task. The second is introducing a positional loss function that emphasises loss per pixel for secondary parameters (gripper angle and width) only on points of an object where a successful grasp can take place. This increases performance from a baseline average of 72.04% to 78.92% as well as reducing the number of training epochs required. These methods can be also performed in tandem resulting in a further performance increase to 79.12% while maintaining sufficient inference speed to afford real-time grasp processing.

FastIF: Scalable Influence Functions for Efficient Model Interpretation and Debugging

Influence functions approximate the 'influences' of training data-points for test predictions and have a wide variety of applications. Despite the popularity, their computational cost does not scale well with model and training data size. We present FastIF, a set of simple modifications to influence functions that significantly improves their run-time. We use k-Nearest Neighbors (kNN) to narrow the search space down to a subset of good candidate data points, identify the configurations that best balance the speed-quality trade-off in estimating the inverse Hessian-vector product, and introduce a fast parallel variant. Our proposed method achieves about 80x speedup while being highly correlated with the original influence values. With the availability of the fast influence functions, we demonstrate their usefulness in four applications. First, we examine whether influential data-points can 'explain' test time behavior using the framework of simulatability. Second, we visualize the influence interactions between training and test data-points. Third, we show that we can correct model errors by additional fine-tuning on certain influential data-points, improving the accuracy of a trained MNLI model by 2.6% on the HANS challenge set using a small number of gradient updates. Finally, we experiment with a data-augmentation setup where we use influence functions to search for new data-points unseen during training to improve model performance. Overall, our fast influence functions can be efficiently applied to large models and datasets, and our experiments demonstrate the potential of influence functions in model interpretation and correcting model errors. Code is available at https://github.com/salesforce/fast-influence-functions

Are We Ready for Unmanned Surface Vehicles in Inland Waterways? The USVInland Multisensor Dataset and Benchmark

Unmanned surface vehicles (USVs) have great value with their ability to execute hazardous and time-consuming missions over water surfaces. Recently, USVs for inland waterways have attracted increasing attention for their potential application in autonomous monitoring, transportation, and cleaning. However, unlike sailing in open water, the challenges posed by scenes of inland waterways, such as the complex distribution of obstacles, the global positioning system (GPS) signal denial environment, the reflection of bank-side structures, and the fog over the water surface, all impede USV application in inland waterways. To address these problems and stimulate relevant research, we introduce USVInland, a multisensor dataset for USVs in inland waterways. The collection of USVInland spans a trajectory of more than 26 km in diverse real-world scenes of inland waterways using various modalities, including lidar, stereo cameras, millimeter-wave radar, GPS, and inertial measurement units (IMUs). Based on the requirements and challenges in the perception and navigation of USVs for inland waterways, we build benchmarks for simultaneous localization and mapping (SLAM), stereo matching, and water segmentation. We evaluate common algorithms for the above tasks to determine the influence of unique inland waterway scenes on algorithm performance. Our dataset and the development tools are available online at https://www.orca-tech.cn/datasets.html.

Drop the GAN: In Defense of Patches Nearest Neighbors as Single Image Generative Models

Single image generative models perform synthesis and manipulation tasks by capturing the distribution of patches within a single image. The classical (pre Deep Learning) prevailing approaches for these tasks are based on an optimization process that maximizes patch similarity between the input and generated output. Recently, however, Single Image GANs were introduced both as a superior solution for such manipulation tasks, but also for remarkable novel generative tasks. Despite their impressiveness, single image GANs require long training time (usually hours) for each image and each task. They often suffer from artifacts and are prone to optimization issues such as mode collapse. In this paper, we show that all of these tasks can be performed without any training, within several seconds, in a unified, surprisingly simple framework. We revisit and cast the "good-old" patch-based methods into a novel optimization-free framework. We start with an initial coarse guess, and then simply refine the details coarse-to-fine using patch-nearest-neighbor search. This allows generating random novel images better and much faster than GANs. We further demonstrate a wide range of applications, such as image editing and reshuffling, retargeting to different sizes, structural analogies, image collage and a newly introduced task of conditional inpainting. Not only is our method faster ($\times 10^3$-$\times 10^4$ than a GAN), it produces superior results (confirmed by quantitative and qualitative evaluation), less artifacts and more realistic global structure than any of the previous approaches (whether GAN-based or classical patch-based).

3DIoUMatch: Leveraging IoU Prediction for Semi-Supervised 3D Object Detection

3D object detection is an important yet demanding task that heavily relies on difficult to obtain 3D annotations. To reduce the required amount of supervision, we propose 3DIoUMatch, a novel method for semi-supervised 3D object detection. We adopt VoteNet, a popular point cloud-based object detector, as our backbone and leverage a teacher-student mutual learning framework to propagate information from the labeled to the unlabeled train set in the form of pseudo-labels. However, due to the high task complexity, we observe that the pseudo-labels suffer from significant noise and are thus not directly usable. To that end, we introduce a confidence-based filtering mechanism. The key to our approach is a novel differentiable 3D IoU estimation module. This module is used for filtering poorly localized proposals as well as for IoU-guided bounding box deduplication. At inference time, this module is further utilized to improve localization through test-time optimization. Our method consistently improves state-of-the-art methods on both ScanNet and SUN-RGBD benchmarks by significant margins. For example, when training using only 10\% labeled data on ScanNet, 3DIoUMatch achieves 7.7 absolute improvement on mAP@0.25 and 8.5 absolute improvement on mAP@0.5 upon the prior art.