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arXiv 2024年

作者： Gerges, Bishoy Bazzana, Barbara Botteghi, Nicolò Aboudorra, Youssef Franchi, Antonio Robotics and Mechatronics Group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede7500AE Netherlands Department of Applied Mathematics University of Twente Enschede7500AE Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome00185 Italy

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. The latent representation is learned using a Cross-Modal Variational Autoencoder, and used to estimate the return for conditioning the trajectory generation of the DDPM. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach is applicable to any velocity-based controlled platform. We test our method with simulated and real-world experiments using generic multi-rotor Uncrewed Aerial Vehicles (UAVs). A video of our experiments can be found at https://***/yu-aTxqceOA. Copyright © 2024, The Authors. All rights reserved.

关键词： Trajectories

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Extremal Values of the Atom-Bond Connectivity Index for Trees with Given Roman Domination Numbers

arXiv

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arXiv 2024年

作者： Ali, Waqar Husin, Mohamad Nazri Bin Nadeem, Muhammad Faisal Special Interest Group on Modeling and Data Analytics Faculty of Computer Science and Mathematics Universiti Malaysia Terengganu Terengganu Kuala Nerus21030 Malaysia Department of Mathematics COMSATS University Islamabad Lahore Campus Lahore54000 Pakistan

Consider that G = (X, Y) is a simple, connected graph with X as the vertex set and Y as the edge set. The atom-bond connectivity (ABC) index is a novel topological index that Estrada introduced in Estrada et al. (1998). It is defined as ABC(G) = xy∈XY (G)s ζx +ζxζζyy− 2 where ζx and ζx represent the degrees of the vertices x and y, respectively. In this work, we explore the behavior of the ABC index for tree graphs. We establish both lower and upper bounds for the ABC index, expressed in terms of the graph’s order and its Roman domination number. Additionally, we characterize the tree structures that correspond to these extremal values, offering a deeper understanding of how the Roman domination number (RDN) influences the ABC index in tree graphs. © 2024, CC BY.

关键词： Trees (mathematics)

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Multilayer CVD graphene electrodes using a transfer-free process for the next generation of optically transparent and MRI-compatible neural interfaces

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Microsystems & Nanoengineering 2022年第5期8卷 183-196页

作者： Nasim Bakhshaee Babaroud Merlin Palmar Andrada Iulia Velea Chiara Coletti Sebastian Weingärtner Frans Vos Wouter A.Serdijn Sten Vollebregt Vasiliki Giagka Department of Microelectronics Faculty of Electrical EngineeringMathematics and Computer ScienceDelft University of TechnologyMekelweg 4Delft 2628 CDThe Netherlands Technologies for Bioelectronics Group Department of System Integration and Interconnection TechnologiesFraunhofer Institute for Reliability and Micro-integration IZMGustav-Meyer-Allee 25Berlin 13355Germany Department of Imaging Physics Faculty of Applied ScienceDelft University of TechnologyLorentzweg 1Delft 2628 CJThe Netherlands Erasmus University Medical Center(Erasmus MC) dr.Molewaterplein 40Rotterdam 3015 GDThe Netherlands

Multimodal platforms combining electrical neural recording and stimulation,optogenetics,optical imaging,and magnetic resonance(MRI)imaging are emerging as a promising platform to enhance the depth of characterization in neuroscientific *** conductive,optically transparent,and MRI-compatible electrodes can optimally combine all *** as a suitable electrode candidate material can be grown via chemical vapor deposition(CVD)processes and sandwiched between transparent biocompatible ***,due to the high graphene growth temperature(≥900℃)and the presence of polymers,fabrication is commonly based on a manual transfer process of pre-grown graphene sheets,which causes reliability *** this paper,we present CVD-based multilayer graphene electrodes fabricated using a wafer-scale transfer-free process for use in optically transparent and MRI-compatible neural *** fabricated electrodes feature very low impedances which are comparable to those of noble metal electrodes of the same size and *** also exhibit the highest charge storage capacity(CSC)reported to date among all previously fabricated CVD graphene *** graphene electrodes did not reveal any photo-induced artifact during 10-Hz light pulse ***,we show here,for the first time,that CVD graphene electrodes do not cause any image artifact in a 3T MRI *** results demonstrate that multilayer graphene electrodes are excellent candidates for the next generation of neural interfaces and can substitute the standard conventional metal *** fabricated graphene electrodes enable multimodal neural recording,electrical and optogenetic stimulation,while allowing for optical imaging,as well as,artifact-free MRI studies.

关键词： transparent transfer process

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RadioActive: 3D Radiological Interactive Segmentation Benchmark

arXiv

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arXiv 2024年

作者： Ulrich, Constantin Wald, Tassilo Tempus, Emily Rokuss, Maximilian Jaeger, Paul Maier-Hein, Klaus Germany Helmholtz Imaging DKFZ Germany Faculty of Mathematics and Computer Science University of Heidelberg Germany Medical Faculty Heidelberg University of Heidelberg Germany Interactive Machine Learning Group DKFZ Heidelberg Germany Pattern Analysis and Learning Group Department of Radiation Oncology

Effortless and precise segmentation with minimal clinician effort could greatly streamline clinical workflows. Recent interactive segmentation models, inspired by META’s Segment Anything, have made significant progress but face critical limitations in 3D radiology. These include impractical human interaction requirements such as slice-by-slice operations for 2D models on 3D data and a lack of iterative refinement. Prior studies have been hindered by inadequate evaluation protocols, resulting in unreliable performance assessments and inconsistent findings across studies. The RadioActive benchmark addresses these challenges by providing a rigorous and reproducible evaluation framework for interactive segmentation methods in clinically relevant scenarios. It features diverse datasets, a wide range of target structures, and the most impactful 2D and 3D interactive segmentation methods, all within a flexible and extensible codebase. We also introduce advanced prompting techniques that reduce interaction steps, enabling fair comparisons between 2D and 3D models. Surprisingly, SAM 2 outperforms all specialized medical 2D and 3D models in a setting requiring only a few interactions to generate prompts for a 3D volume. This challenges prevailing assumptions and demonstrates that general-purpose models surpass specialized medical approaches. By open-sourcing RadioActive, we invite researchers to integrate their models and prompting techniques, ensuring continuous and transparent evaluation of 3D medical interactive models. © 2024, CC BY-SA.

关键词： Radioactivity

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Translating Numerical Concepts for PDEs into Neural architectures 8th

Translating Numerical Concepts for PDEs into Neural Architec...

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8th International Conference on Scale Space and Variational Methods in computer Vision, SSVM 2021

作者： Alt, Tobias Peter, Pascal Weickert, Joachim Schrader, Karl Mathematical Image Analysis Group Faculty of Mathematics and Computer Science Campus E1.7 Saarland University Saarbrücken66041 Germany

ISBN: (纸本)9783030755485

We investigate what can be learned from translating numerical algorithms into neural networks. On the numerical side, we consider explicit, accelerated explicit, and implicit schemes for a general higher order nonlinear diffusion equation in 1D, as well as linear multigrid methods. On the neural network side, we identify corresponding concepts in terms of residual networks (ResNets), recurrent networks, and U-nets. These connections guarantee Euclidean stability of specific ResNets with a transposed convolution layer structure in each block. We present three numerical justifications for skip connections: as time discretisations in explicit schemes, as extrapolation mechanisms for accelerating those methods, and as recurrent connections in fixed point solvers for implicit schemes. Last but not least, we also motivate uncommon design choices such as nonmonotone activation functions. Our findings give a numerical perspective on the success of modern neural network architectures, and they provide design criteria for stable networks. © 2021, Springer Nature Switzerland AG.

关键词： Partial differential equations

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Investigation of the separation zone for split-domain light field visualization

Investigation of the separation zone for split-domain light ...

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International Scientific-Professional Conference on Information Technology (IT)

作者： Kamran Javidi Maria G. Martini Peter A. Kara Department of Computer Science Wireless Multimedia and Networking Research Group School of Computer Science and Mathematics Faculty of Engineering Computing and the Environment Kingston University Penrhyn Road Campus Kingston upon Thames London UK Department of Networked Systems and Services Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Budapest Hungary

Light field visualization commonly provides a single content over the entire field of view. However, the angularly-selective nature of the technology enables the simultaneous visualization of different contents at different viewing angles. Yet segmenting the valid viewing area comes with content interference as well in forms of separation zones, resulting invalid viewing domains. In this paper, we introduce a study on the separation zone of split-domain light field visualization. We created a static-content-based scenario in which we split the valid viewing area into two distinct domains, with a separation zone in between them. This was achieved by merging two light field contents in the middle with an instantaneous switch. The resulting visualization on a light field display was captured by a DSLR camera from two viewing distances, and it was compared to the crosstalk effect caused by insufficient angular resolution.

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Inpainting-Based Video Compression in FullHD 8th

Inpainting-Based Video Compression in FullHD

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8th International Conference on Scale Space and Variational Methods in computer Vision, SSVM 2021

作者： Andris, Sarah Peter, Pascal Mohideen Kaja Mohideen, Rahul Weickert, Joachim Hoffmann, Sebastian Mathematical Image Analysis Group Faculty of Mathematics and Computer Science Saarland University Campus E1.7 Saarbrücken66041 Germany

ISBN: (纸本)9783030755485

Compression methods based on inpainting are an evolving alternative to classical transform-based codecs for still images. Attempts to apply these ideas to video compression are rare, since reaching real-time performance is very challenging. Therefore, current approaches focus on simplified frame-by-frame reconstructions that ignore temporal redundancies. As a remedy, we propose a highly efficient, real-time capable prediction and correction approach that fully relies on partial differential equations (PDEs) in all steps of the codec: Dense variational optic flow fields yield accurate motion-compensated predictions, while homogeneous diffusion inpainting is applied for intra prediction. To compress residuals, we introduce a new highly efficient block-based variant of pseudodifferential inpainting. Our novel architecture outperforms other inpainting-based video codecs in terms of both quality and speed. For the first time in inpainting-based video compression, we can decompress FullHD (1080p) videos in real-time with a fully CPU-based implementation, outperforming previous approaches by roughly one order of magnitude. © 2021, Springer Nature Switzerland AG.

关键词： Optical flows

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JPEG Meets PDE-based Image Compression 35

JPEG Meets PDE-based Image Compression

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35th Picture Coding Symposium, PCS 2021

作者： Andris, Sarah Weickert, Joachim Alt, Tobias Peter, Pascal Mathematical Image Analysis Group Faculty of Mathematics and Computer Science Saarland University Campus E1.7 Saarbrücken66041 Germany

ISBN: (纸本)9781665425452

Inpainting-based image compression is emerging as a promising competitor to transform-based compression techniques. Its key idea is to reconstruct image information from only few known regions through inpainting. Specific partial differential equations (PDEs) such as edge-enhancing diffusion (EED) give high quality reconstructions of image structures with low or medium texture. Even though the strengths of PDE-and transform-based compression are complementary, they have rarely been combined within a hybrid codec. We propose to sparsify blocks of a JPEG compressed image and reconstruct them with EED inpainting. Our codec consistently outperforms JPEG and gives useful indications for successfully developing hybrid codecs further. Furthermore, our method is the first to choose regions rather than pixels as known data for PDE-based compression. It also gives novel insights into the importance of corner regions for EED-based codecs. © 2021 IEEE.

关键词： Image compression

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Quantisation Scale-Spaces 8th

Quantisation Scale-Spaces

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8th International Conference on Scale Space and Variational Methods in computer Vision, SSVM 2021

作者： Peter, Pascal Mathematical Image Analysis Group Faculty of Mathematics and Computer Science Campus E1.7 Saarland University Saarbrücken66041 Germany

ISBN: (纸本)9783030755485

Recently, sparsification scale-spaces have been obtained as a sequence of inpainted images by gradually removing known image data. Thus, these scale-spaces rely on spatial sparsity. In the present paper, we show that sparsification of the co-domain, the set of admissible grey values, also constitutes scale-spaces with induced hierarchical quantisation techniques. These quantisation scale-spaces are closely tied to information theoretical measures for coding cost, and therefore particularly interesting for inpainting-based compression. Based on this observation, we propose a sparsification algorithm for the grey-value domain that outperforms uniform quantisation as well as classical clustering approaches. © 2021, Springer Nature Switzerland AG.

关键词： Information theory

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Applying Layer-Wise Relevance Propagation on U-Net architectures 27th

Applying Layer-Wise Relevance Propagation on U-Net Architect...

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27th International Conference on Pattern Recognition, ICPR 2024

作者： Weinberger, Patrick Fröhler, Bernhard Heim, Anja Gall, Alexander Bodenhofer, Ulrich Senck, Sascha Research Group Computed Tomography University of Applied Sciences Upper Austria Wels Austria School of Informatics Communication and Media University of Applied Sciences Upper Austria Wels Austria Johannes Kepler University Linz Linz Austria Faculty of Computer Science and Mathematics University of Passau Passau Germany Division Development Center X-ray Technology Fraunhofer Institute for Integrated Circuits IIS Erlangen Germany

ISBN: (纸本)9783031781971

For safety critical applications, it is still a challenge to use AI and fulfill all regulatory requirements. Medicine/healthcare and transportation are two fields where regulatory requirements are of fundamental importance. A wrong decision can lead to serious hazards or even deaths. In these fields, semantic segmentation is often utilized to extract features. Especially U-Net architectures are used. This paper shows how to apply layer-wise relevance propagation (LRP) to a trained U-Net architecture. We achieve an efficient explanation of a segmentation by back-propagating the whole resulting image. To tackle the non-linear results of the LRP, we introduce a threshold mechanism in combination with a logarithmic transfer function to preprocess the data for visualization. We demonstrate our method on three use cases: the segmentation of a fiber-reinforced polymer in the field of non-destructive testing, the segmentation of pedestrians in an automotive application, and a lung segmentation example from the medical domain. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Semantic Segmentation

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