Multiple rotation averaging plays a crucial role in computer vision and robotics domains. The conventional optimization-based methods optimize a nonlinear cost function based on certain noise assumptions, while most previous learning-based methods require ground truth labels in the supervised training process. Recognizing the handcrafted noise assumption may not be reasonable in all real-world scenarios, this paper proposes an effective rotation averaging method for mining data patterns in a learning manner while avoiding the requirement of labels. Specifically, we apply deep matrix factorization to directly solve the multiple rotation averaging problem in free linear space. For deep matrix factorization, we design a neural network model, which is explicitly low-rank and symmetric to better suit the background of multiple rotation averaging. Meanwhile, we utilize a spanning tree-based edge filtering to suppress the influence of rotation outliers. What's more, we also adopt a reweighting scheme and dynamic depth selection strategy to further improve the robustness. Our method synthesizes the merit of both optimization-based and learning-based methods. Experimental results on various datasets validate the effectiveness of our proposed method.

Eye-tracking is a reliable method for quantifying visual information processing and holds significant potential for group recognition, such as identifying autism spectrum disorder (ASD). However, eye-tracking research typically faces the heterogeneity of stimuli and is time-consuming due to the large number of observed stimuli. To address these issues, we first mathematically define the stimulus selection problem and introduce the concept of stimulus discrimination ability to reduce the computational complexity of the solution. Then, we construct a scanpath-based recognition model to mine the stimulus discrimination ability. Specifically, we propose cross-subject entropy and cross-subject divergence scores for quantitatively evaluating stimulus discrimination ability, effectively capturing differences in intra-group collective trends and inter-subject consistency within a group. Furthermore, we propose an iterative learning mechanism that employs stimulus-wise attention to focus on discriminative stimuli for discrimination purification. In the experiment, we construct an ASD eye-tracking dataset with diverse stimulus types and conduct extensive tests on three representative models to validate our approach. Remarkably, our method demonstrates superior performance using only 10 selected stimuli compared to models utilizing 220 stimuli. Additionally, we perform experiments on another eye-tracking task, gender prediction, to further validate our method. We believe that our approach is both simple and flexible for integration into existing models, promoting large-scale ASD screening and extending to other eye-tracking research domains.

Label enhancement (LE) is still a challenging task to mitigate the dilemma of the lack of label distribution. Existing LE work typically focuses on primarily formulating a projection between feature space and label distribution space from discriminative model perspective, which preserves the relevance consistency that the sign of recovered label distribution should be consistent with the logical label. Different from previous algorithms, we formulate this problem from a causal perspective and present a novel LE method via the structured causal model (LESCM). Specifically, the proposed LESCM deliberates establishing the causal graph with assuming that label distribution is a cause of feature and logical label, which naturally satisfies the definition of label distribution learning (LDL). With capturing the underlying causal relationships, we can significantly boost the interpretability and identifiability of label enhancement. Meanwhile, except for the relevance consistency, LESCM are encouraged to sustain the order consistency that assigns higher description degree of the recovered label distribution to the positive labels, as compared with the negative labels. Empirically, sufficient experiments on several label distribution learning data sets validate the effectiveness of LESCM.

Federated learning encounters substantial challenges with heterogeneous data, leading to performance degradation and convergence issues. While considerable progress has been achieved in mitigating such an impact, the reliability aspect of federated models has been largely disregarded. In this study, we conduct extensive experiments to investigate the reliability of both generic and personalized federated models. Our exploration uncovers a significant finding: federated models exhibit unreliability when faced with heterogeneous data, demonstrating poor calibration on in-distribution test data and low uncertainty levels on out-of-distribution data. This unreliability is primarily attributed to the presence of biased projection heads, which introduce miscalibration into the federated models. Inspired by this observation, we propose the "Assembled Projection Heads" (APH) method for enhancing the reliability of federated models. By treating the existing projection head parameters as priors, APH randomly samples multiple initialized parameters of projection heads from the prior and further performs targeted fine-tuning on locally available data under varying learning rates. Such a head ensemble introduces parameter diversity into the deterministic model, eliminating the bias and producing reliable predictions via head averaging. We evaluate the effectiveness of the proposed APH method across three prominent federated benchmarks. Experimental results validate the efficacy of APH in model calibration and uncertainty estimation. Notably, APH can be seamlessly integrated into various federated approaches but only requires less than 30% additional computation cost for 100x inferences within large models.

The normal distributions transform (NDT) is an effective paradigm for point set registration. This method was initially designed for pair-wise registration and suffers from the accumulated error problem when directly applied to multi-view registration. Under the framework of point-to-cluster correspondence, this paper proposes a novel multi-view registration method named 3D multi-view registration based on the normal distributions transform (3DMNDT), which integrates the k-means clustering and Lie algebra optimizer to achieve multi-view registration. More specifically, the multi-view registration is cast into the maximum likelihood estimation problem. Firstly, k-means clustering is utilized to divide all data points into different clusters, where one normal distribution is computed to locally model the probability of measuring a data point in each cluster. Subsequently, the multi-view registration problem is formulated by the NDT-based likelihood function. To maximize this likelihood function, the Lie algebra optimizer is introduced and developed to optimize each rigid transformation sequentially. 3DMNDT implements data point clustering, NDT computing, and rigid transformation optimization alternately until the desired registration results are obtained. Experimental results tested on benchmark data sets illustrate that 3DMNDT can achieve state-of-the-art performance for multi-view registration. Note to Practitioners—This paper is motivated by solving the problem of registering multiple point sets. The normal distributions transform (NDT) is a well-known pair-wise registration method widely applied in the robotic domain. This paper extends the original NDT and proposes a novel registration method to simultaneously align more than two point sets. The multi-view registration is cast into the maximum likelihood estimation problem. Subsequently, the k-means clustering and Lie algebra optimizer are integrated to estimate registration parameters. Experimental results demonstrate its superior performance on the accuracy, efficiency, and robustness for multi-view registration of point sets.

Recent advances in deep learning have greatly facilitated the automated segmentation of ultrasound images, which is essential for nodule morphological analysis. Nevertheless, most existing methods depend on extensive and precise annotations by domain experts, which are labor-intensive and time-consuming. In this study, we suggest using simple aspect ratio annotations directly from ultrasound clinical diagnoses for automated nodule segmentation. Especially, an asymmetric learning framework is developed by extending the aspect ratio annotations with two types of pseudo labels, i.e., conservative labels and radical labels, to train two asymmetric segmentation networks simultaneously. Subsequently, a conservative-radical-balance strategy (CRBS) strategy is proposed to complementally combine radical and conservative labels. An inconsistency-aware dynamically mixed pseudo-labels supervision (IDMPS) module is introduced to address the challenges of over-segmentation and under-segmentation caused by the two types of labels. To further leverage the spatial prior knowledge provided by clinical annotations, we also present a novel loss function namely the clinical anatomy prior loss. Extensive experiments on two clinically collected ultrasound datasets (thyroid and breast) demonstrate the superior performance of our proposed method, which can achieve comparable and even better performance than fully supervised methods using ground truth annotations.

Deep learning techniques have been investigated for the computer-aided diagnosis of thyroid nodules in ultrasound images. However, most existing thyroid nodule detection methods were simply based on static ultrasound images, which cannot well explore spatial and temporal information following the clinical examination process. In this paper, we propose a novel video-based semi-supervised framework for ultrasound thyroid nodule detection. Especially, considering clinical examinations that need to detect thyroid nodules at the ultrasonic probe positions, we first construct an adjacent frame guided detection backbone network by using adjacent supporting reference frames. To further reduce the labour-intensive thyroid nodule annotation in ultrasound videos, we extend the video-based detection in a semi-supervised manner by using both labeled and unlabeled videos. Based on the detection consistency in sequential neighbouring frames, a pseudo label adaptation strategy is proposed for the refinement of unpredicted frames. The proposed framework is validated on 996 transverse viewed and 1088 longitudinal viewed ultrasound videos. Experimental results demonstrated the superior performance of our proposed method in the ultrasound video-based detection of thyroid nodules.

Without the valuable label information to guide the learning process, it is demanding to fully excavate and integrate the underlying information from different views to learn the unified multi-view representation. This paper focuses on this challenge and presents a novel method, termed Graph-guided Unsupervised Multi-view Representation Learning (GUMRL), taking full advantage of multi-view graph information during the learning process. To be specific, GUMRL jointly conducts the view-specific feature representation learning, which is under the guidance of graph information, and the unified feature representation learning, which fuses the underlying graph information of different views to learn the desired unified multi-view feature representation. Regarding downstream tasks, such as clustering and classification, the classic single-view algorithms can be directly performed on the learned unified multi-view representation. The designed objective function is effectively optimized based on an alternating direction minimization method, and experiments conducted on six real-world multi-view datasets show the effectiveness and competitiveness of our GUMRL, compared to several state-of-the-art methods.

Electrical impedance tomography (EIT) is a noninvasive and radiation-free imaging method. As a "soft-field" imaging technique, in EIT, the target signal in the center of the measured field is frequently swamped by the target signal at the edge, which restricts its further application. To alleviate this problem, this study presents an enhanced encoder-decoder (EED) method with an atrous spatial pyramid pooling (ASPP) module. The proposed method enhances the ability to detect central weak targets by constructing an ASPP module that integrates multiscale information in the encoder. The multilevel semantic features are fused in the decoder to improve the boundary reconstruction accuracy of the center target. The average absolute error of the imaging results by the EED method reduced by 82.0%, 83.6%, and 36.5% in simulation experiments and 83.0%, 83.2%, and 36.1% in physical experiments compared with the errors of the damped least-squares algorithm, Kalman filtering method, and U-Net-based imaging method, respectively. The average structural similarity improved by 37.3%, 42.9%, and 3.6%, and 39.2%, 45.2%, and 3.8% in the simulation and physical experiments, respectively. The proposed method provides a practical and reliable means of extending the application of EIT by solving the problem of weak central target reconstruction under the effect of strong edge targets in EIT.

Recently, label distribution learning (LDL) has drawn much attention in machine learning, where LDL model is learned from labelel instances. Different from single-label and multi-label annotations, label distributions describe the instance by multiple labels with different intensities and accommodate to more general scenes. Since most existing machine learning datasets merely provide logical labels, label distributions are unavailable in many real-world applications. To handle this problem, we propose two novel label enhancement methods, i.e., Label Enhancement with Sample Correlations (LESC) and generalized Label Enhancement with Sample Correlations (gLESC). More specifically, LESC employs a low-rank representation of samples in the feature space, and gLESC leverages a tensor multi-rank minimization to further investigate the sample correlations in both the feature space and label space. Benefitting from the sample correlations, the proposed methods can boost the performance of label enhancement. Extensive experiments on 14 benchmark datasets demonstrate the effectiveness and superiority of our methods.

Recognition and quantitative analytics of histopathological cells are the golden standard for diagnosing multiple cancers. Despite recent advances in deep learning techniques that have been widely investigated for the automated segmentation of various types of histopathological cells, the heavy dependency on specific histopathological image types with sufficient supervised annotations, as well as the limited access to clinical data in hospitals, still pose significant challenges in the application of computer-aided diagnosis in pathology. In this paper, we focus on the model generalization of cell segmentation towards cross-tissue histopathological images. Remarkably, a novel target-specific finetuning-based self-supervised domain adaptation framework is proposed to transfer the cell segmentation model to unlabeled target datasets, without access to source datasets and annotations. When performed on the target unlabeled histopathological image set, the proposed method only needs to tune very few parameters of the pre-trained model in a self-supervised manner. Considering the morphological properties of pathological cells, we introduce two constraint terms at both local and global levels into this framework to access more reliable predictions. The proposed cross-domain framework is validated on three different types of histopathological tissues, showing promising performance in self-supervised cell segmentation. Additionally, the whole framework can be further applied to clinical tools in pathology without accessing the original training image data. The code and dataset are released at: https://github.com/NeuronXJTU/SFDA-CellSeg.

In this paper, we delve into the challenging problem in multi-view learning, namely unsupervised multi-view representation learning, the goal of which is to effectively integrate information from multiple views and learn the unified feature representation with comprehensive information in an unsupervised manner. Despite the progress attained in recent years, it is still a challenging issue since the correlations across multiple views are complex and difficult to model during the learning process, especially in the absence of label information. To address this problem, we introduce a novel method, termed Collaborative Unsupervised Multi-view Representation Learning (CUMRL), which benefits from the high-order view correlations of multi-view data by introducing a collaborative learning strategy. Specifically, the low-rank tensor constraint is employed and plays the role of a bridge, which links the view-specific compact learning and unified representation learning in CUMRL. Experiments demonstrate the effectiveness and competitiveness of the multi-view representation achieved by the proposed method for different learning tasks, compared to several state-of-the-art methods.

Recently, the motion averaging method has been introduced as an effective means to solve the multi-view registration problem. This method aims to recover global motions from a set of relative motions, where the original method is sensitive to outliers due to using the Frobenius norm error in the optimization. Accordingly, this paper proposes a novel robust motion averaging method based on the maximum correntropy criterion (MCC). Specifically, the correntropy measure is used instead of utilizing Frobenius norm error to improve the robustness of motion averaging against outliers. According to the half-quadratic technique, the correntropy measure based optimization problem can be solved by the alternating minimization procedure, which includes operations of weight assignment and weighted motion averaging. Further, we design a selection strategy of adaptive kernel width to take advantage of correntropy. Experimental results on benchmark data sets illustrate that our method has superior performance on accuracy and robustness for multi-view registration. What’s more, it can be applied to robot mapping.

Building an accurate map is essential for autonomous robot navigation in the environment without GPS. Compared with single-robot, the multiple-robot system has much better performance in terms of accuracy, efficiency and robustness for the simultaneous localization and mapping (SLAM). As a critical component of multiple-robot SLAM, the problem of map merging still remains a challenge. To this end, this article casts it into point set registration problem and proposes an effective map merging method based on the context-based descriptors and correspondence expansion. It first extracts interest points from grid maps by the Harris corner detector. By exploiting neighborhood information of interest points, it automatically calculates the maximum response radius as scale information to compute the context-based descriptor, which includes eigenvalues and normals computed from local structures of each interest point. Then, it effectively establishes origin matches with low precision by applying the nearest neighbor search on the context-based descriptor. Further, it designs a scale-based corresponding expansion strategy to expand each origin match into a set of feature matches, where one similarity transformation between two grid maps can be estimated by the Random Sample Consensus algorithm. Subsequently, a measure function formulated from the trimmed mean square error is utilized to confirm the best similarity transformation and accomplish the coarse map merging. Finally, it utilizes the scaling trimmed iterative closest point algorithm to refine initial similarity transformation so as to achieve accurate merging. As the proposed method considers scale information in the context-based descriptor, it is able to merge grid maps in diverse resolutions. Experimental results on real robot datasets demonstrate its superior performance over other related methods on accuracy and robustness.

Compared with single-label and multi-label annotations, label distribution describes the instance by multiple labels with different intensities and accommodates to more-general conditions. Nevertheless, label distribution learning is unavailable in many real-world applications because most existing datasets merely provide logical labels. To handle this problem, a novel label enhancement method, Label Enhancement with Sample Correlations via low-rank representation, is proposed in this paper. Unlike most existing methods, a low-rank representation method is employed so as to capture the global relationships of samples and predict implicit label correlation to achieve label enhancement. Extensive experiments on 14 datasets demonstrate that the algorithm accomplishes state-of-the-art results as compared to previous label enhancement baselines.

Multi-view registration plays a critical role in 3D model reconstruction. To solve this problem, most previous methods align point sets by either partially exploring available information or blindly utilizing unnecessary information, which may lead to undesired results or extra computation complexity. Accordingly, we propose a novel solution for the multi-view registration under the perspective of Expectation-Maximization (EM). The proposed method assumes that each data point is generated from one unique Gaussian Mixture Model (GMM), where its corresponding points in other point sets are regarded as Gaussian centroids with equal covariance and membership probabilities. As it is difficult to obtain real corresponding points in the registration problem, they are approximated by the nearest neighbor in each other aligned point sets. Based on this assumption, it is reasonable to define the likelihood function including all rigid transformations, which require to be estimated for multi-view registration. Subsequently, the EM algorithm is derived to estimate rigid transformations with one Gaussian covariance by maximizing the likelihood function. Since the GMM component number is automatically determined by the number of point sets, there is no trade-off between registration accuracy and efficiency in the proposed method. Finally, the proposed method is tested on several benchmark data sets and compared with state-of-the-art algorithms. Experimental results demonstrate its superior performance on the accuracy, efficiency, and robustness for multi-view registration.

Web services have become one major way for people to obtain and explore information nowadays. However, web browsers currently only offer limited data analysis capabilities, especially for large-scale 3D datasets. This project presents a method of immersive web browsing (ImWeb) to enable effective exploration of multiple datasets over the web with augmented reality (AR) techniques. The ImWeb system allows inputs from both the web browser and AR and provides a set of immersive analytics methods for enhanced web browsing, exploration, comparison, and summary tasks. We have also integrated 3D neuron mining and abstraction approaches to support efficient analysis functions. The architecture of ImWeb system flexibly separates the tasks on web browser and AR and supports smooth networking among the system, so that ImWeb can be adopted by different platforms, such as desktops, large displays, and tablets. We use an online 3D neuron database to demonstrate that ImWeb enables new experiences of exploring 3D datasets over the web. We expect that our approach can be applied to various other online databases and become one useful addition to future web services.

Aggregating deep convolutional features into a global image vector has attracted sustained attention in image retrieval. In this paper, we propose an efficient unsupervised aggregation method that uses an adaptive Gaussian filter and an element-value sensitive vector to co-weight deep features. Specifically, the Gaussian filter assigns large weights to features of region-of-interests (RoI) by adaptively determining the RoI's center, while the element-value sensitive channel vector suppresses burstiness phenomenon by assigning small weights to feature maps with large sum values of all locations. Experimental results on benchmark datasets validate the proposed two weighting schemes both effectively improve the discrimination power of image vectors. Furthermore, with the same experimental setting, our method outperforms other very recent aggregation approaches by a considerable margin.

Despite the fact that original Iterative Closest Point(ICP) algorithm has been widely used for registration, itcannot tackle the problem when two point clouds are par-tially overlapping. Accordingly, this paper proposes a ro-bust approach for the registration of partially overlappingpoint clouds. Given two initially posed clouds, it firstlybuilds up bilateral correspondence and computes bidirec-tional distances for each point in the data shape. Based onthe ratio of bidirectional distances, the exponential functionis selected and utilized to calculate the probability value,which can indicate whether the point pair belongs to theoverlapping part or not. Subsequently, the probability val-ue can be embedded into the least square function for reg-istration of partially overlapping point clouds and a novelvariant of ICP algorithm is presented to obtain the optimalrigid transformation. The proposed approach can achievegood registration of point clouds, even when their overlappercentage is low. Experimental results tested on public da-ta sets illustrate its superiority over previous approaches onrobustness.

Recently, motion averaging has been introduced as an effective means to solve multi-view registration problem. This approach utilizes the Lie-algebras to implement the averaging of many relative motions, each of which corresponds to the registration result of the scan pair involved in multi-view registration. Accordingly, a key question is how to obtain accurate registration between two partially overlapping scans. This paper presents a method to estimate the overlapping percentage between each scan pair involved in multi-view registration. What's more, it applies the trimmed iterative closest point (TrICP) algorithm to obtain accurate relative motions for the scan pairs including high overlapping percentage. Besides, it introduces the parallel computation to increase the efficiency of multi-view registration. Experimental results carried out with public data sets illustrate its superiority over previous approaches.

Recently, genetic algorithm (GA) has been introduced as an effective method to solve the registration problem. It maintains a population of candidate solutions for the problem and evolves by iteratively applying a set of stochastic operators. Accordingly, a key question is how to reduce the population size. In this study, the authors present two techniques for reducing the population size in the GA for registration of partially overlapping point sets. Based on the trimmed iterative closest point algorithm, they introduce a growth operator into the GA. The growth operator, which is also inspired by the biological evolution, can improve the GA efficiency for registration. Furthermore, they present a technique called centre alignment to confirm the value range of all the registration parameters, which can reduce the search space and allow the well‐designed GA to directly solve the registration problem. Experimental results carried out with the m ‐dimensional point sets illustrate its advantages over previous approaches.