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Robust and accurate cancer classification with gene expression profiling.

Robust and accurate cancer classification is critical in cancer treatment. Gene expression profiling is expected to enable us to diagnose tumors precisely and systematically. However, the classification task in this context is very challenging because of the curse of dimensionality and the small sample size problem. In this paper, we propose a novel method to solve these two problems. Our method is able to map gene expression data into a very low dimensional space and thus meets the recommended samples to features per class ratio. As a result, it can be used to classify new samples robustly with low and trustable (estimated) error rates. The method is based on linear discriminant analysis (LDA). However, the conventional LDA requires that the within-class scatter matrix S(w) be nonsingular. Unfortunately, Sw is always singular in the case of cancer classification due to the small sample size problem. To overcome this problem, we develop a generalized linear discriminant analysis (GLDA) that is a general, direct, and complete solution to optimize Fisher's criterion. GLDA is mathematically well-founded and coincides with the conventional LDA when S(w) is nonsingular. Different from the conventional LDA, GLDA does not assume the nonsingularity of S(w), and thus naturally solves the small sample size problem. To accommodate the high dimensionality of scatter matrices, a fast algorithm of GLDA is also developed. Our extensive experiments on seven public cancer datasets show that the method performs well. Especially on some difficult instances that have very small samples to genes per class ratios, our method achieves much higher accuracies than widely used classification methods such as support vector machines, random forests, etc.

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Robust weighted averaging.

Signal averaging is often used to extract a useful signal embedded in noise. This method is especially useful for biomedical signals, where the spectra of the signal and noise significantly overlap. In this case, traditional filtering techniques introduce unacceptable signal distortion. In averaging methods, constancy of the noise power is usually assumed, but in reality noise features a variable power. In this case, it is more appropriate to use a weighted averaging. The main problem in this method is the estimation of the noise power in order to obtain the weight values. Additionally, biomedical signals often contain outliers. This requires robust averaging methods. This paper shows that signal averaging can be formulated as a problem of minimization of a criterion function. Based on this formulation new weighted averaging methods are introduced, including weighted averaging based on criterion function minimization (WACFM) and robust epsilon-insensitive WACFM. Performances of these new methods are experimentally compared with the traditional averaging and other weighted averaging methods using electrocardiographic signal with the muscle noise, impulsive noise, and time-misalignment of cycles. Finally, an application to the late potentials extraction is shown.

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Robust estimation of fetal heart rate variability using Doppler ultrasound.

This paper presents a new measure of heart rate variability (HRV) that can be estimated using Doppler ultrasound techniques and is robust to variations in the angle of incidence of the ultrasound beam and the measurement noise. This measure employs the multiple signal characterization (MUSIC) algorithm which is a high-resolution method for estimating the frequencies of sinusoidal signals embedded in white noise from short-duration measurements. We show that the product of the square-root of the estimated signal-to-noise ratio (SNR) and the mean-square error of the frequency estimates is independent of the noise level in the signal. Since varying angles of incidence effectively changes the input SNR, this measure of HRV is robust to the input noise as well as the angle of incidence. This paper includes the results of analyzing synthetic and real Doppler ultrasound data that demonstrates the usefulness of the new measure in HRV analysis.

Aging↗

Computationally effective algorithm for robust weighted averaging.

One of the greatest disadvantages of the weighted signal averaging method is its sensitivity to the presence of noise and outliers in data and the need to estimate the noise variance in all signal cycles. The robust weighted averaging method based on the epsilon-insensitive loss function is free of these disadvantages, but has a very high computational burden and requires a choice of the insensitivity parameter epsilon. In this study, a new computationally effective algorithm for robust weighted averaging with automatic adjustment of the insensitivity parameter is introduced.

Algorithms↗

Quantifying motion in video recordings of neonatal seizures by robust motion trackers based on block motion models.

This paper introduces a methodology for the development of robust motion trackers for video based on block motion models. According to this methodology, the motion of a site between two successive frames is estimated by minimizing an error function defined in terms of the intensities at these frames. The proposed methodology is used to develop robust motion trackers that rely on fractional block motion models. The motion trackers developed in this paper are utilized to extract motor activity signals from video recordings of neonatal seizures. The experimental results reveal that the proposed motion trackers are more accurate and reliable than existing motion tracking methods relying on pure translation and affine block motion models.

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Modeling robust oscillatory behavior of the hypothalamic-pituitary-adrenal axis.

A mathematical model of the hypothalamic-pituitary-adrenal (HPA) axis of the human endocrine system is proposed. This new model provides an improvement over previous models by introducing two nonlinear factors with physiological relevance: 1) a limit to gland size; 2) rejection of negative hormone concentrations. The result is that the new model is by far the most robust; e.g., it can tolerate at least -50% and +100% perturbations to any of its parameters. This high degree of robustness allows one, for the first time, to model features of the system such as circadian rhythm and response to hormone injections. In addition, relative to its closest predecessor, the model is simpler; it contains only about half of the parameters, and yet achieves more functions. The new model provides opportunities for teaching endocrinology within a biological or medical school context; it may also have applications in modeling and studying HPA axis disorders, for example, related to gland size dynamics, abnormal hormone levels, or stress influences.

Adrenal Cortex↗

A robust method for ECG-based estimation of the respiratory frequency during stress testing.

A robust method is presented for electrocardiogram (ECG)-based estimation of the respiratory frequency during stress testing. Such ECGs contain highly nonstationary noise and exhibit changes in QRS morphology which, when combined with the dynamic nature of the respiratory frequency, make most existing methods break down. The present method exploits the oscillatory pattern of the rotation angles of the heart's electrical axis as induced by respiration. The series of rotation angles, obtained from least-squares loop alignment, is subject to power spectral analysis and estimation of the respiratory frequency. Robust techniques are introduced to handle the nonstationary properties of exercise ECGs. The method is evaluated by means of both simulated signals, and ECG/airflow signals recorded from 14 volunteers and 20 patients during stress testing. The resulting respiratory frequency estimation error is, for simulated signals, equal to 0.5% +/- 0.2%, mean +/- SD (0.002 +/- 0.001 Hz), whereas the error between respiratory frequencies of the ECG-derived method and the airflow signals is 5.9% +/- 4% (0.022 +/- 0.016Hz). The results suggest that the method is highly suitable for analysis of noisy ECG signals recorded during stress testing.

Adult↗

Segmentation for robust tracking in the presence of severe occlusion.

Tracking an object in a sequence of images can fail due to partial occlusion or clutter. Robustness to occlusion can be increased by tracking the object as a set of "parts" such that not all of these are occluded at the same time. However, successful implementation of this idea hinges upon finding a suitable set of parts. In this paper we propose a novel segmentation, specifically designed to improve robustness against occlusion in the context of tracking. The main result shows that tracking the parts resulting from this segmentation outperforms both tracking parts obtained through traditional segmentations, and tracking the entire target. Additional results include a statistical analysis of the correlation between features of a part and tracking error, and identifying a cost function that exhibits a high degree of correlation with the tracking error.

Algorithms↗

Fast and robust multiframe super resolution.

Super-resolution reconstruction produces one or a set of high-resolution images from a set of low-resolution images. In the last two decades, a variety of super-resolution methods have been proposed. These methods are usually very sensitive to their assumed model of data and noise, which limits their utility. This paper reviews some of these methods and addresses their short-comings. We propose an alternate approach using L1 norm minimization and robust regularization based on a bilateral prior to deal with different data and noise models. This computationally inexpensive method is robust to errors in motion and blur estimation and results in images with sharp edges. Simulation results confirm the effectiveness of our method and demonstrate its superiority to other super-resolution methods.

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Nonmetric calibration of camera lens distortion: differential methods and robust estimation.

This paper addresses the problem of calibrating camera lens distortion, which can be significant in medium to wide angle lenses. Our approach is based on the analysis of distorted images of straight lines. We derive new distortion measures that can be optimized using nonlinear search techniques to find the best distortion parameters that straighten these lines. Unlike the other existing approaches, we also provide fast, closed-form solutions to the distortion coefficients. We prove that including both the distortion center and the decentering coefficients in the nonlinear optimization step may lead to instability of the estimation algorithm. Our approach provides a way to get around this, and, at the same time, it reduces the search space of the calibration problem without sacrificing the accuracy and produces more stable and noise-robust results. In addition, while almost all existing nonmetric distortion calibration methods needs user involvement in one form or another, we present a robust approach to distortion calibration based on the least-median-of-squares estimator. Our approach is, thus, able to proceed in a fully automatic manner while being less sensitive to erroneous input data such as image curves that are mistakenly considered projections of three-dimensional linear segments. Experiments to evaluate the performance of this approach on synthetic and real data are reported.

Algorithms↗

Background learning for robust face recognition with PCA in the presence of clutter.

We propose a new method within the framework of principal component analysis (PCA) to robustly recognize faces in the presence of clutter. The traditional eigenface recognition (EFR) method, which is based on PCA, works quite well when the input test patterns are faces. However, when confronted with the more general task of recognizing faces appearing against a background, the performance of the EFR method can be quite poor. It may miss faces completely or may wrongly associate many of the background image patterns to faces in the training set. In order to improve performance in the presence of background, we argue in favor of learning the distribution of background patterns and show how this can be done for a given test image. An eigenbackground space is constructed corresponding to the given test image and this space in conjunction with the eigenface space is used to impart robustness. A suitable classifier is derived to distinguish nonface patterns from faces. When tested on images depicting face recognition in real situations against cluttered background, the performance of the proposed method is quite good with fewer false alarms.

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Digital watermarking robust to geometric distortions.

In this paper, we present two watermarking approaches that are robust to geometric distortions. The first approach is based on image normalization, in which both watermark embedding and extraction are carried out with respect to an image normalized to meet a set of predefined moment criteria. We propose a new normalization procedure, which is invariant to affine transform attacks. The resulting watermarking scheme is suitable for public watermarking applications, where the original image is not available for watermark extraction. The second approach is based on a watermark resynchronization scheme aimed to alleviate the effects of random bending attacks. In this scheme, a deformable mesh is used to correct the distortion caused by the attack. The watermark is then extracted from the corrected image. In contrast to the first scheme, the latter is suitable for private watermarking applications, where the original image is necessary for watermark detection. In both schemes, we employ a direct-sequence code division multiple access approach to embed a multibit watermark in the discrete cosine transform domain of the image. Numerical experiments demonstrate that the proposed watermarking schemes are robust to a wide range of geometric attacks.

Algorithms↗

Robust ego-motion estimation and 3-D model refinement using surface parallax.

We present an iterative algorithm for robustly estimating the ego-motion and refining and updating a coarse depth map using parametric surface parallax models and brightness derivatives extracted from an image pair. Given a coarse depth map acquired by a range-finder or extracted from a digital elevation map (DEM), ego-motion is estimated by combining a global ego-motion constraint and a local brightness constancy constraint. Using the estimated camera motion and the available depth estimate, motion of the three-dimensional (3-D) points is compensated. We utilize the fact that the resulting surface parallax field is an epipolar field, and knowing its direction from the previous motion estimates, estimate its magnitude and use it to refine the depth map estimate. The parallax magnitude is estimated using a constant parallax model (CPM) which assumes a smooth parallax field and a depth based parallax model (DBPM), which models the parallax magnitude using the given depth map. We obtain confidence measures for determining the accuracy of the estimated depth values which are used to remove regions with potentially incorrect depth estimates for robustly estimating ego-motion in subsequent iterations. Experimental results using both synthetic and real data (both indoor and outdoor sequences) illustrate the effectiveness of the proposed algorithm.

Algorithms↗

A robust method for registration of three-dimensional knee implant models to two-dimensional fluoroscopy images.

A method was developed for registering three-dimensional knee implant models to single plane X-ray fluoroscopy images. We use a direct image-to-image similarity measure, taking advantage of the speed of modern computer graphics workstations to quickly render simulated (predicted) images. As a result, the method does not require an accurate segmentation of the implant silhouette in the image (which can be prone to errors). A robust optimization algorithm (simulated annealing) is used that can escape local minima and find the global minimum (true solution). Although we focus on the analysis of total knee arthroplasty (TKA) in this paper, the method can be (and has been) applied to other implanted joints, including, but not limited to, hips, ankles, and temporomandibular joints. Convergence tests on an in vivo image show that the registration method can reliably find poses that are very close to the optimal (i.e., within 0.4 degrees and 0.1 mm), even from starting poses with large initial errors. However, the precision of translation measurement in the Z (out-of-plane) direction is not as good. We also show that the method is robust with respect to image noise and occlusions. However, a small amount of user supervision and intervention is necessary to detect cases when the optimization algorithm falls into a local minimum. Intervention is required less than 5% of the time when the initial starting pose is reasonably close to the correct answer, but up to 50% of the time when the initial starting pose is far away. Finally, extensive evaluations were performed on cadaver images to determine accuracy of relative pose measurement. Comparing against data derived from an optical sensor as a "gold standard," the overall root-mean-square error of the registration method was approximately 1.5 degrees and 0.65 mm (although Z translation error was higher). However, uncertainty in the optical sensor data may account for a large part of the observed error.

Algorithms↗

Robust real-time myocardial border tracking for echocardiography: an information fusion approach.

Ultrasound is a main noninvasive modality for the assessment of the heart function. Wall tracking from ultrasound data is, however, inherently difficult due to weak echoes, clutter, poor signal-to-noise ratio, and signal dropouts. To cope with these artifacts, pretrained shape models can be applied to constrain the tracking. However, existing methods for incorporating subspace shape constraints in myocardial border tracking use only partial information from the model distribution, and do not exploit spatially varying uncertainties from feature tracking. In this paper, we propose a complete fusion formulation in the information space for robust shape tracking, optimally resolving uncertainties from the system dynamics, heteroscedastic measurement noise, and subspace shape model. We also exploit information from the ground truth initialization where this is available. The new framework is applied for tracking of myocardial borders in very noisy echocardiography sequences. Numerous myocardium tracking experiments validate the theory and show the potential of very accurate wall motion measurements. The proposed framework outperforms the traditional shape-space-constrained tracking algorithm by a significant margin. Due to the optimal fusion of different sources of uncertainties, robust performance is observed even for the most challenging cases.

Algorithms↗

Intensity-based image registration using robust correlation coefficients.

The ordinary sample correlation coefficient is a popular similarity measure for aligning images from the same or similar modalities. However, this measure can be sensitive to the presence of "outlier" objects that appear in one image but not the other, such as surgical instruments, the patient table, etc., which can lead to biased registrations. This paper describes an intensity-based image registration technique that uses a robust correlation coefficient as a similarity measure. Relative to the ordinary sample correlation coefficient, the proposed similarity measure reduces the influence of outliers. We also compared the performance of the proposed method with the mutual information-based method. The robust correlation-based method should be useful for image registration in radiotherapy (KeV to MeV X-ray images) and image-guided surgery applications. We have investigated the properties of the proposed method by theoretical analysis, computer simulations, a phantom experiment, and with functional magnetic resonance imaging data.

Algorithms↗

Robust nonrigid registration to capture brain shift from intraoperative MRI.

We present a new algorithm to register 3-D preoperative magnetic resonance (MR) images to intraoperative MR images of the brain which have undergone brain shift. This algorithm relies on a robust estimation of the deformation from a sparse noisy set of measured displacements. We propose a new framework to compute the displacement field in an iterative process, allowing the solution to gradually move from an approximation formulation (minimizing the sum of a regularization term and a data error term) to an interpolation formulation (least square minimization of the data error term). An outlier rejection step is introduced in this gradual registration process using a weighted least trimmed squares approach, aiming at improving the robustness of the algorithm. We use a patient-specific model discretized with the finite element method in order to ensure a realistic mechanical behavior of the brain tissue. To meet the clinical time constraint, we parallelized the slowest step of the algorithm so that we can perform a full 3-D image registration in 35 s (including the image update time) on a heterogeneous cluster of 15 personal computers. The algorithm has been tested on six cases of brain tumor resection, presenting a brain shift of up to 14 mm. The results show a good ability to recover large displacements, and a limited decrease of accuracy near the tumor resection cavity.

Algorithms↗

Randomized algorithms for stability and robustness analysis of high-speed communication networks.

This paper initiates a study toward developing and applying randomized algorithms for stability of high-speed communication networks. The focus is on congestion and delay-based flow controllers for sources, which are "utility maximizers" for individual users. First, we introduce a nonlinear algorithm for such source flow controllers, which uses as feedback aggregate congestion and delay information from bottleneck nodes of the network, and depends on a number of parameters, among which are link capacities, user preference for utility, and pricing. We then linearize this nonlinear model around its unique equilibrium point and perform a robustness analysis for a special symmetric case with a single bottleneck node. The "symmetry" here captures the scenario when certain utility and pricing parameters are the same across all active users, for which we derive closed-form necessary and sufficient conditions for stability and robustness under parameter variations. In addition, the ranges of values for the utility and pricing parameters for which stability is guaranteed are computed exactly. These results also admit counterparts for the case when the pricing parameters vary across users, but the utility parameter values are still the same. In the general nonsymmetric case, when closed-form derivation is not possible, we construct specific randomized algorithms which provide a probabilistic estimate of the local stability of the network. In particular, we use Monte Carlo as well as quasi-Monte Carlo techniques for the linearized model. The results obtained provide a complete analysis of congestion control algorithms for internet style networks with a single bottleneck node as well as for networks with general random topologies.

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