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We consider the problem of efficiently inferring interventional distributions in a causal Bayesian network from a finite number of observations. Let $\mathcal{P}$ be a causal model on a set $\mathbf{V}$ of observable variables on a given causal graph $G$. For sets $\mathbf{X},\mathbf{Y}\subseteq \mathbf{V}$, and setting ${\bf x}$ to $\mathbf{X}$, let $P_{\bf x}(\mathbf{Y})$ denote the interventional distribution on $\mathbf{Y}$ with respect to an intervention ${\bf x}$ to variables ${\bf x}$. Shpitser and Pearl (AAAI 2006), building on the work of Tian and Pearl (AAAI 2001), gave an exact characterization of the class of causal graphs for which the interventional distribution $P_{\bf x}({\mathbf{Y}})$ can be uniquely determined. We give the first efficient version of the Shpitser-Pearl algorithm. In particular, under natural assumptions, we give a polynomial-time algorithm that on input a causal graph $G$ on observable variables $\mathbf{V}$, a setting ${\bf x}$ of a set $\mathbf{X} \subseteq \mathbf{V}$ of bounded size, outputs succinct descriptions of both an evaluator and a generator for a distribution $\hat{P}$ that is $\varepsilon$-close (in total variation distance) to $P_{\bf x}({\mathbf{Y}})$ where $Y=\mathbf{V}\setminus \mathbf{X}$, if $P_{\bf x}(\mathbf{Y})$ is identifiable. We also show that when $\mathbf{Y}$ is an arbitrary set, there is no efficient algorithm that outputs an evaluator of a distribution that is $\varepsilon$-close to $P_{\bf x}({\mathbf{Y}})$ unless all problems that have statistical zero-knowledge proofs, including the Graph Isomorphism problem, have efficient randomized algorithms., Comment: 16 pages, 2 figures

Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context of our magneto-suturing system. Our system holds the potential for surgical manipulation with the benefit of minimal invasiveness and reduced patient side effects. However, the non-linear magnetic fields produce unintuitive forces and demand delicate position-based control that exceeds the capabilities of direct human manipulation. This makes automatic needle localization a necessity. Our localization method combines neural network-based segmentation and classical techniques, and we are able to consistently locate our needle with 0.73 mm RMS error in clean environments and 2.72 mm RMS error in challenging environments with blood and occlusion. The average localization RMS error is 2.16 mm for all environments we used in the experiments. We combine this localization method with our closed-loop feedback control system to demonstrate the further applicability of localization to autonomous control. Our needle is able to follow a running suture path in (1) no blood, no tissue; (2) heavy blood, no tissue; (3) no blood, with tissue; and (4) heavy blood, with tissue environments. The tip position tracking error ranges from 2.6 mm to 3.7 mm RMS, opening the door towards autonomous suturing tasks.

Recent advancement of research in biometrics, computer vision, and natural language processing has discovered opportunities for person retrieval from surveillance videos using textual query. The prime objective of a surveillance system is to locate a person using a description, e.g., a short woman with a pink t-shirt and white skirt carrying a black purse. She has brown hair. Such a description contains attributes like gender, height, type of clothing, colour of clothing, hair colour, and accessories. Such attributes are formally known as soft biometrics. They help bridge the semantic gap between a human description and a machine as a textual query contains the person's soft biometric attributes. It is also not feasible to manually search through huge volumes of surveillance footage to retrieve a specific person. Hence, automatic person retrieval using vision and language-based algorithms is becoming popular. In comparison to other state-of-the-art reviews, the contribution of the paper is as follows: 1. Recommends most discriminative soft biometrics for specifiic challenging conditions. 2. Integrates benchmark datasets and retrieval methods for objective performance evaluation. 3. A complete snapshot of techniques based on features, classifiers, number of soft biometric attributes, type of the deep neural networks, and performance measures. 4. The comprehensive coverage of person retrieval from handcrafted features based methods to end-to-end approaches based on natural language description., Comment: 45 pages, 17 figures, 6 Tables

Interpretability of epidemiological models is a key consideration, especially when these models are used in a public health setting. Interpretability is strongly linked to the identifiability of the underlying model parameters, i.e., the ability to estimate parameter values with high confidence given observations. In this paper, we define three separate notions of identifiability that explore the different roles played by the model definition, the loss function, the fitting methodology, and the quality and quantity of data. We define an epidemiological compartmental model framework in which we highlight these non-identifiability issues and their mitigation., Comment: 8 pages

Spatially and geometrically accurate laser scans are essential in modelling infrastructure for applications in civil, mining and transportation. Monitoring of underground or indoor environments such as mines or tunnels is challenging due to unavailability of a sensor positioning framework, complicated structurally symmetric layouts, repetitive features and occlusions. Current practices largely include a manual selection of discernable reference points for georeferencing and coregistration purpose. This study aims at overcoming these practical challenges in underground or indoor laser scanning. The developed approach involves automatically and uniquely identifiable three dimensional unique identifiers (3DUIDs) in laser scans, and a 3D registration (3DReG) workflow. Field testing of the method in an underground tunnel has been found accurate, effective and efficient. Additionally, a method for automatically extracting roadway tunnel profile has been exhibited. The developed 3DUID can be used in roadway profile extraction, guided automation, sensor calibration, reference targets for routine survey and deformation monitoring., Comment: 26 pages, 10 figures

Glioma is the most deadly brain tumor with high mortality. Treatment planning by human experts depends on the proper diagnosis of physical symptoms along with Magnetic Resonance(MR) image analysis. Highly variability of a brain tumor in terms of size, shape, location, and a high volume of MR images makes the analysis time-consuming. Automatic segmentation methods achieve a reduction in time with excellent reproducible results. The article aims to survey the advancement of automated methods for Glioma brain tumor segmentation. It is also essential to make an objective evaluation of various models based on the benchmark. Therefore, the 2012 - 2019 BraTS challenges database evaluates state-of-the-art methods. The complexity of tasks under the challenge has grown from segmentation (Task1) to overall survival prediction (Task 2) to uncertainty prediction for classification (Task 3). The paper covers the complete gamut of brain tumor segmentation using handcrafted features to deep neural network models for Task 1. The aim is to showcase a complete change of trends in automated brain tumor models. The paper also covers end to end joint models involving brain tumor segmentation and overall survival prediction. All the methods are probed, and parameters that affect performance are tabulated and analyzed., Comment: 40 pages, 19 figures, 11 Tables

Glioblastoma Multiforme is a very aggressive type of brain tumor. Due to spatial and temporal intra-tissue inhomogeneity, location and the extent of the cancer tissue, it is difficult to detect and dissect the tumor regions. In this paper, we propose survival prognosis models using four regressors operating on handcrafted image-based and radiomics features. We hypothesize that the radiomics shape features have the highest correlation with survival prediction. The proposed approaches were assessed on the Brain Tumor Segmentation (BraTS-2020) challenge dataset. The highest accuracy of image features with random forest regressor approach was 51.5\% for the training and 51.7\% for the validation dataset. The gradient boosting regressor with shape features gave an accuracy of 91.5\% and 62.1\% on training and validation datasets respectively. It is better than the BraTS 2020 survival prediction challenge winners on the training and validation datasets. Our work shows that handcrafted features exhibit a strong correlation with survival prediction. The consensus based regressor with gradient boosting and radiomics shape features is the best combination for survival prediction., Comment: 10 pages, 9 figures

We revisit the foundational Moment Formula proved by Roger Lee fifteen years ago. We show that when the underlying stock price martingale admits finite log-moments E[|log(S)|^q] for some positive q, the arbitrage-free growth in the left wing of the implied volatility smile is less constrained than Lee's bound. The result is rationalised by a market trading discretely monitored variance swaps wherein the payoff is a function of squared log-returns, and requires no assumption for the underlying martingale to admit any negative moment. In this respect, the result can derived from a model-independent setup. As a byproduct, we relax the moment assumptions on the stock price to provide a new proof of the notorious Gatheral-Fukasawa formula expressing variance swaps in terms of the implied volatility., Comment: 12 pages