CLAD: A realistic Continual Learning benchmark for Autonomous Driving.

In this paper we describe the design and the ideas motivating a new Continual Learning benchmark for Autonomous Driving (CLAD), that focuses on the problems of object classification and object detection. The benchmark utilises SODA10M, a recently released large-scale dataset that concerns autonomous driving related problems. First, we review and discuss existing continual learning benchmarks, how they are related, and show that most are extreme cases of continual learning. To this end, we survey the benchmarks used in continual learning papers at three highly ranked computer vision conferences. Next, we introduce CLAD-C, an online classification benchmark realised through a chronological data stream that poses both class and domain incremental challenges; and CLAD-D, a domain incremental continual object detection benchmark. We examine the inherent difficulties and challenges posed by the benchmark, through a survey of the techniques and methods used by the top-3 participants in a CLAD-challenge workshop at ICCV 2021. We conclude with possible pathways to improve the current continual learning state of the art, and which directions we deem promising for future research.

3-D Reconstruction in Canonical Co-Ordinate Space From Arbitrarily Oriented 2-D Images.

Limited capture range, and the requirement to provide high quality initialization for optimization-based 2-D/3-D image registration methods, can significantly degrade the performance of 3-D image reconstruction and motion compensation pipelines. Challenging clinical imaging scenarios, which contain significant subject motion, such as fetal in-utero imaging, complicate the 3-D image and volume reconstruction process. In this paper, we present a learning-based image registration method capable of predicting 3-D rigid transformations of arbitrarily oriented 2-D image slices, with respect to a learned canonical atlas co-ordinate system. Only image slice intensity information is used to perform registration and canonical alignment, no spatial transform initialization is required. To find image transformations, we utilize a convolutional neural network architecture to learn the regression function capable of mapping 2-D image slices to a 3-D canonical atlas space. We extensively evaluate the effectiveness of our approach quantitatively on simulated magnetic resonance imaging (MRI), fetal brain imagery with synthetic motion and further demonstrate qualitative results on real fetal MRI data where our method is integrated into a full reconstruction and motion compensation pipeline. Our learning based registration achieves an average spatial prediction error of 7 mm on simulated data and produces qualitatively improved reconstructions for heavily moving fetuses with gestational ages of approximately 20 weeks. Our model provides a general and computationally efficient solution to the 2-D/3-D registration initialization problem and is suitable for real-time scenarios.

PVR: Patch-to-Volume Reconstruction for Large Area Motion Correction of Fetal MRI.

In this paper, we present a novel method for the correction of motion artifacts that are present in fetal magnetic resonance imaging (MRI) scans of the whole uterus. Contrary to current slice-to-volume registration (SVR) methods, requiring an inflexible anatomical enclosure of a single investigated organ, the proposed patch-to-volume reconstruction (PVR) approach is able to reconstruct a large field of view of non-rigidly deforming structures. It relaxes rigid motion assumptions by introducing a specific amount of redundant information that is exploited with parallelized patchwise optimization, super-resolution, and automatic outlier rejection. We further describe and provide an efficient parallel implementation of PVR allowing its execution within reasonable time on commercially available graphics processing units, enabling its use in the clinical practice. We evaluate PVR's computational overhead compared with standard methods and observe improved reconstruction accuracy in the presence of affine motion artifacts compared with conventional SVR in synthetic experiments. Furthermore, we have evaluated our method qualitatively and quantitatively on real fetal MRI data subject to maternal breathing and sudden fetal movements. We evaluate peak-signal-to-noise ratio, structural similarity index, and cross correlation with respect to the originally acquired data and provide a method for visual inspection of reconstruction uncertainty. We further evaluate the distance error for selected anatomical landmarks in the fetal head, as well as calculating the mean and maximum displacements resulting from automatic non-rigid registration to a motion-free ground truth image. These experiments demonstrate a successful application of PVR motion compensation to the whole fetal body, uterus, and placenta.

Laminar and dorsoventral molecular organization of the medial entorhinal cortex revealed by large-scale anatomical analysis of gene expression.

Neural circuits in the medial entorhinal cortex (MEC) encode an animal's position and orientation in space. Within the MEC spatial representations, including grid and directional firing fields, have a laminar and dorsoventral organization that corresponds to a similar topography of neuronal connectivity and cellular properties. Yet, in part due to the challenges of integrating anatomical data at the resolution of cortical layers and borders, we know little about the molecular components underlying this organization. To address this we develop a new computational pipeline for high-throughput analysis and comparison of in situ hybridization (ISH) images at laminar resolution. We apply this pipeline to ISH data for over 16,000 genes in the Allen Brain Atlas and validate our analysis with RNA sequencing of MEC tissue from adult mice. We find that differential gene expression delineates the borders of the MEC with neighboring brain structures and reveals its laminar and dorsoventral organization. We propose a new molecular basis for distinguishing the deep layers of the MEC and show that their similarity to corresponding layers of neocortex is greater than that of superficial layers. Our analysis identifies ion channel-, cell adhesion- and synapse-related genes as candidates for functional differentiation of MEC layers and for encoding of spatial information at different scales along the dorsoventral axis of the MEC. We also reveal laminar organization of genes related to disease pathology and suggest that a high metabolic demand predisposes layer II to neurodegenerative pathology. In principle, our computational pipeline can be applied to high-throughput analysis of many forms of neuroanatomical data. Our results support the hypothesis that differences in gene expression contribute to functional specialization of superficial layers of the MEC and dorsoventral organization of the scale of spatial representations.