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FDL 2017 3D Shape Modeling
- 1. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SPACE WEATHER MISSION 02 RADAR 3D SHAPE MODELING
- 2. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Also thanks to: Yarin Gal Justin Havlovitz THE TEAM ż ï
- 3. PLANETARY DEFENSE: RADAR3D SHAPE MODELING KNOWN ASTEROIDS Red dots: near-Earth asteroids (NEAs) Green dots: other asteroids Blue dashed ellipse: Earth’s orbit http://www.minorplanetcenter.net/ iau/lists/InnerPlot2.html
- 4. PLANETARY DEFENSE: RADAR3D SHAPE MODELING PLANETARY RADAR Left: Arecibo (305 m) Below: Goldstone DSS-14 (70 m) 100 m
- 5. PLANETARY DEFENSE: RADAR3D SHAPE MODELING We are observing NEAs faster than we can analyze them! RADAR OBSERVATIONS https://echo.jpl.nasa.gov/~lance/ Radar_detected_neas.html
- 6. PLANETARY DEFENSE: RADAR3D SHAPE MODELING RADAR OBSERVATIONS Delay-Doppler images Plane-of-sky views Doppler → Delay→ Simulated delay-Doppler images and plane-of-sky views of binary near-Earth asteroid 1999 KW4 (Magri et al. 2007), from SHAPE software
- 7. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SHAPE MODELING PIPELINE
- 8. PLANETARY DEFENSE: RADAR3D SHAPE MODELING OUR SOLUTIONS a) Pre-processing is faster b) c) d)
- 9. PLANETARY DEFENSE: RADAR3D SHAPE MODELING PRE-PROCESSING DATA Martin et al., 1996
- 10. PLANETARY DEFENSE: RADAR3D SHAPE MODELING PRE-PROCESSING DATA Martin et al., 1996
- 11. PLANETARY DEFENSE: RADAR3D SHAPE MODELING PRE-PROCESSING DATA Martin et al., 1996
- 12. PLANETARY DEFENSE: RADAR3D SHAPE MODELING PRE-PROCESSING DATA
- 13. PLANETARY DEFENSE: RADAR3D SHAPE MODELING PRE-PROCESSING DATA Period and size! Time Bandwidth
- 14. PLANETARY DEFENSE: RADAR3D SHAPE MODELING OUR SOLUTIONS a) Pre-processing is faster b) Spin axis determination is faster c) d)
- 15. PLANETARY DEFENSE: RADAR3D SHAPE MODELING - What part of the sky does the spin axis point to - Defined by ecliptic longitude (λ) and latitude (β) - We need that to do the shape modeling properly FINDING SPIN AXIS DIRECTION λ β
- 16. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SPIN-STATE SEARCH λ β
- 17. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SPIN-STATE SEARCH Traditional grid search: ● Over 400 calls to SHAPE for a grid with 10° spacing ● Then finer spacing near the minima ● About 1000 calls total Can we do better?
- 18. PLANETARY DEFENSE: RADAR3D SHAPE MODELING At left: 1D example of Bayesian optimisation We use Bayesian optimisation to automate pole searches BAYESIAN OPTIMISATION Red curve: Acquisition function
- 19. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SPIN-STATE SEARCH FDL 2016: BAYESIAN OPTIMISATION* ON A PLANE (tests for NEA 2000 ET70, with ellipsoid shape) * with Spearmint (Snoek, Larochelle, and Adams; 2012)
- 20. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SPIN-STATE SEARCH We want to measure distance on a sphere
- 21. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SPIN-STATE SEARCH FDL 2017: BAYESIAN OPTIMISATION ON A SPHERE* (tests for NEA 2000 ET70, with ellipsoid shape) * Carr, Garnett, and Lo; 2016
- 22. PLANETARY DEFENSE: RADAR3D SHAPE MODELING OUR SOLUTIONS a) Pre-processing is faster b) Spin axis determination is faster c) Training data generation is improved d)
- 23. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SYNTHETIC DATA
- 24. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SYNTHETIC DATA Convex model Non-convex asteroid Magri et al. Icarus 2011
- 25. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SYNTHETIC DATA randmesh by B. Oczujda - courtesy of Poznań Astronomical Observatory
- 26. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SYNTHETIC DATA randmesh by B. Oczujda - courtesy of Poznań Astronomical Observatory
- 27. PLANETARY DEFENSE: RADAR3D SHAPE MODELING OUR SOLUTIONS a) Pre-processing is faster b) Spin axis determination is faster c) Training data generation is improved d) Neural network is improved
- 28. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING DEEP LEARNING • We can represent asteroids in a compact latent space (a vector!)
- 29. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING GENERATIVE MODELS FOR ASTEROIDS Sample Architectures conditioned on delay-Doppler images
- 30. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Sample Deep neural network Architectures conditioned on delay-Doppler images PLANETARY DEFENSE: RADAR 3D SHAPE MODELING GENERATIVE MODELS FOR ASTEROIDS
- 31. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING VARIATIONAL AUTOENCODER Sample Input Data Encode to Distribution Draw a Sample Reproduce Data Decode Sample Kingma and Welling, 2013
- 32. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING VARIATIONAL AUTOENCODER Sample Condition on delay-Doppler images Kingma and Welling, 2013
- 33. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING VARIATIONAL AUTOENCODER Sample Condition on delay-Doppler images Generative model Kingma and Welling, 2013
- 34. PLANETARY DEFENSE: RADAR3D SHAPE MODELING • Architectures • Generative adversarial networks (GANs)* • Modifying the variational autoencoder DEEP LEARNING Sample Discriminator Generator Example GAN * Goodfellow et al., 2014
- 35. PLANETARY DEFENSE: RADAR3D SHAPE MODELING DEEP LEARNING Voxels Point clouds • Architectures • Generative adversarial networks (GANs) • Modifying the variational autoencoder • 3D Asteroid representations • Point Clouds • Voxels • Graphs (meshes)
- 36. PLANETARY DEFENSE: RADAR3D SHAPE MODELING DEEP LEARNING - VERIFICATION
- 37. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SHAPE MODELING PIPELINE minutes - hours 50 - 100 calls days weeks
- 38. PLANETARY DEFENSE: RADAR3D SHAPE MODELING TO BE CONTINUED... Code DataPapers import astropy ...Nature Kaggle
- 39. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Adam Cobb acobb@robots.ox.ac.uk Sean Marshall seanm@astro.cornell.edu Agata Rożek a.rozek@kent.ac.uk Grace Young grace@robots.ox.ac.uk Get in touch! THANK YOU
- 40. PLANETARY DEFENSE: RADAR3D SHAPE MODELING MAIN SLIDES ARE ABOVE BACKUP SLIDES
- 41. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SHAPE MODELING DIFFICULTIES Near-Earth asteroid 1998 QE2 (courtesy of Alessondra Springmann)
- 42. PLANETARY DEFENSE: RADAR3D SHAPE MODELING DEEP LEARNING - VERIFICATION
- 43. PLANETARY DEFENSE: RADAR3D SHAPE MODELING KNOWN ASTEROIDS Near-Earth asteroids (NEAs) Other asteroids Earth’s orbit http://www.minorplanetcenter.net/ iau/lists/InnerPlot2.html
- 44. PLANETARY DEFENSE: RADAR3D SHAPE MODELING SYNTHETIC DATA
- 45. PLANETARY DEFENSE: RADAR3D SHAPE MODELING REPRESENTATION Voxels Point clouds
- 46. PLANETARY DEFENSE: RADAR3D SHAPE MODELING ● Pole direction is important but is difficult to find ● We used Bayesian optimisation to select poles PLANETARY DEFENSE: RADAR 3D SHAPE MODELING FINDING THE SPIN AXIS
- 47. PLANETARY DEFENSE: RADAR3D SHAPE MODELING ● Pole direction is important but is difficult to find ● We used Bayesian optimisation to select poles PLANETARY DEFENSE: RADAR 3D SHAPE MODELING FINDING THE SPIN AXIS I Acquisition (arbitrary units) FINDING
- 48. PLANETARY DEFENSE: RADAR3D SHAPE MODELING FDL 2016 Bayesian Optimization With rectangular kernel, many redundant test points near “boundaries”
- 49. PLANETARY DEFENSE: RADAR3D SHAPE MODELING We want to measure distance on a sphere FDL 2016 Bayesian Optimization
- 50. PLANETARY DEFENSE: RADAR3D SHAPE MODELING a) Pre-processing is faster b) Spin axis determination is faster c) Mesh generation is faster d) Pipeline is streamlined PLANETARY DEFENSE: RADAR 3D SHAPE MODELING OUR SOLUTIONS
- 51. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Synthetic Data We need a few slides and images discussing how we generate simulated data, and why we needed it
- 52. PLANETARY DEFENSE: RADAR3D SHAPE MODELING MESH GENERATION • Improving the dataset: ○ Incorporating non-convex shapes (synthetic) ○ Producing synthetic delay-Doppler images with corresponding voxels • Experimenting with different architectures • Representation of the asteroids
- 53. PLANETARY DEFENSE: RADAR3D SHAPE MODELING REPRESENTATION Voxels Point clouds
- 54. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING MESH GENERATION • We can represent asteroids in a compact latent space (a vector!) A descriptor for the asteroid
- 55. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING GENERATIVE MODELS FOR ASTEROIDS Sample Architectures conditioned on delay-doppler images
- 56. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Sample Deep neural network Architectures conditioned on delay-doppler images PLANETARY DEFENSE: RADAR 3D SHAPE MODELING GENERATIVE MODELS FOR ASTEROIDS
- 57. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING VARIATIONAL AUTOENCODER Sample Input Data Encode to Distribution Draw a Sample Reproduce Data Decode Sample
- 58. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING VARIATIONAL AUTOENCODER Sample Condition on delay-Doppler images
- 59. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING VARIATIONAL AUTOENCODER Sample Condition on delay-Doppler images Generative model
- 60. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING VARIATIONAL AUTOENCODER Sample Condition on delay-Doppler images Generative model
- 61. PLANETARY DEFENSE: RADAR3D SHAPE MODELING • Improving the dataset: • Incorporating non-convex shapes (synthetic) • Producing synthetic delay-Doppler images with corresponding voxels • Experimenting with different architectures
- 62. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Building on last year’s work •They demonstrated representing asteroids in a more compact latent space A descriptor for the asteroid
- 63. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - generative models conditioned on delay-Doppler images Sample
- 64. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - generative models conditioned on delay-Doppler images Sample Deep neural network
- 65. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - VAE (variational autoencoder) Sample
- 66. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - VAE (variational autoencoder) Sample Conditioning on delay-Doppler
- 67. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - VAE (variational autoencoder) Conditioning on delay-Doppler What we want to learn Sample
- 68. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - VAE (variational autoencoder) Alternatively we could use this part Sample
- 69. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - VAE (variational autoencoder) And replace it with a network that uses sets of delay-Doppler images Sample
- 70. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - GAN (generative adversarial network) Sample Discriminator Asteroid Generated AsteroidGenerator
- 71. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - GAN (generative adversarial network) Sample Discriminator Asteroid Generated AsteroidGenerator What we are ultimately interested
- 72. PLANETARY DEFENSE: RADAR3D SHAPE MODELING Architectures - GAN (generative adversarial network) Sample Discriminator Generator
- 73. PLANETARY DEFENSE: RADAR3D SHAPE MODELING a) Pre-processing is faster b) Spin axis determination is faster c) Mesh generation is faster d) Pipeline is streamlined PLANETARY DEFENSE: RADAR 3D SHAPE MODELING OUR SOLUTIONS
- 74. PLANETARY DEFENSE: RADAR3D SHAPE MODELINGPLANETARY DEFENSE: RADAR 3D SHAPE MODELING THIS IS A HEADLINE • This is a bullet point in 32 pt. • This is another one in 32 pt. • And another one. • And one more, just to make it clear This is a description text in 16 pt. Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis.
- 75. PLANETARY DEFENSE: RADAR3D SHAPE MODELING This is a subheadline in 32 pt. PLANETARY DEFENSE: RADAR 3D SHAPE MODELING THIS IS A HEADLINE This is a description text in 16 pt. Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis.
- 76. PLANETARY DEFENSE: RADAR3D SHAPE MODELING This is a description text in 16 pt. Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis. PLANETARY DEFENSE: RADAR 3D SHAPE MODELING THIS IS A HEADLINE
- 77. PLANETARY DEFENSE: RADAR3D SHAPE MODELING This is a description text in 16 pt. Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis. PLANETARY DEFENSE: RADAR 3D SHAPE MODELING THIS IS A HEADLINE
- 78. PLANETARY DEFENSE: RADAR3D SHAPE MODELING This is a description text in 16 pt. Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Ut enim ad minim veniam, quis nostrud exercitation ullamco laboris nisi ut aliquip ex ea commodo consequat. Duis.
- 79. PLANETARY DEFENSE: RADAR3D SHAPE MODELING kkklllllll