Unsupervised monocular visual odometry via combining instance and RGB information.

Unsupervised deep learning methods have made significant progress in monocular visual odometry (VO) tasks. However, due to the complexity of the real-world scene, learning the camera ego-motion from the RGB information of monocular images in an unsupervised way is still challenging. Existing methods mainly learn motion from the original RGB information, lacking higher-level input from scene understanding. Hence, this paper proposes an unsupervised monocular VO framework that combines the instance and RGB information, named combined information based (CI-VO). The proposed method includes two stages. First is obtaining the instance maps of the monocular images, without finetuning on the VO dataset. Then we obtain the combined information from the two types of information, which is input into the proposed combined information based pose estimation network, named CI-PoseNet, to estimate the relative pose of the camera. To make better use of the two types of information, we propose a fusion feature extraction network to extract the fused features from the combined information. Experiments on the KITTI odometry and KITTI raw dataset show that the proposed method has good performance in the camera pose estimation task, which exceeds the existing mainstream methods.

Multi-Nyström Method Based on Multiple Kernel Learning for Large Scale Imbalanced Classification.

Extensions of kernel methods for the class imbalance problems have been extensively studied. Although they work well in coping with nonlinear problems, the high computation and memory costs severely limit their application to real-world imbalanced tasks. The Nyström method is an effective technique to scale kernel methods. However, the standard Nyström method needs to sample a sufficiently large number of landmark points to ensure an accurate approximation, which seriously affects its efficiency. In this study, we propose a multi-Nyström method based on mixtures of Nyström approximations to avoid the explosion of subkernel matrix, whereas the optimization to mixture weights is embedded into the model training process by multiple kernel learning (MKL) algorithms to yield more accurate low-rank approximation. Moreover, we select subsets of landmark points according to the imbalance distribution to reduce the model's sensitivity to skewness. We also provide a kernel stability analysis of our method and show that the model solution error is bounded by weighted approximate errors, which can help us improve the learning process. Extensive experiments on several large scale datasets show that our method can achieve a higher classification accuracy and a dramatical speedup of MKL algorithms.

Investigations into Structural Behavior of Concrete-Filled RHS Columns with Unequal Flange Thickness under Compressive Load.

Previous studies have shown that components with an unequal-walled concrete-filled rectangular hollow section (CFRHS) can achieve a greater resistance under bending than those with equal-walled CFRHS. However, the study on the compressive behavior of the CFRHS column is limited. Therefore, this paper investigates the performance of compressed CFRHS columns with unequal flange thickness, based on experimental and numerical approaches. In the test, the effects of slenderness and eccentricity on the compressive capacity of the CFRHS columns with unequal shell thickness are discussed. Numerical models based on the finite element method are established, to evaluate the resistance and failure pattern of each specimen in the test. Parametric studies are carried out based on the validated model, to investigate the effect of eccentricity, wall thickness, and steel and concrete material properties on the load-bearing capacity of the compressed CFRHS column. In addition, the analytical expressions of the resistance of CFRHS columns with unequal wall thickness are derived, and the prediction values are validated through comparing with the test results. It is found that eccentric compressed columns with unequal-walled CFRHS have a similar load-bearing capacity and better ductility when compared with the equal-walled CFRHS.

NMFGO: Gene Function Prediction via Nonnegative Matrix Factorization with Gene Ontology.

Gene Ontology (GO) is a controlled vocabulary of terms that describe molecule function, biological roles, and cellular locations of gene products (i.e., proteins and RNAs), it hierarchically organizes more than 43,000 GO terms via the direct acyclic graph. A gene is generally annotated with several of these GO terms. Therefore, accurately predicting the association between genes and massive terms is a difficult challenge. To combat with this challenge, we propose an matrix factorization based approach called NMFGO. NMFGO stores the available GO annotations of genes in a gene-term association matrix and adopts an ontological structure based taxonomic similarity measure to capture the GO hierarchy. Next, it factorizes the association matrix into two low-rank matrices via nonnegative matrix factorization regularized with the GO hierarchy. After that, it employs a semantic similarity based k nearest neighbor classifier in the low-rank matrices approximated subspace to predict gene functions. Empirical study on three model species (S. cerevisiae, H. sapiens, and A. thaliana) shows that NMFGO is robust to the input parameters and achieves significantly better prediction performance than GIC, TO, dRW- kNN, and NtN, which were re-implemented based on the instructions of the original papers. The supplementary file and demo codes of NMFGO are available at http://mlda.swu.edu.cn/codes.php?name=NMFGO.

Weighted matrix factorization on multi-relational data for LncRNA-disease association prediction.

Influx evidences show that red long non-coding RNAs (lncRNAs) play important roles in various critical biological processes, and they afffect the development and progression of various human diseases. Therefore, it is necessary to precisely identify the lncRNA-disease associations. The identification precision can be improved by developing data integrative models. However, current models mainly need to project heterogeneous data onto the homologous networks, and then merge these networks into a composite one for integrative prediction. We recognize that this projection overrides the individual structure of the heterogeneous data, and the combination is impacted by noisy networks. As a result, the performance is compromised. Given that, we introduce a weighted matrix factorization model on multi-relational data to predict LncRNA-disease associations (WMFLDA). WMFLDA firstly uses a heterogeneous network to capture the inter(intra)-associations between different types of nodes (including genes, lncRNAs, and Disease Ontology terms). Then, it presets weights to these inter-association and intra-association matrices of the network, and cooperatively decomposes these matrices into low-rank ones to explore the underlying relationships between nodes. Next, it jointly optimizes the low-rank matrices and the weights. After that, WMFLDA approximates the lncRNA-disease association matrix using the optimized matrices and weights, and thus to achieve the prediction. WMFLDA obtains a much better performance than related data integrative solutions across different experiment settings and evaluation metrics. It can not only respect the intrinsic structures of individual data sources, but can also fuse them with selection.

Gene function prediction based on Gene Ontology Hierarchy Preserving Hashing.

Gene Ontology (GO) uses structured vocabularies (or terms) to describe the molecular functions, biological roles, and cellular locations of gene products in a hierarchical ontology. GO annotations associate genes with GO terms and indicate the given gene products carrying out the biological functions described by the relevant terms. However, predicting correct GO annotations for genes from a massive set of GO terms as defined by GO is a difficult challenge. To combat with this challenge, we introduce a Gene Ontology Hierarchy Preserving Hashing (HPHash) based semantic method for gene function prediction. HPHash firstly measures the taxonomic similarity between GO terms. It then uses a hierarchy preserving hashing technique to keep the hierarchical order between GO terms, and to optimize a series of hashing functions to encode massive GO terms via compact binary codes. After that, HPHash utilizes these hashing functions to project the gene-term association matrix into a low-dimensional one and performs semantic similarity based gene function prediction in the low-dimensional space. Experimental results on three model species (Homo sapiens, Mus musculus and Rattus norvegicus) for interspecies gene function prediction show that HPHash performs better than other related approaches and it is robust to the number of hash functions. In addition, we also take HPHash as a plugin for BLAST based gene function prediction. From the experimental results, HPHash again significantly improves the prediction performance. The codes of HPHash are available at: http://mlda.swu.edu.cn/codes.php?name=HPHash.

NewGOA: Predicting New GO Annotations of Proteins by Bi-Random Walks on a Hybrid Graph.

A remaining key challenge of modern biology is annotating the functional roles of proteins. Various computational models have been proposed for this challenge. Most of them assume the annotations of annotated proteins are complete. But in fact, many of them are incomplete. We proposed a method called NewGOA to predict new Gene Ontology (GO) annotations for incompletely annotated proteins and for completely un-annotated ones. NewGOA employs a hybrid graph, composed of two types of nodes (proteins and GO terms), to encode interactions between proteins, hierarchical relationships between terms and available annotations of proteins. To account for structural difference between GO terms subgraph and proteins subgraph, NewGOA applies a bi-random walks algorithm, which executes asynchronous random walks on the hybrid graph, to predict new GO annotations of proteins. Experimental study on archived GO annotations of two model species (H. Sapiens and S. cerevisiae) shows that NewGOA can more accurately and efficiently predict new annotations of proteins than other related methods. Experimental results also indicate the bi-random walks can explore and further exploit the structural difference between GO terms subgraph and proteins subgraph. The supplementary files and codes of NewGOA are available at: http://mlda.swu.edu.cn/codes.php?name=NewGOA.

Matrix factorization-based data fusion for the prediction of lncRNA-disease associations.

Motivation: Long non-coding RNAs (lncRNAs) play crucial roles in complex disease diagnosis, prognosis, prevention and treatment, but only a small portion of lncRNA-disease associations have been experimentally verified. Various computational models have been proposed to identify lncRNA-disease associations by integrating heterogeneous data sources. However, existing models generally ignore the intrinsic structure of data sources or treat them as equally relevant, while they may not be. Results: To accurately identify lncRNA-disease associations, we propose a Matrix Factorization based LncRNA-Disease Association prediction model (MFLDA in short). MFLDA decomposes data matrices of heterogeneous data sources into low-rank matrices via matrix tri-factorization to explore and exploit their intrinsic and shared structure. MFLDA can select and integrate the data sources by assigning different weights to them. An iterative solution is further introduced to simultaneously optimize the weights and low-rank matrices. Next, MFLDA uses the optimized low-rank matrices to reconstruct the lncRNA-disease association matrix and thus to identify potential associations. In 5-fold cross validation experiments to identify verified lncRNA-disease associations, MFLDA achieves an area under the receiver operating characteristic curve (AUC) of 0.7408, at least 3% higher than those given by state-of-the-art data fusion based computational models. An empirical study on identifying masked lncRNA-disease associations again shows that MFLDA can identify potential associations more accurately than competing models. A case study on identifying lncRNAs associated with breast, lung and stomach cancers show that 38 out of 45 (84%) associations predicted by MFLDA are supported by recent biomedical literature and further proves the capability of MFLDA in identifying novel lncRNA-disease associations. MFLDA is a general data fusion framework, and as such it can be adopted to predict associations between other biological entities. Availability and implementation: The source code for MFLDA is available at: http://mlda.swu.edu.cn/codes.php? name = MFLDA. Contact: gxyu@swu.edu.cn. Supplementary information: Supplementary data are available at Bioinformatics online.

BRWLDA: bi-random walks for predicting lncRNA-disease associations.

Increasing efforts have been done to figure out the association between lncRNAs and complex diseases. Many computational models construct various lncRNA similarity networks, disease similarity networks, along with known lncRNA-disease associations to infer novel associations. However, most of them neglect the structural difference between lncRNAs network and diseases network, hierarchical relationships between diseases and pattern of newly discovered associations. In this study, we developed a model that performs Bi-Random Walks to predict novel LncRNA-Disease Associations (BRWLDA in short). This model utilizes multiple heterogeneous data to construct the lncRNA functional similarity network, and Disease Ontology to construct a disease network. It then constructs a directed bi-relational network based on these two networks and available lncRNAs-disease associations. Next, it applies bi-random walks on the network to predict potential associations. BRWLDA achieves reliable and better performance than other comparing methods not only on experiment verified associations, but also on the simulated experiments with masked associations. Case studies further demonstrate the feasibility of BRWLDA in identifying new lncRNA-disease associations.

NegGOA: negative GO annotations selection using ontology structure.

MOTIVATION: Predicting the biological functions of proteins is one of the key challenges in the post-genomic era. Computational models have demonstrated the utility of applying machine learning methods to predict protein function. Most prediction methods explicitly require a set of negative examples-proteins that are known not carrying out a particular function. However, Gene Ontology (GO) almost always only provides the knowledge that proteins carry out a particular function, and functional annotations of proteins are incomplete. GO structurally organizes more than tens of thousands GO terms and a protein is annotated with several (or dozens) of these terms. For these reasons, the negative examples of a protein can greatly help distinguishing true positive examples of the protein from such a large candidate GO space. RESULTS: In this paper, we present a novel approach (called NegGOA) to select negative examples. Specifically, NegGOA takes advantage of the ontology structure, available annotations and potentiality of additional annotations of a protein to choose negative examples of the protein. We compare NegGOA with other negative examples selection algorithms and find that NegGOA produces much fewer false negatives than them. We incorporate the selected negative examples into an efficient function prediction model to predict the functions of proteins in Yeast, Human, Mouse and Fly. NegGOA also demonstrates improved accuracy than these comparing algorithms across various evaluation metrics. In addition, NegGOA is less suffered from incomplete annotations of proteins than these comparing methods. AVAILABILITY AND IMPLEMENTATION: The Matlab and R codes are available at https://sites.google.com/site/guoxian85/neggoa CONTACT: gxyu@swu.edu.cn SUPPLEMENTARY INFORMATION: Supplementary data are available at Bioinformatics online.

Predicting Protein Function via Semantic Integration of Multiple Networks.

Determining the biological functions of proteins is one of the key challenges in the post-genomic era. The rapidly accumulated large volumes of proteomic and genomic data drives to develop computational models for automatically predicting protein function in large scale. Recent approaches focus on integrating multiple heterogeneous data sources and they often get better results than methods that use single data source alone. In this paper, we investigate how to integrate multiple biological data sources with the biological knowledge, i.e., Gene Ontology (GO), for protein function prediction. We propose a method, called SimNet, to Semantically integrate multiple functional association Networks derived from heterogenous data sources. SimNet firstly utilizes GO annotations of proteins to capture the semantic similarity between proteins and introduces a semantic kernel based on the similarity. Next, SimNet constructs a composite network, obtained as a weighted summation of individual networks, and aligns the network with the kernel to get the weights assigned to individual networks. Then, it applies a network-based classifier on the composite network to predict protein function. Experiment results on heterogenous proteomic data sources of Yeast, Human, Mouse, and Fly show that, SimNet not only achieves better (or comparable) results than other related competitive approaches, but also takes much less time. The Matlab codes of SimNet are available at https://sites.google.com/site/guoxian85/simnet.

Interspecies gene function prediction using semantic similarity.

BACKGROUND: Gene Ontology (GO) is a collaborative project that maintains and develops controlled vocabulary (or terms) to describe the molecular function, biological roles and cellular location of gene products in a hierarchical ontology. GO also provides GO annotations that associate genes with GO terms. GO consortium independently and collaboratively annotate terms to gene products, mainly from model organisms (or species) they are interested in. Due to experiment ethics, research interests of biologists and resources limitations, homologous genes from different species currently are annotated with different terms. These differences can be more attributed to incomplete annotations of genes than to functional difference between them. RESULTS: Semantic similarity between genes is derived from GO hierarchy and annotations of genes. It is positively correlated with the similarity derived from various types of biological data and has been applied to predict gene function. In this paper, we investigate whether it is possible to replenish annotations of incompletely annotated genes by using semantic similarity between genes from two species with homology. For this investigation, we utilize three representative semantic similarity metrics to compute similarity between genes from two species. Next, we determine the k nearest neighborhood genes from the two species based on the chosen metric and then use terms annotated to k neighbors of a gene to replenish annotations of that gene. We perform experiments on archived (from Jan-2014 to Jan-2016) GO annotations of four species (Human, Mouse, Danio rerio and Arabidopsis thaliana) to assess the contribution of semantic similarity between genes from different species. The experimental results demonstrate that: (1) semantic similarity between genes from homologous species contributes much more on the improved accuracy (by 53.22%) than genes from single species alone, and genes from two species with low homology; (2) GO annotations of genes from homologous species are complementary to each other. CONCLUSIONS: Our study shows that semantic similarity based interspecies gene function annotation from homologous species is more prominent than traditional intraspecies approaches. This work can promote more research on semantic similarity based function prediction across species.