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Rajesh Vedanthan

Publications and source records attributed to Rajesh Vedanthan.

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Semiparametric Bayesian inference for causal mediation in cluster randomized trials

Cluster randomized trials (CRTs) are frequently used to evaluate interventions, yet conducting causal mediation analysis in these settings remains challenging, particularly when the mediator is measured at the cluster level and the number of clusters is small. Standard inference methods often rely on asymptotic assumptions that fail in finite-sample settings, leading to biased variance estimation and invalid confidence intervals. In this paper, we propose a robust inference framework for causal mediation analysis in CRTs. We utilize parametric Bayesian models for the outcome and mediator to ensure computational efficiency and interpretability. Crucially, to quantify uncertainty, we specify a novel similarity-weighted Bayesian bootstrap (SWBB) with a `distance' metric between clusters; this avoids the need for restrictive parametric assumptions and allows the model to borrow more information from `closer' clusters. By combining observed data models with causal assumptions, our approach accurately estimates natural direct and indirect effects even with limited clusters. Simulation studies demonstrate that our method achieves nominal coverage probability across diverse scenarios. We illustrate the practical utility of our approach by assessing mediation in a CRT in Kenya.

stat.ME

UNav: An Infrastructure-Independent Vision-Based Navigation System for People with Blindness and Low vision

Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed sensor infrastructure, which is costly, time-consuming, and/or often infeasible at scale. Herein, we propose a novel vision-based localization pipeline for a specific use case: navigation support for end-users with blindness and low vision. Given a query image taken by an end-user on a mobile application, the pipeline leverages a visual place recognition (VPR) algorithm to find similar images in a reference image database of the target space. The geolocations of these similar images are utilized in downstream tasks that employ a weighted-average method to estimate the end-user's location and a perspective-n-point (PnP) algorithm to estimate the end-user's direction. Additionally, this system implements Dijkstra's algorithm to calculate a shortest path based on a navigable map that includes trip origin and destination. The topometric map used for localization and navigation is built using a customized graphical user interface that projects a 3D reconstructed sparse map, built from a sequence of images, to the corresponding a priori 2D floor plan. Sequential images used for map construction can be collected in a pre-mapping step or scavenged through public databases/citizen science. The end-to-end system can be installed on any internet-accessible device with a camera that hosts a custom mobile application. For evaluation purposes, mapping and localization were tested in a complex hospital environment. The evaluation results demonstrate that our system can achieve localization with an average error of less than 1 meter without knowledge of the camera's intrinsic parameters, such as focal length.

cs.CV