The perspective rays used for object pose.

<p>The perspective rays used for object pose.</p

A mapping between reference plane and image plane.

<p>The intersection points of dotted lines in plane ABCD corresponds to the ones in plane abcd.</p

Geometrization of the IRT.

<p>Geometrization of the IRT.</p

An imaging model of the perspective rays.

<p>It includes a perspective projection and a scaled orthographic projection.</p

Captured images at six positions.

<p>Captured images at six positions.</p

A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration

<div><p>Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI), an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF) motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment.</p></div

The RMSE of the PnP algorithms.

<p>^ary is rotation in yaw direction,</p><p>^brp is rotation in pitch direction,</p><p>^crr is rotation in roll direction,</p><p>^dtx is translation in x direction,</p><p>^ety is translation in y direction, and</p><p>^ftz is translation in z direction.</p><p>The RMSE of the PnP algorithms.</p

An incident ray passing through an imaging system which is absorbed by detector elements (pixel).

<p>An incident ray passing through an imaging system which is absorbed by detector elements (pixel).</p

Image_1_OCT4 and SOX2 Specific Cytotoxic T Cells Exhibit Not Only Good Efficiency but Also Synergize PD-1 Inhibitor (Nivolumab) in Treating Breast Cancer Stem-Like Cells and Drug-Resistant Breast Cancer Mice.tif

PurposeThis study aimed to investigate the effect of OCT4&SOX2 specific cytotoxic T lymphocytes (CTLs) plus programmed cell death protein-1 (PD-1) inhibitor (nivolumab) on treating breast cancer stem-like cells (BCSCs) in vitro and drug-resistance breast cancer (DRBC) mice in vivo.MethodsIn total, 160 breast cancer patients were enrolled following the immunofluorescence assay to detect tumor OCT4 and SOX2 expressions. CD154-activated B cells were co-cultured with CD8+ T cells (from breast cancer patients) in the presence of OCT4&SOX2 peptides, CMV pp65 peptides (negative control), and no peptides (normal control). MCF7-BCSCs were constructed by drug-resistance experiment and sphere-formation assay, then DRBC mice were constructed by planting MCF7-BCSCs. Subsequently, different doses of OCT4&SOX2 CTLs and PD-1 inhibitor (nivolumab) were used to treat MCF7-BCSCs and DRBC mice.ResultsOCT4 and SOX2 correlated with poor differentiation, more advanced stage, and worse prognosis in breast cancer patients. In vitro, OCT4&SOX2 CTLs with effector-target ratio (ETR) 5:1, 10:1 and 20:1 presented with increased cytotoxic activity compared to CMV pp65 CTLs with ETR 20:1 (negative control) and Control CTLs with ETR 20:1 (normal control) on killing MCF7-BCSCs. Besides, PD-1 inhibitor (nivolumab) improved the cytotoxic activity of OCT4&SOX2 CTLs against MCF7-BCSCs in a dose-dependent manner. In vivo, OCT4&SOX2 CTLs plus PD-1 inhibitor (nivolumab) decreased tumor volume and tumor weight while increased tumor apoptosis rate compared to OCT4&SOX2 CTLs alone, PD-1 inhibitor (nivolumab) alone, and control.ConclusionOCT4&SOX2 CTLs exhibit good efficiency and synergize PD-1 inhibitor (nivolumab) in treating BCSCs and DRBC.</p

Pose estimation error distribution.

<p>Pose estimation error distribution.</p