A comparison of uncertainty estimation approaches for DNN-based camera localization

Camera localization, i.e., camera pose regression, represents a very important task in computer vision, since it has many practical applications, such as autonomous driving. A reliable estimation of the uncertainties in camera localization is also important, as it would allow to intercept localization failures, which would be dangerous. Even though the literature presents some uncertainty estimation methods, to the best of our knowledge their effectiveness has not been thoroughly examined. This work compares the performances of three consolidated epistemic uncertainty estimation methods: Monte Carlo Dropout (MCD), Deep Ensemble (DE), and Deep Evidential Regression (DER), in the specific context of camera localization. We exploited CMRNet, a DNN approach for multi-modal image to LiDAR map registration, by modifying its internal configuration to allow for an extensive experimental activity with the three methods on the KITTI dataset. Particularly significant has been the application of DER. We achieve accurate camera localization and a calibrated uncertainty, to the point that some method can be used for detecting localization failures

CEUS Retrograde Cystography Is Helpful in Percutaneous Drainage of Complex Posttransplant Lymphocele

After monolateral dual kidney transplantation, a 69 years old male patient developed symptomatic lymphocele with mild hydroureteronephrosis, impaired renal function, and right inferior limb oedema. A percutaneous ultrasound-guided drainage of the fluid collection was planned, but the complex mutual relations between the collection and the renal hilus did not allow to identify a suitable route for a safe drainage insertion during conventional ultrasound examination. A retrograde cystography using echographic contrast agent was, therefore, performed, and it clarified the position of both ureters and the renal vessels, permitting an harmless ultrasound-guided percutaneous lymphocele drainage. In conclusion contrast-enhanced ultrasound retrograde cystography may be helpful in percutaneous drainage of complex posttransplant lymphocele

The ‘Hidden Foods’ project: new research into the role of plant foods in Palaeolithic and Mesolithic societies of South-east Europe and Italy

The ‘Hidden Foods’ project is a new research programme aimed at reconstructing the importance of plant foods in prehistoric forager subsistence in Southern Europe, with a particular focus on Italy and the Balkans. The role of plant foods in pre-agrarian societies remains one of the major issues of world prehistory. Popular narratives still envisage ancient foragers as primarily ‘meat-eaters’, mainly as a consequence of the poor preservation of plant remains in early prehistoric contexts, and due to the employment of methods particularly focused on the contribution of animal protein to human diet (e.g. isotope analysis) (e.g. Bocherens 2009; Jones 2009; Richards 2009). Recently, new methods applied to archaeological evidence have provided a different understanding of hunter-gatherer dietary preference and interaction with the environment. Harvesting and processing might not have been the sole prerogative of agricultural societies, and plant foods seem to have played an important role amongst hunter-gatherers (e.g. Revedin et al. 2010

Plasma-mediated radiofrequency ablation followed by percutaneous cementoplasty under fluoro-CT guidance: a case report

We report a case of a 81-year-old Caucasian man with colorectal carcinoma, treated by surgery in 1998, referred for palliative treatment of a refractory painful caused by osteolytic metastases of 2.5 cm in back-upper ilium spine. Plasma-mediated radiofrequency ablation was performed under conscious sedation, using Fluoroscopic Computer Tomography guidance. After completing the ablation phase of the procedure, a mixture of bone cement and Biotrace sterile barium sulfate was injected into the ablated cavity

Ablation of painful metastatic bone tumors: A systematic review

AbstractThe pain is the most common problem in patients with bone metastases. It is not related to the characteristics of the tumor (type, location, number or size of metastases). Currently, the bone metastases can be treated with chemotherapy, hormonal therapy, surgery and radiotherapy, but the drugs most used in the treatment of pain are opioids. These drugs give benefit between 8 and 12weeks and often give non-negligible toxic effects. Percutaneous techniques are varied and, when there is indication, can be used to reduce pain and dose of morphine in these patients, being safe and effective techniques already at 4weeks of treatment.The choice of a methodical of ablation compared to another depends on the type, size and location of the lesion. Moreover, the combined treatments of ablation and cementoplastic are also useful to stabilize the bone lesion.This review article analyzes techniques and effectiveness of percutaneous treatments of skeletal metastases

Liposome-induced exfoliation of graphite to few-layer graphene dispersion with antibacterial activity

Liposome-induced exfoliation of graphite allowed to obtain few-layer graphene homogeneous in size and hydrophilic due to the non-covalent functionalization with phospholipids. The corresponding dispersions are stable for 48 h and demonstrate antimicrobial activity

Mobilization in early rehabilitation in intensive care unit patients with severe acquired brain injury: An observational study.

Objective: To determine whether early mobilization of patients with severe acquired brain injury, performed in the intensive/neurointensive care unit, influences functional outcome. Design: Prospective observational study. Setting: Fourteen centres in Italy. Subjects: A total of 103 consecutive patients with acquired brain injury. Methods: Clinical, neurological and functional data, including the Glasgow Coma Scale (GCS), Disability Rating Scale (DRS), the Rancho Los Amigos Levels of Cognitive Functioning (LCF), Early Rehabilitation Barthel Index (ERBI), Glasgow Outcome Scale (GOS), and Functional Independence Measure (FIM) were collected at admission and every 3–5 days until discharge from the intensive/neurointensive care unit. Patients were divided into mobilization and no mobilization groups, depending on whether they received mobilization. Data were analysed by intragroup and intergroup analysis using a multilevel regression model. Results: Sixty-eight patients were included in the mobilization group. At discharge, both groups showed significant improvements in GCS, DRS, LCF and ERBI scores. The mobilization group showed significantly better improvements in FIM cognitive, GOS and ERBI. The patients in the mobilization group stayed longer in the intensive care unit (p = 0.01) and were more likely to be discharged to intensive rehabilitation at a significantly higher rate (p = 0.002) than patients in the no mobilization group. No adverse events were reported in either group. Conclusion: Early mobilization appears to favour the clinical and functional recovery of patients with severe acquired brain injury in the intensive care unit