Lidar with Velocity: Correcting Moving Objects Point Cloud Distortion from Oscillating Scanning Lidars by Fusion with Camera

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating moving object velocity would not only provide a tracking capability but also correct the point cloud distortion with more accurate description of the moving object. Since lidar measures the time-of-flight distance but with a sparse angular resolution, the measurement is precise in the radial measurement but lacks angularly. Camera on the other hand provides a dense angular resolution. In this paper, Gaussian-based lidar and camera fusion is proposed to estimate the full velocity and correct the lidar distortion. A probabilistic Kalman-filter framework is provided to track the moving objects, estimate their velocities and simultaneously correct the point clouds distortions. The framework is evaluated on real road data and the fusion method outperforms the traditional ICP-based and point-cloud only method. The complete working framework is open-sourced (https://github.com/ISEE-Technology/lidar-with-velocity) to accelerate the adoption of the emerging lidars

Targeting VCP potentiates immune checkpoint therapy for colorectal cancer

Summary: Immune checkpoint blockade therapies are still ineffective for most patients with colorectal cancer (CRC). Immunogenic cell death (ICD) enables the release of key immunostimulatory signals to drive efficient anti-tumor immunity, which could be used to potentiate the effects of immune checkpoint inhibitors. Here, we showed that inhibition of valosin-containing protein (VCP) elicits ICD in CRC. Meanwhile, VCP inhibitor upregulates PD-L1 expression and compromises anti-tumor immunity in vivo. Mechanistically, VCP transcriptionally regulates PD-L1 expression in a JAK1-dependent manner. Combining VCP inhibitor with anti-PD1 remodels tumor immune microenvironment and reduces tumor growth in mouse models of CRC. Addition of oncolytic virus further augments the therapeutic activity of the combination regimen. Our study shows the molecular mechanism for regulating PD-L1 expression by VCP and suggests that inhibition of VCP has the potential to increase the efficacy of immunotherapy in CRC