Improved Real-Time Monocular SLAM Using Semantic Segmentation on Selective Frames

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges leading inaccurate localization and mapping. First, it is challenging to estimate scales in localization and mapping. Second, conventional monocular SLAM uses inappropriate mapping factors such as dynamic objects and low-parallax areas in mapping. This paper proposes an improved real-time monocular SLAM that resolves the aforementioned challenges by efficiently using deep learning-based semantic segmentation. To achieve the real-time execution of the proposed method, we apply semantic segmentation only to downsampled keyframes in parallel with mapping processes. In addition, the proposed method corrects scales of camera poses and three-dimensional (3D) points, using estimated ground plane from road-labeled 3D points and the real camera height. The proposed method also removes inappropriate corner features labeled as moving objects and low parallax areas. Experiments with eight video sequences demonstrate that the proposed monocular SLAM system achieves significantly improved and comparable trajectory tracking accuracy, compared to existing state-of-the-art monocular and stereo SLAM systems, respectively. The proposed system can achieve real-time tracking on a standard CPU potentially with a standard GPU support, whereas existing segmentation-aided monocular SLAM does not

Improving Neural Radiance Field using Near-Surface Sampling with Point Cloud Generation

Neural radiance field (NeRF) is an emerging view synthesis method that samples points in a three-dimensional (3D) space and estimates their existence and color probabilities. The disadvantage of NeRF is that it requires a long training time since it samples many 3D points. In addition, if one samples points from occluded regions or in the space where an object is unlikely to exist, the rendering quality of NeRF can be degraded. These issues can be solved by estimating the geometry of 3D scene. This paper proposes a near-surface sampling framework to improve the rendering quality of NeRF. To this end, the proposed method estimates the surface of a 3D object using depth images of the training set and sampling is performed around there only. To obtain depth information on a novel view, the paper proposes a 3D point cloud generation method and a simple refining method for projected depth from a point cloud. Experimental results show that the proposed near-surface sampling NeRF framework can significantly improve the rendering quality, compared to the original NeRF and a state-of-the-art depth-based NeRF method. In addition, one can significantly accelerate the training time of a NeRF model with the proposed near-surface sampling framework.Comment: 13 figures, 2 table

High-Temperature Corrosion Behaviors of Structural Materials for Lead-Alloy-Cooled Fast Reactor Application

The corrosion of nuclear-grade steels in lead-bismuth eutectic (LBE) complicates the realization of high coolant temperatures. Corrosion tests of T91, HT9, and SS316L were performed in static cells at 600 degrees C for 2000 h at an oxygen level of 10(-6) wt.%. The obtained corrosion surfaces of post-processed samples were characterized by several microscopy methods. Up to 1000 h, all the alloys exhibited an evolution of duplex oxide layers, which were spalled until 2000 h due to their increased thickness and decreased integrity. Following the spallation, a thin internal Cr-rich oxide layer was formed above the Cr-depleted zone for T91 and HT9. SS316L was penetrated by LBE down to 300 mu m in severe cases. A comparison on the corrosion depths of the materials with regard to the parabolic oxidation law with abundant literature data suggests that it may lose its validity once the duplex layer is destroyed as it allows LBE to penetrate the metal substrate

Effects of Chung-Pae Inhalation Therapy on a Mouse Model of Chronic Obstructive Pulmonary Disease

Chung-pae (CP) inhalation therapy is a method frequently used in Korea to treat lung disease, especially chronic obstructive pulmonary disease (COPD). This study investigated the effects of CP inhalation on a COPD animal model. C57BL/6 mice received porcine pancreatic elastase (PPE) and lipopolysaccharide (LPS) alternately three times for 3 weeks to induce COPD. Then, CP (5 or 20 mg/kg) was administered every 2 h after the final LPS administration. The effect of CP was evaluated by bronchoalveolar lavage (BAL) fluid analysis, histological analysis of lung tissue, and reverse transcription polymerase chain reaction analysis of mRNA of interleukin- (IL-) 1β, tumor necrosis factor- (TNF-) α, IL-6, and tumor growth factor- (TGF-) β. Intratracheal CP administration reduced the number of leukocytes and neutrophils in BAL fluid, inhibited the histological appearance of lung damage, and decreased the mRNA levels of the proinflammatory cytokines IL-1β, TNF-α, IL-6, and TGF-β. Intratracheal CP administration effectively decreased the chronic inflammation and pathological changes in a PPE- and LPS-induced COPD mouse model. Therefore, we suggest that CP is a promising strategy for COPD

Subchronic oral toxicity of silver nanoparticles

<p>Abstract</p> <p>Background</p> <p>The antibacterial effect of silver nanoparticles has resulted in their extensive application in health, electronic, consumer, medicinal, pesticide, and home products; however, silver nanoparticles remain a controversial area of research with respect to their toxicity in biological and ecological systems.</p> <p>Results</p> <p>This study tested the oral toxicity of silver nanoparticles (56 nm) over a period of 13 weeks (90 days) in F344 rats following Organization for Economic Cooperation and Development (OECD) test guideline 408 and Good Laboratory Practices (GLP). Five-week-old rats, weighing about 99 g for the males and 92 g for the females, were divided into four 4 groups (10 rats in each group): vehicle control, low-dose (30 mg/kg), middle-dose (125 mg/kg), and high-dose (500 mg/kg). After 90 days of exposure, clinical chemistry, hematology, histopathology, and silver distribution were studied. There was a significant decrease (P < 0.05) in the body weight of male rats after 4 weeks of exposure, although there were no significant changes in food or water consumption during the study period. Significant dose-dependent changes were found in alkaline phosphatase and cholesterol for the male and female rats, indicating that exposure to more than 125 mg/kg of silver nanoparticles may result in slight liver damage. Histopathologic examination revealed a higher incidence of bile-duct hyperplasia, with or without necrosis, fibrosis, and/or pigmentation, in treated animals. There was also a dose-dependent accumulation of silver in all tissues examined. A gender-related difference in the accumulation of silver was noted in the kidneys, with a twofold increase in female kidneys compared to male kidneys.</p> <p>Conclusions</p> <p>The target organ for the silver nanoparticles was found to be the liver in both the male and female rats. A NOAEL (no observable adverse effect level) of 30 mg/kg and LOAEL (lowest observable adverse effect level) of 125 mg/kg are suggested from the present study.</p

Development of Barley Cultivars for Animal Forage in Korea

In Korea, the domestic consumption of barley as a cereal crop has been decreasing since the 1980s. It has been considered that crop production in the winter-season rice fields could enhance the global competitiveness of domestic livestock industry by providing better quality fodder to livestock and enhancing field use rate. Therefore, the purpose of barley cultivation for cereal food production has been recently replaced by the production of the barley for forage use. Consequently, the area of barley cultivation for forage is markedly increasing in Korea. While any type of barley can be used as forage for feeding cattle, whole crop barley delivers a higher dry matter yield than conventional feed barley. This paper described the present state of forage barley cultivars developed in Korea