3D Hierarchical Refinement and Augmentation for Unsupervised Learning of Depth and Pose from Monocular Video

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video. A novel unsupervised training framework is proposed with 3D hierarchical refinement and augmentation using explicit 3D geometry. In this framework, the depth and pose estimations are hierarchically and mutually coupled to refine the estimated pose layer by layer. The intermediate view image is proposed and synthesized by warping the pixels in an image with the estimated depth and coarse pose. Then, the residual pose transformation can be estimated from the new view image and the image of the adjacent frame to refine the coarse pose. The iterative refinement is implemented in a differentiable manner in this paper, making the whole framework optimized uniformly. Meanwhile, a new image augmentation method is proposed for the pose estimation by synthesizing a new view image, which creatively augments the pose in 3D space but gets a new augmented 2D image. The experiments on KITTI demonstrate that our depth estimation achieves state-of-the-art performance and even surpasses recent approaches that utilize other auxiliary tasks. Our visual odometry outperforms all recent unsupervised monocular learning-based methods and achieves competitive performance to the geometry-based method, ORB-SLAM2 with back-end optimization.Comment: 10 pages, 7 figures, under revie

A Microbiome-Based Index for Assessing Skin Health and Treatment Effects for Atopic Dermatitis in Children.

A quantitative and objective indicator for skin health via the microbiome is of great interest for personalized skin care, but differences among skin sites and across human populations can make this goal challenging. A three-city (two Chinese and one American) comparison of skin microbiota from atopic dermatitis (AD) and healthy pediatric cohorts revealed that, although city has the greatest effect size (the skin microbiome can predict the originated city with near 100% accuracy), a microbial index of skin health (MiSH) based on 25 bacterial genera can diagnose AD with 83 to ∼95% accuracy within each city and 86.4% accuracy across cities (area under the concentration-time curve [AUC], 0.90). Moreover, nonlesional skin sites across the bodies of AD-active children (which include shank, arm, popliteal fossa, elbow, antecubital fossa, knee, neck, and axilla) harbor a distinct but lesional state-like microbiome that features relative enrichment of Staphylococcus aureus over healthy individuals, confirming the extension of microbiome dysbiosis across body surface in AD patients. Intriguingly, pretreatment MiSH classifies children with identical AD clinical symptoms into two host types with distinct microbial diversity and treatment effects of corticosteroid therapy. These findings suggest that MiSH has the potential to diagnose AD, assess risk-prone state of skin, and predict treatment response in children across human populations.IMPORTANCE MiSH, which is based on the skin microbiome, can quantitatively assess pediatric skin health across cohorts from distinct countries over large geographic distances. Moreover, the index can identify a risk-prone skin state and compare treatment effect in children, suggesting applications in diagnosis and patient stratification

Recent advances in luminescence and lasing research in ZBYA glass

In the last few decades, fluoride glasses have attracted a growing interest due to their unique advantages compared to multi-component oxide glasses. Among them, the most studied and widely used were fluorozirconate glasses, represented by ZrF4–BaF2–LaF3–AlF3–NaF (ZBLAN) glasses. However, compared with ZBLAN glasses, a kind of fluorozirconate glass with the components ZrF4–BaF2–YF3–AlF3 (ZBYA) has higher thermal and chemical stability. In this paper, we first introduce the advantages of ZBYA glasses compared to ZBLAN glasses. Then we review and discuss recent advances in research on luminescence and lasing in ZBYA glass and fiber. These studies suggest that ZBYA glass has strong potential for use as a gain medium material in high power mid-infrared fiber lasers

Polymeric 2,6-bis(benzimidazol-2-yl)pyridine -RuCl3 complex as a catalyst for the aerobic oxidative self-condensation of amines to imines

A polymer ruthenium complex pbbp-RuCl3 has been easily synthesized from the direct coordination of RuCl3 with polymer constituted by tridentate 2,6-bis(benzimidazol-2-yl)pyridine unit (pbbp). As a heterogeneous catalyst, pbbp-RuCl3 showed high efficiency in aerobic oxidative self-condensation of primary amines to imines. This heterogeneous catalyst can be easily recovered and exhibits good reusability in the reaction

A microbiome-based index for assessing skin health and treatment effects for atopic dermatitis in children

A quantitative and objective indicator for skin health via the microbiome is of great interest for personalized skin care, but differences among skin sites and across human populations can make this goal challenging. A three-city (two Chinese and one American) comparison of skin microbiota from atopic dermatitis (AD) and healthy pediatric cohorts revealed that, although city has the greatest effect size (the skin microbiome can predict the originated city with near 100% accuracy), a microbial index of skin health (MiSH) based on 25 bacterial genera can diagnose AD with 83 to similar to 95% accuracy within each city and 86.4% accuracy across cities (area under the concentration-time curve [AUC], 0.90). Moreover, nonlesional skin sites across the bodies of AD-active children (which include shank, arm, popliteal fossa, elbow, antecubital fossa, knee, neck, and axilla) harbor a distinct but lesional state-like microbiome that features relative enrichment of Staphylococcus aureus over healthy individuals, confirming the extension of microbiome dysbiosis across body surface in AD patients. Intriguingly, pretreatment MiSH classifies children with identical AD clinical symptoms into two host types with distinct microbial diversity and treatment effects of corticosteroid therapy. These findings suggest that MiSH has the potential to diagnose AD, assess risk-prone state of skin, and predict treatment response in children across human populations. IMPORTANCE MiSH, which is based on the skin microbiome, can quantitatively assess pediatric skin health across cohorts from distinct countries over large geographic distances. Moreover, the index can identify a risk-prone skin state and compare treatment effect in children, suggesting applications in diagnosis and patient stratification

Bayesian multimodel estimation of global terrestrial latent heat flux from eddy covariance, meteorological, and satellite observations

Accurate estimation of the satellite-based global terrestrial latent heat flux (LE) at high spatial and temporal scales remains a major challenge. In this study, we introduce a Bayesian model averaging (BMA) method to improve satellite-based global terrestrial LE estimation by merging five process-based algorithms. These are the Moderate Resolution Imaging Spectroradiometer (MODIS) LE product algorithm, the revised remote-sensing-based Penman-Monteith LE algorithm, the Priestley-Taylor-based LE algorithm, the modified satellite-based Priestley-Taylor LE algorithm, and the semi-empirical Penman LE algorithm. We validated the BMA method using data for 2000–2009 and by comparison with a simple model averaging (SA) method and five process-based algorithms. Validation data were collected for 240 globally distributed eddy covariance tower sites provided by FLUXNET projects. The validation results demonstrate that the five process-based algorithms used have variable uncertainty and the BMA method enhances the daily LE estimates, with smaller root mean square errors (RMSEs) than the SA method and the individual algorithms driven by tower-specific meteorology and Modern Era Retrospective Analysis for Research and Applications (MERRA) meteorological data provided by the NASA Global Modeling and Assimilation Office (GMAO), respectively. The average RMSE for the BMA method driven by daily tower-specific meteorology decreased by more than 5 W/m2 for crop and grass sites, and by more than 6 W/m2 for forest, shrub, and savanna sites. The average coefficients of determination (R2) increased by approximately 0.05 for most sites. To test the BMA method for regional mapping, we applied it for MODIS data and GMAO-MERRA meteorology to map annual global terrestrial LE averaged over 2001–2004 for spatial resolution of 0.05°. The BMA method provides a basis for generating a long-term global terrestrial LE product for characterizing global energy, hydrological, and carbon cycles

Native circulating Brucella melitensis lineages causing a brucellosis epidemic in Qinghai, China

Since 2010, the cases and incidences of human brucellosis have been increasing annually in Qinghai (QH) Province. Molecular epidemiology and phylogenetic analyses of strains from this region are crucial to better understand the transmission of the disease and the evolutionary patterns of Brucella strains. In this study, classical bio-typing assay, multilocus variable-number tandem repeat analysis, and the whole-genome sequencing–single-nucleotide polymorphism approach were used to illustrate the epidemiological and evolutionary patterns of Brucella melitensis. A total of 54 B. melitensis bv. 3 strains were isolated and molecularly characterized, with all strains belonging to the East Mediterranean lineages. Cross-regional transmission events (i.e., between counties) were caused by common sources of infection, suggesting that predominant circulating genotypes are endemic in different regions. Strengthening surveillance in animal brucellosis and controlling infected animals’ cross-border movement are necessary. Two strains isolated from humans and marmots were clustered in the same sub-clade, implying the possible existence of direct and/or indirect contact between sheep (and goats) and wildlife (marmots), but this needs to be verified by further investigations. The global-scale phylogenetic analysis indicated that 54 strains sorted into six subclades, four of which formed independent lineages, suggesting that the increase in the incidence rate of human brucellosis may be caused by local circulating lineages. Further strengthening the serology and pathogen surveillance of animals (wildlife) and humans will contribute to an in-depth understanding of the transmission chain of human brucellosis in this region

Climate control of terrestrial carbon exchange across biomes and continents

Peer reviewe