Exploiting Point-Wise Attention in 6D Object Pose Estimation Based on Bidirectional Prediction

Traditional geometric registration based estimation methods only exploit the CAD model implicitly, which leads to their dependence on observation quality and deficiency to occlusion. To address the problem,the paper proposes a bidirectional correspondence prediction network with a point-wise attention-aware mechanism. This network not only requires the model points to predict the correspondence but also explicitly models the geometric similarities between observations and the model prior. Our key insight is that the correlations between each model point and scene point provide essential information for learning point-pair matches. To further tackle the correlation noises brought by feature distribution divergence, we design a simple but effective pseudo-siamese network to improve feature homogeneity. Experimental results on the public datasets of LineMOD, YCB-Video, and Occ-LineMOD show that the proposed method achieves better performance than other state-of-the-art methods under the same evaluation criteria. Its robustness in estimating poses is greatly improved, especially in an environment with severe occlusions

Sequential Wnt Agonist then Antagonist Treatment Accelerates Tissue Repair and Minimizes Fibrosis

Tissue fibrosis compromises organ function and occurs as a potential long-term outcome in response to acute tissue injuries. Currently, lack of mechanistic understanding prevents effective prevention and treatment of the progression from acute injury to fibrosis. Here, we combined quantitative experimental studies with a mouse kidney injury model and a computational approach to determine how the physiological consequences are determined by the severity of ischemia injury, and to identify how to manipulate Wnt signaling to accelerate repair of ischemic tissue damage while minimizing fibrosis. The study reveals that Wnt-mediated memory of prior injury contributes to fibrosis progression, and ischemic preconditioning reduces the risk of death but increases the risk of fibrosis. Furthermore, we validated the prediction that sequential combination therapy of initial treatment with a Wnt agonist followed by treatment with a Wnt antagonist can reduce both the risk of death and fibrosis in response to acute injuries