DSP-SLAM: object oriented SLAM with deep shape priors

We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud reconstructed by a feature-based SLAM system and equips it with the ability to enhance its sparse map with dense reconstructions of detected objects. Objects are detected via semantic instance segmentation, and their shape and pose is estimated using category-specific deep shape embeddings as priors, via a novel second order optimization. Our object-aware bundle adjustment builds a pose-graph to jointly optimize camera poses, object locations and feature points. DSP-SLAM can operate at 10 frames per second on 3 different input modalities: monocular, stereo, or stereo+LiDAR. We demonstrate DSP-SLAM operating at almost frame rate on monocular-RGB sequences from the Freiburg and Redwood-OS datasets, and on stereo+LiDAR sequences on the KITTI odometry dataset showing that it achieves high-quality full object reconstructions, even from partial observations, while maintaining a consistent global map. Our evaluation shows improvements in object pose and shape reconstruction with respect to recent deep prior-based reconstruction methods and reductions in camera tracking drift on the KITTI dataset

{SelfPose}: {3D} Egocentric Pose Estimation from a Headset Mounted Camera

We present a solution to egocentric 3D body pose estimation from monocular images captured from downward looking fish-eye cameras installed on the rim of a head mounted VR device. This unusual viewpoint leads to images with unique visual appearance, with severe self-occlusions and perspective distortions that result in drastic differences in resolution between lower and upper body. We propose an encoder-decoder architecture with a novel multi-branch decoder designed to account for the varying uncertainty in 2D predictions. The quantitative evaluation, on synthetic and real-world datasets, shows that our strategy leads to substantial improvements in accuracy over state of the art egocentric approaches. To tackle the lack of labelled data we also introduced a large photo-realistic synthetic dataset. xR-EgoPose offers high quality renderings of people with diverse skintones, body shapes and clothing, performing a range of actions. Our experiments show that the high variability in our new synthetic training corpus leads to good generalization to real world footage and to state of theart results on real world datasets with ground truth. Moreover, an evaluation on the Human3.6M benchmark shows that the performance of our method is on par with top performing approaches on the more classic problem of 3D human pose from a third person viewpoint.Comment: 14 pages. arXiv admin note: substantial text overlap with arXiv:1907.1004

Encerramento Percutâneo de Comunicação Interauricular Residual por Falência de Dispositivo

A 39-year-old woman underwent uneventful percutaneous occlusion of an ostium secundum atrial septal defect (ASD) with a 22 mm Ultrasept ASD Occluder®. Transesophageal echocardiography (TEE) performed two years after implantation revealed a de novo residual left-to-right shunt through the correctly implanted device. Three-dimensional transesophageal echocardiography (3D TEE) further clarified this finding by showing a perforation of the device membrane coating. The patient underwent transcatheter closure of the residual shunt with a 20 mm Ultrasept PFO®device. The procedure was guided by fluoroscopy and real-time 3D TEE. At the end of the procedure 3D TEE documented correct device deployment with complete defect coverage and absence of residual shunt.info:eu-repo/semantics/publishedVersio

Emerging from the ‘worst’: An ethnography of the modern Filipino commuting culture behind the Metro Manila traffic crisis

Metropolitan Manila has become the world’s ‘worst’ in terms of its traffic scenarios and such crisis left an impact to the commuters which has led to the emergence of the modern Filipino commuting culture. The ethnography utilized covert participant observation in which the researchers immersed themselves in the culture and experience the activities of the commuting culture. They also conducted personal and synchronous interview to the participants involved. The findings of the study are summarized through five emergent themes which represent the roots of the culture’s existence, the commuters’ preferences on public transit modes, the features of Metro Manila commuting experiences, the coping mechanisms and adjustments done by commuters, and the desires and decisions for commuting experiences, respectively. Also, the mentioned culture reflected the Filipino values such as patience, crab mentality, and the misused value of resilience. The findings ended with a concrete recommendation to establish an Internet-based platform for Metro Manila commuters and a summary report intended for public transport stakeholders and public officials

Exportation of MDR TB to europe from setting with actively transmitted persistent strains in peru

We performed a cross-border molecular epidemiology analysis of multidrug-resistant tuberculosis in Peru, Spain, and Italy. This analysis revealed frequent transmission in Peru and exportation of a strain that recreated similar levels of transmission in Europe during 2007–2017. Transnational efforts are needed to control transmission of multidrug-resistant tuberculosis globally

Uhl's Disease: an Uncommon Presentation of a Rare Disease

Uhl's disease, also known as Uhl anomaly, is a rare disease secondary to selective but uncontrolled apoptosis of right ventricular myocytes during the perinatal period, after complete cardiac development, leading to the absence of right ventricular myocardium and the direct apposition of endocardium to epicardium without a myocardial layer in between, resulting in right ventricular failure. The present paper describes a case of Uhl's disease with an uncommon presentation. A 28-year-old man was admitted with dyspnea and cyanosis. Transthoracic echocardiography showed severe dilation of the right chambers, impaired right ventricular systolic function and a large ostium secundum atrial septal defect (ASD). Cardiac catheterization revealed pulmonary hypertension, with increased pulmonary capillary wedge pressure (mean 19mmHg) and Qp:QS 0.88:1. At this point, the authors considered that a main diagnosis of ASD could not explain the clinical features and hemodynamic data. A primary disease of the right ventricle was the most likely hypothesis and cardiac magnetic resonance imaging was performed, which demonstrated an extremely thin-walled right ventricle, with almost complete absence of right ventricular free wall myocardium, compatible with Uhl's disease.info:eu-repo/semantics/publishedVersio

Data processing on simulated data for SHARK-NIR

A robust post processing technique is mandatory to analyse the coronagraphic high contrast imaging data. Angular Differential Imaging (ADI) and Principal Component Analysis (PCA) are the most used approaches to suppress the quasi-static structure in the Point Spread Function (PSF) in order to revealing planets at different separations from the host star. The focus of this work is to apply these two data reduction techniques to obtain the best limit detection for each coronagraphic setting that has been simulated for the SHARK-NIR, a coronagraphic camera that will be implemented at the Large Binocular Telescope (LBT). We investigated different seeing conditions ($0.4"-1"$) for stellar magnitude ranging from R=6 to R=14, with particular care in finding the best compromise between quasi-static speckle subtraction and planet detection.Comment: 9 pages, 8 figures, proceeding for the fifth Adaptive Optics for Extremely Large Telescopes (AO4ELT5) meeting in 201

Properties of Graphene: A Theoretical Perspective

In this review, we provide an in-depth description of the physics of monolayer and bilayer graphene from a theorist's perspective. We discuss the physical properties of graphene in an external magnetic field, reflecting the chiral nature of the quasiparticles near the Dirac point with a Landau level at zero energy. We address the unique integer quantum Hall effects, the role of electron correlations, and the recent observation of the fractional quantum Hall effect in the monolayer graphene. The quantum Hall effect in bilayer graphene is fundamentally different from that of a monolayer, reflecting the unique band structure of this system. The theory of transport in the absence of an external magnetic field is discussed in detail, along with the role of disorder studied in various theoretical models. We highlight the differences and similarities between monolayer and bilayer graphene, and focus on thermodynamic properties such as the compressibility, the plasmon spectra, the weak localization correction, quantum Hall effect, and optical properties. Confinement of electrons in graphene is nontrivial due to Klein tunneling. We review various theoretical and experimental studies of quantum confined structures made from graphene. The band structure of graphene nanoribbons and the role of the sublattice symmetry, edge geometry and the size of the nanoribbon on the electronic and magnetic properties are very active areas of research, and a detailed review of these topics is presented. Also, the effects of substrate interactions, adsorbed atoms, lattice defects and doping on the band structure of finite-sized graphene systems are discussed. We also include a brief description of graphane -- gapped material obtained from graphene by attaching hydrogen atoms to each carbon atom in the lattice.Comment: 189 pages. submitted in Advances in Physic

Identification of the Er1 resistence gene and RNase S-alleles in Malus prunifolia var. ringo rootstock

Woolly apple aphid (WAA; Eriosoma lanigerum Hausm.) is a major insect pest that has significant economic impact on apple growers worldwide. Modern breeding technologies rely on several molecular tools to help breeders select genetic determinants for traits of interest. Consequently, there is a need for specific markers linked to the genes of interest. Apple scions and rootstocks have an additional barrier to the introduction of pest resistance genes due to the presence of self-incompatibility S-RNase alleles. The genetic characterization and early identification of these alleles can amplify the contribution of a breeding program to the selection of resistant genitors that are as compatible as possible. In this study, we identified the Er1 gene involved in the resistance to WAA in Malus prunifolia var. ringo, also known as ‘Maruba Kaido’ rootstock, and we analyzed the inheritance pattern of the WAA resistance Er1 gene in a segregant population derived from Malus pumila ‘M.9’ and ‘Maruba Kaido’ rootstocks. The self-incompatibility of S-RNase alleles S6S26 of ‘Maruba Kaido’ were also identified along with their inheritance pattern. We also confirmed the identification of the S1S3 alleles in the ‘M.9’ rootstock. To the best of our knowledge, this is the first study to characterize WAA resistance and RNase S-alleles in ‘Maruba Kaido’. Furthermore, we discuss the potential use of the genetic markers for these genes and their potential impact on apple breeding programs