ImPosing: Implicit Pose Encoding for Efficient Visual Localization

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been captured, using a set of geo-referenced images or a 3D scene representation. Our new localization paradigm, named Implicit Pose Encoding (ImPosing), embeds images and camera poses into a common latent representation with 2 separate neural networks, such that we can compute a similarity score for each image-pose pair. By evaluating candidates through the latent space in a hierarchical manner, the camera position and orientation are not directly regressed but incrementally refined. Very large environments force competitors to store gigabytes of map data, whereas our method is very compact independently of the reference database size. In this paper, we describe how to effectively optimize our learned modules, how to combine them to achieve real-time localization, and demonstrate results on diverse large scale scenarios that significantly outperform prior work in accuracy and computational efficiency.Comment: Accepted at WACV 202

CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for this representation. The proposed method enables to compute in real-time the precise position of a device using a single RGB camera, during its navigation. In contrast with previous work, we do not rely on pose regression or photometric alignment but rather use dense local features obtained through volumetric rendering which are specialized on the scene with a self-supervised objective. As a result, our algorithm is more accurate than competitors, able to operate in dynamic outdoor environments with changing lightning conditions and can be readily integrated in any volumetric neural renderer.Comment: Accepted to ICCV 202

Public engagement and collaboration for carbon dioxide removal: lessons from a project in the Dominican Republic

Despite an increase in literature on public perceptions of carbon dioxide removal (CDR), there remains a paucity of evidence describing the social and developmental processes involved in the implementation of projects in-situ. This research illustrates a case study documenting a planned research project for coastal enhanced weathering - a form of ocean alkalinity enhancement - in a remote, rural area of the Northwestern Dominican Republic, a Small Island Developing State particularly at risk from climate change impacts. This paper is a collaboration between the company responsible for the project (Vesta) and researchers located in the Dominican Republic and the United Kingdom, We draw upon two years’ worth of surveys, interviews, focus groups, group information sessions, and reflexive documentation by the Dominican Republic researchers, to present a first-hand account of local community responses to the planned research project and to coastal enhanced weathering and climate change more broadly. We discuss themes of climate vulnerability, justice, and adaptive capacity through the lens of the collaborative governance and social diffusion principles that the project was designed with. We also reflect on a program of outreach and participatory activities which was established to support community development in the areas surrounding the field trial site, as informed by exploration of community needs drawn from the research

The Global Ant Genomics Alliance (GAGA)

Peer reviewe

The SOPHIE search for northern extrasolar planets XIV. A temperate (Teq ~ 300 K) super-earth around the nearby star Gliese 411

Periodic radial velocity variations in the nearby M-dwarf star Gl 411 are reported, based on measurements with the SOPHIE spectrograph. Current data do not allow us to distinguish between a 12.95-day period and its one-day alias at 1.08 days, but favour the former slightly. The velocity variation has an amplitude of 1.6 m s−1, making this the lowest-amplitude signal detected with SOPHIE up to now. We have performed a detailed analysis of the significance of the signal and its origin, including extensive simulations with both uncorrelated and correlated noise, representing the signal induced by stellar activity. The signal is significantly detected, and the results from all tests point to its planetary origin. Additionally, the presence of an additional acceleration in the velocity time series is suggested by the current data. On the other hand, a previously reported signal with a period of 9.9 days, detected in HIRES velocities of this star, is not recovered in the SOPHIE data. An independent analysis of the HIRES dataset also fails to unveil the 9.9-day signal. If the 12.95-day period is the real one, the amplitude of the signal detected with SOPHIE implies the presence of a planet, called Gl 411 b, with a minimum mass of around three Earth masses, orbiting its star at a distance of 0.079 AU. The planet receives about 3.5 times the insolation received by Earth, which implies an equilibrium temperature between 256 and 350 K, and makes it too hot to be in the habitable zone. At a distance of only 2.5 pc, Gl 411 b, is the third closest low-mass planet detected to date. Its proximity to Earth will permit probing its atmosphere with a combination of high-contrast imaging and high-dispersion spectroscopy in the next decade

Reappraisal of Metformin Efficacy in the Treatment of Type 2 Diabetes: A Meta-Analysis of Randomised Controlled Trials

Catherine Cornu and colleagues performed a meta-analysis of randomised controlled trials of metformin efficacy on cardiovascular morbidity or mortality in patients with type 2 diabetes and showed that although metformin is considered the gold standard, its benefit/risk ratio remains uncertain

Uniting statistical and individual-based approaches for animal movement modelling

<div><p>The dynamic nature of their internal states and the environment directly shape animals' spatial behaviours and give rise to emergent properties at broader scales in natural systems. However, integrating these dynamic features into habitat selection studies remains challenging, due to practically impossible field work to access internal states and the inability of current statistical models to produce dynamic outputs. To address these issues, we developed a robust method, which combines statistical and individual-based modelling. Using a statistical technique for forward modelling of the IBM has the advantage of being faster for parameterization than a pure inverse modelling technique and allows for robust selection of parameters. Using GPS locations from caribou monitored in Québec, caribou movements were modelled based on generative mechanisms accounting for dynamic variables at a low level of emergence. These variables were accessed by replicating real individuals' movements in parallel sub-models, and movement parameters were then empirically parameterized using Step Selection Functions. The final IBM model was validated using both k-fold cross-validation and emergent patterns validation and was tested for two different scenarios, with varying hardwood encroachment. Our results highlighted a functional response in habitat selection, which suggests that our method was able to capture the complexity of the natural system, and adequately provided projections on future possible states of the system in response to different management plans. This is especially relevant for testing the long-term impact of scenarios corresponding to environmental configurations that have yet to be observed in real systems.</p></div

Salivary Defense Proteins: Their Network and Role in Innate and Acquired Oral Immunity

There are numerous defense proteins present in the saliva. Although some of these molecules are present in rather low concentrations, their effects are additive and/or synergistic, resulting in an efficient molecular defense network of the oral cavity. Moreover, local concentrations of these proteins near the mucosal surfaces (mucosal transudate), periodontal sulcus (gingival crevicular fluid) and oral wounds and ulcers (transudate) may be much greater, and in many cases reinforced by immune and/or inflammatory reactions of the oral mucosa. Some defense proteins, like salivary immunoglobulins and salivary chaperokine HSP70/HSPAs (70 kDa heat shock proteins), are involved in both innate and acquired immunity. Cationic peptides and other defense proteins like lysozyme, bactericidal/permeability increasing protein (BPI), BPI-like proteins, PLUNC (palate lung and nasal epithelial clone) proteins, salivary amylase, cystatins, prolin-rich proteins, mucins, peroxidases, statherin and others are primarily responsible for innate immunity. In this paper, this complex system and function of the salivary defense proteins will be reviewed

Unveiling trade-offs in resource selection of migratory caribou using a mechanistic movement model of availability

Habitat selection is a multi-level, hierarchical process that should be a key component in the balance between food acquisition and predation risk avoidance (food-predation trade-off). However, to date, studies have not fully elucidated how fine- and broad-scale habitat decisions by individual prey can help balance food versus risk. We studied broad-scale habitat selection by Newfoundland caribou Rangifer tarandus, focusing on trade-offs between predation risk versus access to forage during the calving and post-calving period. We improved traditional measures of habitat availability by incorporating fine-scale movement patterns of caribou into the availability kernel, thus enabling separation of broad and fine scales of selection. Remote sensing and field surveys served to create a spatio-temporal model of forage availability, whereas GPS telemetry locations from 66 black bears Ursus americanus and 59 coyotes Canis latrans provided models of predation risk. We then used GPS telemetry locations from 114 female caribou to assess food-predation trade-offs through the prism of our refined model of caribou habitat availability. We noted that migratory movements of caribou were oriented mainly towards habitats with abundant forage and lower risk of bear and (to a lesser extent) coyote encounter. These findings were generally consistent across caribou herds and would not have been evident had we used traditional methods instead of our refined model when estimating habitat availability. We interpret these findings in the context of stereotypical migratory behaviour observed in Newfoundland caribou, which occurs despite the extirpation of wolves Canis lupus nearly a century ago. We submit that caribou are able to balance food acquisition against predation risk using a complex set of factors involving both finer and broader scale selection. Accordingly, our study provides a strong argument for using refined habitat availability estimates when assessing food-predation trade-offs