Point-cloud based 3D object detection and classification methods for self-driving applications: A survey and taxonomy

Autonomous vehicles are becoming central for the future of mobility, supported by advances in deep learning techniques. The performance of aself-driving system is highly dependent on the quality of the perception task. Developments in sensor technologies have led to an increased availability of 3D scanners such as LiDAR, allowing for a more accurate representation of the vehicle's surroundings, leading to safer systems. The rapid development and consequent rise of research studies around self-driving systems since early 2010, resulted in a tremendous increase in the number and novelty of object detection methods. After the first wave of works that essentially tried to expand known techniques from object detection in images, more recently there has been a notable development in newer and more adapted to LiDAR data works. This paper addresses the existing literature on object detection using LiDAR data within the scope of self-driving and brings a systematic way for analysing it. Unlike general object detection surveys, we will focus on point-cloud data, which presents specific challenges, notably its high-dimensional and sparse nature. This work introduces a common object detection pipeline and taxonomy to facilitate a thorough comparison between different techniques and, departing from it, this work will critically examine the representation of data (critical for complexity reduction), feature extraction and finally the object detection models. A comparison between performance results of the different models is included, alongside with some future research challenges.This work is supported by European Structural and Investment Funds in the FEDER component, through the Operational Competitiveness and Internationalization Programme (COMPETE 2020) [Project n. 037902; Funding Reference: POCI-01-0247-FEDER-037902]

Relatório de estágio. O volley-ball como prática desportiva no programa da educação física escolar.

Relatório de Estágio - INE

Molecular technique for detection and identification of Helicobacter pylori in clinical specimens: a comparison with the classical diagnostic method

Helicobacter pylori is a bacterium found in human epithelial cells of the gastrointestinal tract. Its infection is related to different diseases, such as chronic gastritis, peptic ulcers, gastric lymphoma and adenocarcinoma. The infection by H. pylori is present in more than a half of the world population. Objectives: To detect H. pylori and to compare the diagnostic methods of the rapid urease test (RUT) and polymerase chain reaction (PCR). Materials and methods: The study was conducted between April and July, 2015. For such, three biopsies were collected from each patient. Two were used for PCR and one for RUT. Results: A total of 85 samples were collected from patients undergoing endoscopy, with 56 (65.88%) females and 29 (34.11%) males. From the total samples subjected to RUT, 15 (17.64%) were positive and 70 (82.35%), negative. In PCR for detection of gene 16S ribosomal ribonucleic acid (rRNA) of H. pylori, 66 (77.64%) presented positive results and 19 (22.35%), negative results. For the analysis of the presence of UreA gene in all samples, positive results were found in 70 (82.35%), and negative in 15 (17.64%). According to the results, RUT and the molecular test presented statistical difference. Conclusion: PCR is a useful method in the laboratorial routine to detect the presence of H. pylori in the stomach tissue, due to high sensitivity and specificity, but it requires a more careful analysis and standardization

Morphology of the spermatheca of Triatoma lecticularia (Hemiptera: Reduviidae) (Stal, 1859)

Abstract Triatoma lecticularia (Hemiptera: Reduviidae) (Stal, 1859) is a potential vector of Chagas’s disease and the comprehension of its reproductive biology is an important tool to control this insect. In the reproductive tract of female insects, the spermatheca plays a crucial role storing male spermatozoa after mating. Whithin insects the spermatheca shows a wide morphological diversity and the analysis of this characteristic can contribute to understand the reproductive biology of the species. This study describes the histology and histochemistry of the spermatheca of T. lecticularia. Females have a pair of elongated spermathecal reservoirs without associated accessory gland. The reservoir opens into the common oviduct via a narrow muscular duct. The reservoir epithelium has single layer of columnar secretory cells. The control of the release of spermatozoa from the spermatheca occurs via the muscular duct. The anatomical features of the spermatheca of T. lecticularia resemble those described of other Reduviidae. However, the histological and histochemical features of spermatheca observed in T. lecticularia were important to explain the maintenance of the viability of the spermatozoa stored

An insight into the salivary gland and fat body transcriptome of <i>Panstrongylus lignarius</i> (Hemiptera: Heteroptera), the main vector of Chagas disease in Peru

<div><p>Triatomines are hematophagous arthropod vectors of <i>Trypanosoma cruzi</i>, the causative agent of Chagas Disease. <i>Panstrongylus lignarius</i>, also known as <i>Panstrongylus herreri</i>, is considered one of the most versatile triatomines because it can parasitize different hosts, it is found in different habitats and countries, it has sylvatic, peridomestic and domestic behavior and it is a very important vector of Chagas disease, especially in Peru. Molecules produced and secreted by salivary glands and fat body are considered of important adaptational value for triatomines because, among other functions, they subvert the host haemostatic, inflammatory and immune systems and detoxify or protect them against environmental aggressors. In this context, the elucidation of the molecules produced by these tissues is highly valuable to understanding the ability of this species to adapt and transmit pathogens. Here, we use high-throughput sequencing techniques to assemble and describe the coding sequences resulting from the transcriptome of the fat body and salivary glands of <i>P</i>. <i>lignarius</i>. The final assembly of both transcriptomes together resulted in a total of 11,507 coding sequences (CDS), which were mapped from a total of 164,676,091 reads. The CDS were subdivided according to their 10 folds overexpression on salivary glands (513 CDS) or fat body (2073 CDS). Among the families of proteins found in the salivary glands, lipocalins were the most abundant. Other ubiquitous families of proteins present in other sialomes were also present in <i>P</i>. <i>lignarius</i>, including serine protease inhibitors, apyrase and antigen-5. The unique transcriptome of fat body showed proteins related to the metabolic function of this organ. Remarkably, nearly 20% of all reads mapped to transcripts coded by Triatoma virus. The data presented in this study improve the understanding on triatomines’ salivary glands and fat body function and reveal important molecules used in the interplay between vectors and vertebrate hosts.</p></div

Coding sequences (CDS) 10X overexpressed in fat body compared to salivary glands from transcriptome of <i>P</i>. <i>lignarius</i>.

<p>Coding sequences (CDS) 10X overexpressed in fat body compared to salivary glands from transcriptome of <i>P</i>. <i>lignarius</i>.</p

Phylogram of the lipocalin family proteins from <i>P</i>. <i>lignarius</i> and their best matches.

<p>The optimal tree with the sum of branch length = 123.81570372 is shown. The tree is drawn to scale, with branch lengths in the same units as those of the evolutionary distances used to infer the phylogenetic tree. The bar at the center of the graph indicates a value of 0.5. The analysis involved 330 amino acid sequences. All ambiguous positions were removed for each sequence pair. There were a total of 423 positions in the final dataset. The values near the branches represent the percentage of bootstrap support. Values below 50% are not shown. For more details, see <a href="http://www.plosntds.org/article/info:doi/10.1371/journal.pntd.0006243#sec002" target="_blank">Material and Methods</a>.</p

Classification of all coding sequences (CDS) from the fat body transcriptome of <i>P</i>. <i>lignarius</i>.

<p>Classification of all coding sequences (CDS) from the fat body transcriptome of <i>P</i>. <i>lignarius</i>.</p