PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features

Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed motions and in high dynamic range scenarios. However, event cameras output only a little information or even noise when the relative motion between the camera and the scene is limited, such as in a still state. While standard cameras can provide rich perception information in most scenarios, especially in good lighting conditions. These two cameras are exactly complementary. In this paper, we proposed a robust, high-accurate, and real-time optimization-based monocular event-based visual-inertial odometry (VIO) method with event-corner features, line-based event features, and point-based image features. The proposed method offers to leverage the point-based features in the nature scene and line-based features in the human-made scene to provide more additional structure or constraints information through well-design feature management. Experiments in the public benchmark datasets show that our method can achieve superior performance compared with the state-of-the-art image-based or event-based VIO. Finally, we used our method to demonstrate an onboard closed-loop autonomous quadrotor flight and large-scale outdoor experiments. Videos of the evaluations are presented on our project website: https://b23.tv/OE3QM6

Skin Mast Cells Contribute to Sporothrix schenckii Infection

Background: Sporothrix schenckii (S. schenckii), a dimorphic fungus, causes sporotrichosis. Mast cells (MCs) have been described to be involved in skin fungal infections. The role of MCs in cutaneous sporotrichosis remains largely unknown. Objectives: To characterize the role and relevance of MCs in cutaneous sporotrichosis. Methods: We analyzed cutaneous sporotrichosis in wild-type (WT) mice and two different MC-deficient strains. In vitro, MCs were assessed for S. schenckii-induced cytokine production and degranulation after incubation with S. schenckii. We also explored the role of MCs in human cutaneous sporotrichosis. Results: WT mice developed markedly larger skin lesions than MC-deficient mice (> 1.5 fold) after infection with S. schenckii, with significantly increased fungal burden. S. schenckii induced the release of tumor necrosis factor alpha (TNF), interleukin (IL)-6, IL-10, and IL-1β by MCs, but not degranulation. S. schenckii induced larger skin lesions and higher release of IL-6 and TNF by MCs as compared to the less virulent S. albicans. In patients with sporotrichosis, TNF and IL-6 were increased in skin lesions, and markedly elevated levels in the serum were linked to disease activity. Conclusions: These findings suggest that cutaneous MCs contribute to skin sporotrichosis by releasing cytokines such as TNF and IL-6

Exploring the Diversity of Music Experiences for Deaf and Hard of Hearing People

Sensory substitution or enhancement techniques have been proposed to enable deaf or hard of hearing (DHH) people to listen to and even compose music. However, little is known about how such techniques enhance DHH people's music experience. Since deafness is a spectrum -- as are DHH people's preferences and perceptions of music -- a more situated understanding of their interaction with music is needed. To understand the music experience of this population, we conducted social media analyses, both qualitatively and quantitatively, in the deaf and hard of hearing Reddit communities. Our content analysis revealed that DHH people leveraged sign language and visual/haptic cues to feel the music and preferred familiar, non-lyrical, instrument-heavy, and loud music. In addition, hearing aids were not customized for music, and the visual/haptic techniques developed were not widely adopted by DHH people, leading to their suboptimal music experiences. The DHH community embodied mutual support among music lovers, evidenced by active information sharing and Q&A around music and hearing loss. We reflect on design justice for DHH people's music experience and propose practical design implications to create a more accessible music experience for them

ClipSAM: CLIP and SAM Collaboration for Zero-Shot Anomaly Segmentation

Recently, foundational models such as CLIP and SAM have shown promising performance for the task of Zero-Shot Anomaly Segmentation (ZSAS). However, either CLIP-based or SAM-based ZSAS methods still suffer from non-negligible key drawbacks: 1) CLIP primarily focuses on global feature alignment across different inputs, leading to imprecise segmentation of local anomalous parts; 2) SAM tends to generate numerous redundant masks without proper prompt constraints, resulting in complex post-processing requirements. In this work, we innovatively propose a CLIP and SAM collaboration framework called ClipSAM for ZSAS. The insight behind ClipSAM is to employ CLIP's semantic understanding capability for anomaly localization and rough segmentation, which is further used as the prompt constraints for SAM to refine the anomaly segmentation results. In details, we introduce a crucial Unified Multi-scale Cross-modal Interaction (UMCI) module for interacting language with visual features at multiple scales of CLIP to reason anomaly positions. Then, we design a novel Multi-level Mask Refinement (MMR) module, which utilizes the positional information as multi-level prompts for SAM to acquire hierarchical levels of masks and merges them. Extensive experiments validate the effectiveness of our approach, achieving the optimal segmentation performance on the MVTec-AD and VisA datasets.Comment: 17 pages,17 figure

Spiking PointNet: Spiking Neural Networks for Point Clouds

Recently, Spiking Neural Networks (SNNs), enjoying extreme energy efficiency, have drawn much research attention on 2D visual recognition and shown gradually increasing application potential. However, it still remains underexplored whether SNNs can be generalized to 3D recognition. To this end, we present Spiking PointNet in the paper, the first spiking neural model for efficient deep learning on point clouds. We discover that the two huge obstacles limiting the application of SNNs in point clouds are: the intrinsic optimization obstacle of SNNs that impedes the training of a big spiking model with large time steps, and the expensive memory and computation cost of PointNet that makes training a big spiking point model unrealistic. To solve the problems simultaneously, we present a trained-less but learning-more paradigm for Spiking PointNet with theoretical justifications and in-depth experimental analysis. In specific, our Spiking PointNet is trained with only a single time step but can obtain better performance with multiple time steps inference, compared to the one trained directly with multiple time steps. We conduct various experiments on ModelNet10, ModelNet40 to demonstrate the effectiveness of Spiking PointNet. Notably, our Spiking PointNet even can outperform its ANN counterpart, which is rare in the SNN field thus providing a potential research direction for the following work. Moreover, Spiking PointNet shows impressive speedup and storage saving in the training phase.Comment: Accepted by NeurIP

Ternary Spike: Learning Ternary Spikes for Spiking Neural Networks

The Spiking Neural Network (SNN), as one of the biologically inspired neural network infrastructures, has drawn increasing attention recently. It adopts binary spike activations to transmit information, thus the multiplications of activations and weights can be substituted by additions, which brings high energy efficiency. However, in the paper, we theoretically and experimentally prove that the binary spike activation map cannot carry enough information, thus causing information loss and resulting in accuracy decreasing. To handle the problem, we propose a ternary spike neuron to transmit information. The ternary spike neuron can also enjoy the event-driven and multiplication-free operation advantages of the binary spike neuron but will boost the information capacity. Furthermore, we also embed a trainable factor in the ternary spike neuron to learn the suitable spike amplitude, thus our SNN will adopt different spike amplitudes along layers, which can better suit the phenomenon that the membrane potential distributions are different along layers. To retain the efficiency of the vanilla ternary spike, the trainable ternary spike SNN will be converted to a standard one again via a re-parameterization technique in the inference. Extensive experiments with several popular network structures over static and dynamic datasets show that the ternary spike can consistently outperform state-of-the-art methods. Our code is open-sourced at https://github.com/yfguo91/Ternary-Spike.Comment: Accepted by AAAI202

Simulating the Integration of Urban Air Mobility into Existing Transportation Systems: A Survey

Urban air mobility (UAM) has the potential to revolutionize transportation in metropolitan areas, providing a new mode of transportation that could alleviate congestion and improve accessibility. However, the integration of UAM into existing transportation systems is a complex task that requires a thorough understanding of its impact on traffic flow and capacity. In this paper, we conduct a survey to investigate the current state of research on UAM in metropolitan-scale traffic using simulation techniques. We identify key challenges and opportunities for the integration of UAM into urban transportation systems, including impacts on existing traffic patterns and congestion; safety analysis and risk assessment; potential economic and environmental benefits; and the development of shared infrastructure and routes for UAM and ground-based transportation. We also discuss the potential benefits of UAM, such as reduced travel times and improved accessibility for underserved areas. Our survey provides a comprehensive overview of the current state of research on UAM in metropolitan-scale traffic using simulation and highlights key areas for future research and development