LiDAR-Camera Panoptic Segmentation via Geometry-Consistent and Semantic-Aware Alignment

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can complement LiDAR data for evident performance improvement, but their fusion remains a challenging problem. To this end, we propose LCPS, the first LiDAR-Camera Panoptic Segmentation network. In our approach, we conduct LiDAR-Camera fusion in three stages: 1) an Asynchronous Compensation Pixel Alignment (ACPA) module that calibrates the coordinate misalignment caused by asynchronous problems between sensors; 2) a Semantic-Aware Region Alignment (SARA) module that extends the one-to-one point-pixel mapping to one-to-many semantic relations; 3) a Point-to-Voxel feature Propagation (PVP) module that integrates both geometric and semantic fusion information for the entire point cloud. Our fusion strategy improves about 6.9% PQ performance over the LiDAR-only baseline on NuScenes dataset. Extensive quantitative and qualitative experiments further demonstrate the effectiveness of our novel framework. The code will be released at https://github.com/zhangzw12319/lcps.git.Comment: Accepted as ICCV 2023 pape

Tetra­aqua­tetra­kis­(4,4′-bipyridine dioxide-κO)terbium(III) octa­cyanidotungstate(V)

In the title compound, [Tb(C10H8N2O2)4(H2O)4][W(CN)8], both metal atoms are eight-coordinated. The TbIII ion displays a dodeca­hedral geometry, while the Wv ion exhibits a distorted square-anti­prismatic geometry. The Tb atoms are located on a special position of site symmetry -4, whereas the W atoms are located on a twofold rotation axis. The cations are linked by O—H⋯O hydrogen bonds. The title compound is isotypic with the corresponding and previously described Mo compound [Qian & Yuan (2011 ▶). Acta Cryst. E67, m845]

Measurement of and Factors Associated with the Anterior Chamber Volume in Healthy Chinese Adults

Purpose. To measure the anterior chamber volume (ACV) and determine factors associated with the ACV in healthy Chinese adults. Methods. In this cross-sectional study, we used swept-source optical coherence tomography (SS-OCT) to measure ACV and other anterior segment parameters. Factors associated with ACV were also determined. Results. A total of 313 healthy Chinese adults were enrolled. The anterior segment parameters, including ACV, could be measured by SS-OCT with excellent repeatability and reproducibility. There was a significant difference between the horizontal and vertical anterior chamber widths (ACW) (P<0.05), with a mean difference of 390 μm. The ACV (mean 153.83±32.42 mm3) was correlated with most of the anterior segment parameters, especially anterior chamber depth (ACD), which accounted for about 85% of the variation of ACV. Most of the anterior segment parameters were significantly correlated with age, and the relative changes in ACV and ACD were greatest in subjects aged 41–50 years. Conclusion. ACV was correlated with most of the anterior segment parameters measured in this study, particularly ACD. The relatively large difference between horizontal and vertical ACW suggests that the ACV could and should be measured using multiple OCT scans