Street Surfaces and Boundaries from Depth Image Sequences Using Probabilistic Models

This thesis presents an approach for the detection and reconstruction of street surfaces and boundaries from depth image sequences. Active driver assistance systems which monitor and interpret the environment based on vehicle mounted sensors to support the driver embody a current research focus of the automotive industry. An essential task of these systems is the modeling of the vehicle's static environment. This comprises the determination of the vertical slope and curvature characteristics of the street surface as well as the robust detection of obstacles and, thus, the free drivable space (alias free-space). In this regard, obstacles of low height, e.g. curbs, are of special interest since they often embody the first geometric delimiter of the free-space. The usage of depth images acquired from stereo camera systems becomes more important in this context due to the high data rate and affordable price of the sensor. However, recent approaches for object detection are often limited to the detection of objects which are distinctive in height, such as cars and guardrails, or explicitly address the detection of particular object classes. These approaches are usually based on extremely restrictive assumptions, such as planar street surfaces, in order to deal with the high measurement noise. The main contribution of this thesis is the development, analysis and evaluation of an approach which detects the free-space in the immediate maneuvering area in front of the vehicle and explicitly models the free-space boundary by means of a spline curve. The approach considers in particular obstacles of low height (higher than 10 cm) without limitation on particular object classes. Furthermore, the approach has the ability to cope with various slope and curvature characteristics of the observed street surface and is able to reconstruct this surface by means of a flexible spline model. In order to allow for robust results despite the flexibility of the model and the high measurement noise, the approach employs probabilistic models for the preprocessing of the depth map data as well as for the detection of the drivable free-space. An elevation model is computed from the depth map considering the paths of the optical rays and the uncertainty of the depth measurements. Based on this elevation model, an iterative two step approach is performed which determines the drivable free-space by means of a Markov Random Field and estimates the spline parameters of the free-space boundary curve and the street surface. Outliers in the elevation data are explicitly modeled. The performance of the overall approach and the influence of key components are systematically evaluated within experiments on synthetic and real world test scenarios. The results demonstrate the ability of the approach to accurately model the boundary of the drivable free-space as well as the street surface even in complex scenarios with multiple obstacles or strong curvature of the street surface. The experiments further reveal the limitations of the approach, which are discussed in detail.Schätzung von Straßenoberflächen und -begrenzungen aus Sequenzen von Tiefenkarten unter Verwendung probabilistischer Modelle Diese Arbeit präsentiert ein Verfahren zur Detektion und Rekonstruktion von Straßenoberflächen und -begrenzungen auf der Basis von Tiefenkarten. Aktive Fahrerassistenzsysteme, welche mit der im Fahrzeug verbauten Sensorik die Umgebung erfassen, interpretieren und den Fahrer unterstützen, sind ein aktueller Forschungsschwerpunkt der Fahrzeugindustrie. Eine wesentliche Aufgabe dieser Systeme ist die Modellierung der statischen Fahrzeugumgebung. Dies beinhaltet die Bestimmung der vertikalen Neigungs- und Krümmungseigenschaften der Fahrbahn, sowie die robuste Detektion von Hindernissen und somit des befahrbaren Freiraumes. Hindernisse von geringer Höhe, wie z.B. Bordsteine, sind in diesem Zusammenhang von besonderem Interesse, da sie häufig die erste geometrische Begrenzung des Fahrbahnbereiches darstellen. In diesem Kontext gewinnt die Verwendung von Tiefenkarten aus Stereo-Kamera-Systemen wegen der hohen Datenrate und relativ geringen Kosten des Sensors zunehmend an Bedeutung. Aufgrund des starken Messrauschens beschränken sich herkömmliche Verfahren zur Hinderniserkennung jedoch meist auf erhabene Objekte wie Fahrzeuge oder Leitplanken, oder aber adressieren einzelne Objektklassen wie Bordsteine explizit. Dazu werden häufig extrem restriktive Annahmen verwendet wie z.B. planare Straßenoberflächen. Der Hauptbeitrag dieser Arbeit besteht in der Entwicklung, Analyse und Evaluation eines Verfahrens, welches den befahrbaren Freiraum im Nahbereich des Fahrzeugs detektiert und dessen Begrenzung mit Hilfe einer Spline-Kurve explizit modelliert. Das Verfahren berücksichtigt insbesondere Hindernisse geringer Höhe (größer als 10 cm) ohne Beschränkung auf bestimmte Objektklassen. Weiterhin ist das Verfahren in der Lage, mit verschiedenartigen Neigungs- und Krümmungseigenschaften der vor dem Fahrzeug liegenden Fahrbahnoberfläche umzugehen und diese durch Verwendung eines flexiblen Spline-Modells zu rekonstruieren. Um trotz der hohen Flexibilität des Modells und des hohen Messrauschens robuste Ergebnisse zu erzielen, verwendet das Verfahren probabilistische Modelle zur Vorverarbeitung der Eingabedaten und zur Detektion des befahrbaren Freiraumes. Aus den Tiefenkarten wird unter Berücksichtigung der Strahlengänge und Unsicherheiten der Tiefenmessungen ein Höhenmodell berechnet. In einem iterativen Zwei-Schritt-Verfahren werden anhand dieses Höhenmodells der befahrbare Freiraum mit Hilfe eines Markov-Zufallsfeldes bestimmt sowie die Parameter der begrenzenden Spline-Kurve und Straßenoberfläche geschätzt. Ausreißer in den Höhendaten werden dabei explizit modelliert. Die Leistungsfähigkeit des Gesamtverfahrens sowie der Einfluss zentraler Komponenten, wird im Rahmen von Experimenten auf synthetischen und realen Testszenen systematisch analysiert. Die Ergebnisse demonstrieren die Fähigkeit des Verfahrens, die Begrenzung des befahrbaren Freiraumes sowie die Fahrbahnoberfläche selbst in komplexen Szenarien mit multiplen Hindernissen oder starker Fahrbahnkrümmung akkurat zu modellieren. Weiterhin werden die Grenzen des Verfahrens aufgezeigt und detailliert untersucht

Von Willebrand factor and the thrombophilia of severe COVID-19: in situ evidence from autopsies

BACKGROUND: COVID-19 is accompanied by a hypercoagulable state and characterized by microvascular and macrovascular thrombotic complications. In plasma samples from patients with COVID-19, von Willebrand factor (VWF) levels are highly elevated and predictive of adverse outcomes, especially mortality. Yet, VWF is usually not included in routine coagulation analyses, and histologic evidence of its involvement in thrombus formation is lacking. OBJECTIVES: To determine whether VWF, an acute-phase protein, is a bystander, ie, a biomarker of endothelial dysfunction, or a causal factor in the pathogenesis of COVID-19. METHODS: We compared autopsy samples from 28 patients with lethal COVID-19 to those from matched controls and systematically assessed for VWF and platelets by immunohistochemistry. The control group comprised 24 lungs, 23 lymph nodes, and 9 hearts and did not differ significantly from the COVID-19 group in age, sex, body mass index (BMI), blood group, or anticoagulant use. RESULTS: In lungs, assessed for platelets by immunohistochemistry for CD42b, microthrombi were more frequent in patients with COVID-19 (10/28 [36%] vs 2/24 [8%]; P = .02). A completely normal pattern of VWF was rare in both groups. Accentuated endothelial staining was found in controls, while VWF-rich thrombi were only found in patients with COVID-19 (11/28 [39%] vs 0/24 [0%], respectively; P < .01), as were NETosis thrombi enriched with VWF (7/28 [25%] vs 0/24 [0%], respectively; P < .01). Forty-six percent of the patients with COVID-19 had VWF-rich thrombi, NETosis thrombi, or both. Trends were also seen in pulmonary draining lymph nodes (7/20 [35%] vs 4/24 [17%]; P = .147), where the overall presence of VWF was very high. CONCLUSION: We provide in situ evidence of VWF-rich thrombi, likely attributable to COVID-19, and suggest that VWF may be a therapeutic target in severe COVID-19

Protocolised early de-resuscitation in septic shock (REDUCE): protocol for a randomised controlled multicentre feasibility trial.

BACKGROUND Fluid overload is associated with excess mortality in septic shock. Current approaches to reduce fluid overload include restrictive administration of fluid or active removal of accumulated fluid. However, evidence on active fluid removal is scarce. The aim of this study is to assess the efficacy and feasibility of an early de-resuscitation protocol in patients with septic shock. METHODS All patients admitted to the intensive care unit (ICU) with a septic shock are screened, and eligible patients will be randomised in a 1:1 ratio to intervention or standard of care. INTERVENTION Fluid management will be performed according to the REDUCE protocol, where resuscitation fluid will be restricted to patients showing signs of poor tissue perfusion. After the lactate has peaked, the patient is deemed stable and assessed for active de-resuscitation (signs of fluid overload). The primary objective of this study is the proportion of patients with a negative cumulative fluid balance at day 3 after ICU. Secondary objectives are cumulative fluid balances throughout the ICU stay, number of patients with fluid overload, feasibility and safety outcomes and patient-centred outcomes. The primary outcome will be assessed by a logistic regression model adjusting for the stratification variables (trial site and chronic renal failure) in the intention-to-treat population. ETHICS AND DISSEMINATION The study was approved by the respective ethical committees (No 2020-02197). The results of the REDUCE trial will be published in an international peer-reviewed medical journal regardless of the results. TRIAL REGISTRATION NUMBER ClinicalTrials.gov, NCT04931485

Fetal and neonatal hematopoietic progenitors are functionally and transcriptionally resistant to Flt3-ITD mutations

The FLT3 Internal Tandem Duplication (FLT3(ITD)) mutation is common in adult acute myeloid leukemia (AML) but rare in early childhood AML. It is not clear why this difference occurs. Here we show that Flt3(ITD) and cooperating Flt3(ITD)/Runx1 mutations cause hematopoietic stem cell depletion and myeloid progenitor expansion during adult but not fetal stages of murine development. In adult progenitors, FLT3(ITD) simultaneously induces self-renewal and myeloid commitment programs via STAT5-dependent and STAT5-independent mechanisms, respectively. While FLT3(ITD) can activate STAT5 signal transduction prior to birth, this signaling does not alter gene expression until hematopoietic progenitors transition from fetal to adult transcriptional states. Cooperative interactions between Flt3(ITD) and Runx1 mutations are also blunted in fetal/neonatal progenitors. Fetal/neonatal progenitors may therefore be protected from leukemic transformation because they are not competent to express FLT3(ITD) target genes. Changes in the transcriptional states of developing hematopoietic progenitors may generally shape the mutation spectra of human leukemias. DOI: http://dx.doi.org/10.7554/eLife.18882.00

Rumors in Transition: Uncertain Information in the Premodern Culture of News

Siegemund J. Rumors in Transition: Uncertain Information in the Premodern Culture of News. History of Knowledge. 2023

"unrechtliche peinliche schmehung" oder "dem gemeinen nutz nuetzlich"? Eine Fallstudie zur Normenkonkurrenz im Schmähschriftprozess des 16. Jahrhunderts

Siegemund J. "unrechtliche peinliche schmehung" oder "dem gemeinen nutz nuetzlich"? Eine Fallstudie zur Normenkonkurrenz im Schmähschriftprozess des 16. Jahrhunderts. Das Mittelalter. 2020;25(1):135-149.**Abstract** Libel played an important and extraordinary role in early modern conflict culture. The article discusses their functions and the way they were assessed in court. The case study illustrates argumentative spaces and different levels of normative references in libel trials in 16thcentury electoral Saxony. In 1569, Andreas Langener – in consequence of a long stagnating private conflict – posted several libels against the nobleman Tham Pflugk in different public places in the city of Dresden. Consequently, he was arrested and charged with ‘libelling’. Depending on the reference to conflicting social and legal norms, he had therefore been either threatened with corporal punishment including his execution, or rewarded with laudations. In this case, the act of libelling could be seen as slander, but also as a service to the community, which Langener had informed about potentially harmful transgression of norms. While the common good was the highest maxim, different and sometimes conflicting legally protected interests had to be discussed. The situational decision depended on whether the articulated charges where true and relevant for the public, on the invective language, and especially on the quality and size of the public sphere reached by the libel

Rezension: Eline Van Onacker, Village Elites and Social Structures in the Late Medieval Campine Region, Turnhout (Brepols) 2017

Siegemund J. Rezension: Eline Van Onacker, Village Elites and Social Structures in the Late Medieval Campine Region, Turnhout (Brepols) 2017. Francio Recensio. 2018;(4)