Learning Matchable Image Transformations for Long-term Metric Visual Localization

Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While experience-based mapping has proven to be an effective technique for bridging the `appearance gap,' the number of experiences required for reliable metric localization over days or months can be very large, and methods for reducing the necessary number of experiences are needed for this approach to scale. Taking inspiration from color constancy theory, we learn a nonlinear RGB-to-grayscale mapping that explicitly maximizes the number of inlier feature matches for images captured under different lighting and weather conditions, and use it as a pre-processing step in a conventional single-experience localization pipeline to improve its robustness to appearance change. We train this mapping by approximating the target non-differentiable localization pipeline with a deep neural network, and find that incorporating a learned low-dimensional context feature can further improve cross-appearance feature matching. Using synthetic and real-world datasets, we demonstrate substantial improvements in localization performance across day-night cycles, enabling continuous metric localization over a 30-hour period using a single mapping experience, and allowing experience-based localization to scale to long deployments with dramatically reduced data requirements.Comment: In IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE International Conference on Robotics and Automation (ICRA'20), Paris, France, May 31-June 4, 202

Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this paper, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use in visual odometry (VO) or visual simultaneous localization and mapping (SLAM). We train a deep convolutional neural network model to predictively adjust camera gain and exposure time parameters such that consecutive images contain a maximal number of matchable features. The training process is fully self-supervised: our training signal is derived from an underlying VO or SLAM pipeline and, as a result, the model is optimized to perform well with that specific pipeline. We demonstrate through extensive real-world experiments that our network can anticipate and compensate for dramatic lighting changes (e.g., transitions into and out of road tunnels), maintaining a substantially higher number of inlier feature matches than competing camera parameter control algorithms.Comment: Accepted to IEEE Robotics and Automation Letters and to the IEEE International Conference on Robotics and Automation (ICRA) 202

Infected pancreatic necrosis: outcomes and clinical predictors of mortality. A post hoc analysis of the MANCTRA-1 international study

: The identification of high-risk patients in the early stages of infected pancreatic necrosis (IPN) is critical, because it could help the clinicians to adopt more effective management strategies. We conducted a post hoc analysis of the MANCTRA-1 international study to assess the association between clinical risk factors and mortality among adult patients with IPN. Univariable and multivariable logistic regression models were used to identify prognostic factors of mortality. We identified 247 consecutive patients with IPN hospitalised between January 2019 and December 2020. History of uncontrolled arterial hypertension (p = 0.032; 95% CI 1.135-15.882; aOR 4.245), qSOFA (p = 0.005; 95% CI 1.359-5.879; aOR 2.828), renal failure (p = 0.022; 95% CI 1.138-5.442; aOR 2.489), and haemodynamic failure (p = 0.018; 95% CI 1.184-5.978; aOR 2.661), were identified as independent predictors of mortality in IPN patients. Cholangitis (p = 0.003; 95% CI 1.598-9.930; aOR 3.983), abdominal compartment syndrome (p = 0.032; 95% CI 1.090-6.967; aOR 2.735), and gastrointestinal/intra-abdominal bleeding (p = 0.009; 95% CI 1.286-5.712; aOR 2.710) were independently associated with the risk of mortality. Upfront open surgical necrosectomy was strongly associated with the risk of mortality (p < 0.001; 95% CI 1.912-7.442; aOR 3.772), whereas endoscopic drainage of pancreatic necrosis (p = 0.018; 95% CI 0.138-0.834; aOR 0.339) and enteral nutrition (p = 0.003; 95% CI 0.143-0.716; aOR 0.320) were found as protective factors. Organ failure, acute cholangitis, and upfront open surgical necrosectomy were the most significant predictors of mortality. Our study confirmed that, even in a subgroup of particularly ill patients such as those with IPN, upfront open surgery should be avoided as much as possible. Study protocol registered in ClinicalTrials.Gov (I.D. Number NCT04747990)

Phenomenology of the deuteron electromagnetic form factors

A rigorous extraction of the deuteron charge form factors from tensor polarization data in elastic electron-deuteron scattering, at given values of the 4-momentum transfer, is presented. Then the world data for elastic electron-deuteron scattering is used to parameterize, in three different ways, the three electromagnetic form factors of the deuteron in the 4-momentum transfer range 0-7 fm. This procedure is made possible with the advent of recent polarization measurements. The parameterizations allow a phenomenological characterization of the deuteron electromagnetic structure. They can be used to remove ambiguities in the form factors extraction from future polarization data

Effect of angiotensin-converting enzyme inhibitor and angiotensin receptor blocker initiation on organ support-free days in patients hospitalized with COVID-19

IMPORTANCE Overactivation of the renin-angiotensin system (RAS) may contribute to poor clinical outcomes in patients with COVID-19. Objective To determine whether angiotensin-converting enzyme (ACE) inhibitor or angiotensin receptor blocker (ARB) initiation improves outcomes in patients hospitalized for COVID-19. DESIGN, SETTING, AND PARTICIPANTS In an ongoing, adaptive platform randomized clinical trial, 721 critically ill and 58 non–critically ill hospitalized adults were randomized to receive an RAS inhibitor or control between March 16, 2021, and February 25, 2022, at 69 sites in 7 countries (final follow-up on June 1, 2022). INTERVENTIONS Patients were randomized to receive open-label initiation of an ACE inhibitor (n = 257), ARB (n = 248), ARB in combination with DMX-200 (a chemokine receptor-2 inhibitor; n = 10), or no RAS inhibitor (control; n = 264) for up to 10 days. MAIN OUTCOMES AND MEASURES The primary outcome was organ support–free days, a composite of hospital survival and days alive without cardiovascular or respiratory organ support through 21 days. The primary analysis was a bayesian cumulative logistic model. Odds ratios (ORs) greater than 1 represent improved outcomes. RESULTS On February 25, 2022, enrollment was discontinued due to safety concerns. Among 679 critically ill patients with available primary outcome data, the median age was 56 years and 239 participants (35.2%) were women. Median (IQR) organ support–free days among critically ill patients was 10 (–1 to 16) in the ACE inhibitor group (n = 231), 8 (–1 to 17) in the ARB group (n = 217), and 12 (0 to 17) in the control group (n = 231) (median adjusted odds ratios of 0.77 [95% bayesian credible interval, 0.58-1.06] for improvement for ACE inhibitor and 0.76 [95% credible interval, 0.56-1.05] for ARB compared with control). The posterior probabilities that ACE inhibitors and ARBs worsened organ support–free days compared with control were 94.9% and 95.4%, respectively. Hospital survival occurred in 166 of 231 critically ill participants (71.9%) in the ACE inhibitor group, 152 of 217 (70.0%) in the ARB group, and 182 of 231 (78.8%) in the control group (posterior probabilities that ACE inhibitor and ARB worsened hospital survival compared with control were 95.3% and 98.1%, respectively). CONCLUSIONS AND RELEVANCE In this trial, among critically ill adults with COVID-19, initiation of an ACE inhibitor or ARB did not improve, and likely worsened, clinical outcomes. TRIAL REGISTRATION ClinicalTrials.gov Identifier: NCT0273570

Learned Adjustment of Camera Gain and Exposure Time for Improved Visual Feature Detection and Matching

Ensuring that captured images contain useful information is paramount to successful visual navigation. In this thesis, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use in visual odometry (VO). We investigate what qualities of an image are desirable for navigation through an empirical analysis of the outputs of the VO front end. Based on this analysis, we build and train a deep convolutional neural network model to predictively adjust camera gain and exposure time parameters such that consecutive images contain a maximal number of matchable features. Our training method leverages several novel datasets consisting of images captured with varied gain and exposure time settings in diverse environments. Through real-world experiments, we demonstrate that our network is able to anticipate and compensate for lighting changes and maintain a higher number of inlier feature matches compared with competing camera parameter control algorithms.M.A.S

Sex differences in estimates of cardiac autonomic function using heart rate variability: effects of dietary capsaicin

Purpose: Heart rate variability (HRV) estimates the autonomic nervous system (ANS) influence on the heart and appears sex-specific. Sensory afferents exhibit sex-specificity; although, it is unknown if Capsaicin, an agonist for transient receptor potential vanilloid channel-1 (TRPV1), alters cardiac ANS activity in a sex-dependent manner, which could be important given the predictive nature of HRV on risk of developing hypertension. Thus, we explored if there was sex-specificity in the effect of capsaicin on estimated cardiac ANS activity. Methods: HRV was measured in 38 young males (M: n = 25) and females (F: n = 13), in a blinded-crossover design, after acute ingestion of placebo or capsaicin. Resting HR, RR-interval, root-mean-square of successive differences (RMSSD), natural log-transformed RMSSD (LnRMSSD), standard deviation of n-n intervals (SDNN), number of pairs of successive n-n intervals differing by > 50 ms (NN50), and percent NN50 (PNN50) were obtained using standard techniques. Results: Significant sex differences were observed in mean HR (M: 59 ± 9.3 vs. F: 65 ± 12 beats/min, p = 0.036, η2 = 0.098), minimum HR (M: 47 ± 8.3 vs. F: 56 ± 12 beats/min, p = 0.014, η2 = 0.124), and NN50 (M: 177 ± 143 vs. F: 29 ± 17, p < 0.001, η2 = 0.249). There was a significant interaction of sex*treatment (p = 0.02, η2 = 0.027) for RMSSD, where males increased (78 ± 55 vs. 91 ± 64 ms), and females decreased (105 ± 83 vs. 76 ± 43 ms), placebo vs. capsaicin. Conclusion: This controlled study recapitulates sex differences in HR and HRV, but revealed a sexual dimorphism in the parasympathetic response to capsaicin, perhaps due to differing TRPV1-afferent sensitivity, highlighting a potential mechanism for differential regulation of hemodynamics, and CVD risk, and should be considered in future studies

Triggering Emission with the Helical Turn in Thiadiazole-Helicenes

Introduction of heterocycles in the helical skeleton of helicenes allows modulation of their redox, chiroptical and photophysical properties. Herein, we describe the straightforward preparation and structural characterization by single crystal X-ray diffraction of thiadiazole-[7]helicene, which has been resolved into (M) and (P) enantiomers by chiral HPLC, together with its S-shaped double [4]helicene isomer, as well as the smaller congeners thiadiazole-[5]helicene and benzothiadiazole-anthracene. A copper(II) complex with two thiadiazole-[5]helicene ligands has been structurally characterized and it shows the presence of both (M) and (P) isomers coordinated to the metal centre. The emission properties of the unprecedented heterohelicenes are highly dependent on the helical turn, as the [7]- and [5]helicene are poorly emissive, whereas their isomers, that is, the S-shaped double [4]helicene and thiadiazole-benzanthracene, are luminescent, with quantum efficiencies of 5.4% and 6.5%, respectively. DFT calculations suggest a quenching of the luminescence of enantiopure [7]helicenes through an intersystem crossing mechanism arising from the relaxed excited S1 state