InLoc: Indoor Visual Localization with Dense Matching and View Synthesis

We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for indoor environments. The method proceeds along three steps: (i) efficient retrieval of candidate poses that ensures scalability to large-scale environments, (ii) pose estimation using dense matching rather than local features to deal with textureless indoor scenes, and (iii) pose verification by virtual view synthesis to cope with significant changes in viewpoint, scene layout, and occluders. Second, we collect a new dataset with reference 6DoF poses for large-scale indoor localization. Query photographs are captured by mobile phones at a different time than the reference 3D map, thus presenting a realistic indoor localization scenario. Third, we demonstrate that our method significantly outperforms current state-of-the-art indoor localization approaches on this new challenging data

Solvation Structure around the Li+ Ion in Mixed Cyclic/Linear Carbonate Solutions Unveiled by the Raman Noncoincidence Effect

The solvation structure around the Li+ ion in a mixed cyclic/linear carbonate solution, an important factor for the performance of lithium-based rechargeable batteries, is examined by measuring and analyzing the noncoincidence effect observed for the C═O stretching Raman band. This technique has the advantage of perceiving relative distances and orientations of solvent molecules clustering around an ion in the first solvation shell and, hence, of developing information on the solvation structure along the wavenumber axis rather than along the intensity axis of the spectra. It is shown that, taking the solution of Li+ClO4– in the 1:1 mixed solvent of propylene carbonate (PC) and diethyl carbonate (DEC) as an example case, the Li+ ion is preferentially solvated by PC molecules [primarily as (PC)3(DEC)1Li+] and is totally protected from direct interaction (contact ion pairing) with the ClO4– ion. The solvation structures in neat PC and neat DEC solvents are also discussed

豊田法による無カテーテル尿管皮膚痩術の成績

最近9年間に, 43症例67尿管に対し豊田法により無カテーテル尿管皮膚瘻術を行った.対象患者は男性30例, 女性13例, 平均年齢は61.4歳で, そのほとんどが膀胱, 直腸, 前立腺, 子宮の悪性腫瘍であった.両側性の場合は, 原則として左右尿管を一ヵ所に出す二連銃式尿管皮膚吻合術(double barrel ureterostomy)を行った.術前術後の腎盂像の推移をIVPで追求できた60尿管についてみると, 単側性の場合は20尿管中4尿管を除けばほぼ満足すべき結果を得ている.Double barrel法40尿管について, stoma側では中等度以上の腎盂拡張が20尿管中3尿管であったが, stomaと反対側では腎機能に影響が出ることが多く, 20尿管中3尿管に中等度の腎盂拡張が, また5尿管に高度の腎盂拡張または腎機能喪失があった.術後間もなく汎血管内凝固症候群で死亡した1例を除き, 結果的にはstoma付近が強い炎症性肉芽に覆われた1例と尿管の狭窄を生じた2例を除いた42例中39例(92.8%)をtubelessの尿管皮膚瘻としえたTubeless cutaneous ureterostomy by Toyoda's method was conducted in 67 ureters from 43 patients during the last 9 years. Subjects included 30 males and 13 females, with an average age of 61.4 years. Most of them were afflicted with malignant tumors in the bladder, rectum, prostate, or uterus. For bilateral ureterostomy, the double-barrel method was performed in which the stoma was made at the same site in both the right and left ureters. Among 60 ureters in which pre- and postoperative changes in the renal pelvis could be traced by IVP, satisfactory results were obtained in 16 of 20 ureters treated by unilateral surgery. Of the 40 ureters treated by the double-barrel method, moderate or severe pyeloectasis was observed in 3 of the 20 ureters on the side of the stoma, while moderate pyeloectasis was seen in 3 of 20 ureters of the side opposite the stoma, and severe pyeloectasis or loss of renal function was noted in 5. Thus, renal function on the side opposite the stoma was frequently influenced by the procedure. A patient who died of disseminated intravascular coagulation syndrome soon after the operation was excluded from analysis. Tubeless cutaneous ureterostomy could be conducted in 39 of 42 patients (92.8%), excluding one whose stoma and its periphery were covered with severe inflammatory granulation and 2 with ureteral constriction

What impact does postgraduate clinical training have on empathy among Japanese trainee dentists?

Background Enhancing empathy in healthcare education is a critical component in the development of a relationship between healthcare professionals and patients that would ensure better patient care; improved patient satisfaction, adherence to treatment, patients’ medication self-efficacy, improved treatment outcomes, and reduced patient anxiety. Unfortunately, however, the decline of empathy among students has been frequently reported. It is especially common when the curriculum transitions to a clinical setting. However, some studies have questioned the significance and frequency of this decline. Thus, the purpose of this study was to determine the impact of postgraduate clinical training on dental trainees’ empathy from cognitive, behavioral, and patients’ perspective. Methods This study included 64 trainee dentists at Okayama University Hospital and 13 simulated patients (SPs). The trainee dentists carried out initial medical interviews with SPs twice, at the beginning and the end of their clinical training. The trainees completed the Japanese version of the Jefferson Scale of Empathy for health professionals just before each medical interview. The SPs evaluated the trainees’ communication using an assessment questionnaire immediately after the medical interviews. The videotaped dialogue from the medical interviews was analyzed using the Roter Interaction Analysis System. Results No significant difference was found in the self-reported empathy score of trainees at the beginning and the end of the clinical training (107.73 [range, 85–134] vs. 108.34 [range, 69–138]; p = 0.643). Considering the results according to gender, male scored 104.06 (range, 88–118) vs. 101.06 (range, 71–122; p = 0.283) and female 109.17 (range, 85–134) vs. 111.20 (range, 69–138; p = 0.170). Similarly, there was no difference in the SPs’ evaluation of trainees’ communication (10.73 vs. 10.38, p = 0.434). Communication behavior in the emotional responsiveness category for trainees in the beginning was significantly higher than that at the end (2.47 vs. 1.14, p = 0.000). Conclusions Overall, a one-year postgraduate dental training program neither reduced nor increased trainee dentists’ empathy levels. Providing regular education support in this area may help trainees foster their empathy

High Excitation Molecular Gas in the Galactic Center Loops; 12CO(J =2-1 and J =3-2) Observations

We have carried out 12CO(J =2-1) and 12CO(J =3-2) observations at spatial resolutions of 1.0-3.8 pc toward the entirety of loops 1 and 2 and part of loop 3 in the Galactic center with NANTEN2 and ASTE. These new results revealed detailed distributions of the molecular gas and the line intensity ratio of the two transitions, R3-2/2-1. In the three loops, R3-2/2-1 is in a range from 0.1 to 2.5 with a peak at ~ 0.7 while that in the disk molecular gas is in a range from 0.1 to 1.2 with a peak at 0.4. This supports that the loops are more highly excited than the disk molecular gas. An LVG analysis of three transitions, 12CO J =3-2 and 2-1 and 13CO J =2-1, toward six positions in loops 1 and 2 shows density and temperature are in a range 102.2 - 104.7 cm-3 and 15-100 K or higher, respectively. Three regions extended by 50-100 pc in the loops tend to have higher excitation conditions as characterized by R3-2/2-1 greater than 1.2. The highest ratio of 2.5 is found in the most developed foot points between loops 1 and 2. This is interpreted that the foot points indicate strongly shocked conditions as inferred from their large linewidths of 50-100 km s-1, confirming the suggestion by Torii et al. (2010b). The other two regions outside the foot points suggest that the molecular gas is heated up by some additional heating mechanisms possibly including magnetic reconnection. A detailed analysis of four foot points have shown a U shape, an L shape or a mirrored-L shape in the b-v distribution. It is shown that a simple kinematical model which incorporates global rotation and expansion of the loops is able to explain these characteristic shapes.Comment: 59 pages, accepted to PAS

Are Large-Scale 3D Models Really Necessary for Accurate Visual Localization?

International audienceAccurate visual localization is a key technology for autonomous navigation. 3D structure-based methods employ 3D models of the scene to estimate the full 6DOF pose of a camera very accurately. However, constructing (and extending) large-scale 3D models is still a significant challenge. In contrast, 2D image retrieval-based methods only require a database of geo-tagged images, which is trivial to construct and to maintain. They are often considered inaccurate since they only approximate the positions of the cameras. Yet, the exact camera pose can theoretically be recovered when enough relevant database images are retrieved. In this paper, we demonstrate experimentally that large-scale 3D models are not strictly necessary for accurate visual localization. We create reference poses for a large and challenging urban dataset. Using these poses, we show that combining image-based methods with local reconstructions results in a pose accuracy similar to the state-of-the-art structure-based methods. Our results suggest that we might want to reconsider the current approach for accurate large-scale localization

Temperature and Density in the Foot Points of the Molecular Loops in the Galactic Center; Analysis of Multi-J Transitions of 12CO(J=1-0, 3-2, 4-3, 7-6), 13CO(J=1-0) and C18O(J=1-0)

Fukui et al. (2006) discovered two molecular loops in the Galactic center and argued that the foot points of the molecular loops, two bright spots at both loops ends, represent the gas accumulated by the falling motion along the loops, subsequent to magnetic flotation by the Parker instability. We have carried out sensitive CO observations of the foot points toward l=356 deg at a few pc resolution in the six rotational transitions of CO; 12CO(J=1-0, 3-2, 4-3, 7-6), 13CO(J=1-0) and C18O(J=1-0). The high resolution image of 12CO (J=3-2) has revealed the detailed distribution of the high excitation gas including U shapes, the outer boundary of which shows sharp intensity jumps accompanying strong velocity gradients. An analysis of the multi-J CO transitions shows that the temperature is in a range from 30-100 K and density is around 10^3-10^4 cm^-3, confirming that the foot points have high temperature and density although there is no prominent radiative heating source such as high mass stars in or around the loops. We argue that the high temperature is likely due to the shock heating under C-shock condition caused by the magnetic flotation. We made a comparison of the gas distribution with theoretical numerical simulations and note that the U shape is consistent with numerical simulations. We also find that the region of highest temperature of ~100 K or higher inside the U shape corresponds to the spur having an upward flow, additionally heated up either by magnetic reconnection or bouncing in the interaction with the narrow neck at the bottom of the U shape. We note these new findings further reinforce the magnetic floatation interpretation.Comment: 40 pages, 23 figures, accepted by PASJ on Vol.62 No.

Effects of Perioperative Management Training Program on the Awareness of Team Medicine among Trainee Dentists

　質が高く、安心・安全な医療を実現していくために、チーム医療の促進は重要な課題であり、チーム医療を担う医療人の育成が必要とされている。岡山大学病院歯科医師臨床研修では、平成23年度から周術期管理センターを研修の場とする「チーム医療研修プログラム」を開始した。本報告では、研修歯科医のプログラムに対する関心とチーム医療に関する理解に与えた効果をアンケート調査によって検討することを目的とした。対象は平成23年度本学病院研修歯科医44名とし、医師、看護師、薬剤師、理学療法士、管理栄養士など多職種によって行われる周術期管理チーム医療を体験させた。受講前には本プログラムに対する期待度を、受講後には満足度、有意義度について質問し、研修歯科医のプログラムに対する関心度を評価した。また、プログラム受講前後に周術期チーム医療に関する用語や職種について質問し、チーム医療に関する理解度を評価した。90.9%の研修歯科医がプログラムに対して期待し、受講後は88.6%が満足だった、84.1%が有意義だったと回答した。さらに、周術期管理に関する用語について主観的理解度が向上し、チーム医療にかかわる職種についての理解が深まった。歯科医師臨床研修におけるチーム医療教育の方法として、周術期管理チーム医療の現場に実際に関与させるプログラムは、研修歯科医の関心が高く、研修歯科医の周術期管理チーム医療に対する理解を深めることが示唆された

InLoc: Indoor Visual Localization with Dense Matching and View Synthesis

International audienceWe seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph with respect to a large indoor 3D map. The contributions of this work are three-fold. First, we develop a new large-scale visual localization method targeted for indoor environments. The method proceeds along three steps: (i) efficient retrieval of candidate poses that ensures scalability to large-scale environments, (ii) pose estimation using dense matching rather than local features to deal with textureless indoor scenes, and (iii) pose verification by virtual view synthesis to cope with significant changes in viewpoint, scene layout, and occluders. Second, we collect a new dataset with reference 6DoF poses for large-scale indoor localization. Query photographs are captured by mobile phones at a different time than the reference 3D map, thus presenting a realistic indoor localization scenario. Third, we demonstrate that our method significantly outperforms current state-of-the-art indoor localization approaches on this new challenging data