iDF-SLAM: End-to-End RGB-D SLAM with Neural Implicit Mapping and Deep Feature Tracking

We propose a novel end-to-end RGB-D SLAM, iDF-SLAM, which adopts a feature-based deep neural tracker as the front-end and a NeRF-style neural implicit mapper as the back-end. The neural implicit mapper is trained on-the-fly, while though the neural tracker is pretrained on the ScanNet dataset, it is also finetuned along with the training of the neural implicit mapper. Under such a design, our iDF-SLAM is capable of learning to use scene-specific features for camera tracking, thus enabling lifelong learning of the SLAM system. Both the training for the tracker and the mapper are self-supervised without introducing ground truth poses. We test the performance of our iDF-SLAM on the Replica and ScanNet datasets and compare the results to the two recent NeRF-based neural SLAM systems. The proposed iDF-SLAM demonstrates state-of-the-art results in terms of scene reconstruction and competitive performance in camera tracking.Comment: 7 pages, 6 figures, 3 table

PVO: Panoptic Visual Odometry

We present PVO, a novel panoptic visual odometry framework to achieve more comprehensive modeling of the scene motion, geometry, and panoptic segmentation information. Our PVO models visual odometry (VO) and video panoptic segmentation (VPS) in a unified view, which makes the two tasks mutually beneficial. Specifically, we introduce a panoptic update module into the VO Module with the guidance of image panoptic segmentation. This Panoptic-Enhanced VO Module can alleviate the impact of dynamic objects in the camera pose estimation with a panoptic-aware dynamic mask. On the other hand, the VO-Enhanced VPS Module also improves the segmentation accuracy by fusing the panoptic segmentation result of the current frame on the fly to the adjacent frames, using geometric information such as camera pose, depth, and optical flow obtained from the VO Module. These two modules contribute to each other through recurrent iterative optimization. Extensive experiments demonstrate that PVO outperforms state-of-the-art methods in both visual odometry and video panoptic segmentation tasks.Comment: CVPR2023 Project page: https://zju3dv.github.io/pvo/ code: https://github.com/zju3dv/PV

A new species of Nidirana (Anura, Ranidae) from northern Guangxi, China

A new species of music frog, Nidirana guibeiensis sp. nov., is described from northern Guangxi, China. Based on two mtDNA fragments analyzed, phylogenetic trees reveal that N. guibeiensis sp. nov. is most closely related to N. leishanensis. However, the new species can be identified by conspicuous diagnostic morphological characteristics as well as bioacoustics. In contrast to the known Nidirana species, the advertisement calls of the new species can be divided into three types, calls with one, two, and three notes. In addition, the new species has nest construction behavior, which is inconsistent with N. leishanensis. Nidirana guibeiensis sp. nov. occurs in paddy fields or still pools at 300–1300 m a.s.l

Tri©DB: an integrated platform of knowledgebase and reporting system for cancer precision medicine

Abstract Background With the development of cancer precision medicine, a huge amount of high-dimensional cancer information has rapidly accumulated regarding gene alterations, diseases, therapeutic interventions and various annotations. The information is highly fragmented across multiple different sources, making it highly challenging to effectively utilize and exchange the information. Therefore, it is essential to create a resource platform containing well-aggregated, carefully mined, and easily accessible data for effective knowledge sharing. Methods In this study, we have developed “Consensus Cancer Core” (Tri©DB), a new integrative cancer precision medicine knowledgebase and reporting system by mining and harmonizing multifaceted cancer data sources, and presenting them in a centralized platform with enhanced functionalities for accessibility, annotation and analysis. Results The knowledgebase provides the currently most comprehensive information on cancer precision medicine covering more than 40 annotation entities, many of which are novel and have never been explored previously. Tri©DB offers several unique features: (i) harmonizing the cancer-related information from more than 30 data sources into one integrative platform for easy access; (ii) utilizing a variety of data analysis and graphical tools for enhanced user interaction with the high-dimensional data; (iii) containing a newly developed reporting system for automated annotation and therapy matching for external patient genomic data. Benchmark test indicated that Tri©DB is able to annotate 46% more treatments than two officially recognized resources, oncoKB and MCG. Tri©DB was further shown to have achieved 94.9% concordance with administered treatments in a real clinical trial. Conclusions The novel features and rich functionalities of the new platform will facilitate full access to cancer precision medicine data in one single platform and accommodate the needs of a broad range of researchers not only in translational medicine, but also in basic biomedical research. We believe that it will help to promote knowledge sharing in cancer precision medicine. Tri©DB is freely available at www.biomeddb.org , and is hosted on a cutting-edge technology architecture supporting all major browsers and mobile handsets