Learning Sequence Descriptor based on Spatiotemporal Attention for Visual Place Recognition

Sequence-based visual place recognition (sVPR) aims to match frame sequences with frames stored in a reference map for localization. Existing methods include sequence matching and sequence descriptor-based retrieval. The former is based on the assumption of constant velocity, which is difficult to hold in real scenarios and does not get rid of the intrinsic single frame descriptor mismatch. The latter solves this problem by extracting a descriptor for the whole sequence, but current sequence descriptors are only constructed by feature aggregation of multi-frames, with no temporal information interaction. In this paper, we propose a sequential descriptor extraction method to fuse spatiotemporal information effectively and generate discriminative descriptors. Specifically, similar features on the same frame focu on each other and learn space structure, and the same local regions of different frames learn local feature changes over time. And we use sliding windows to control the temporal self-attention range and adpot relative position encoding to construct the positional relationships between different features, which allows our descriptor to capture the inherent dynamics in the frame sequence and local feature motion

VNI-Net: Vector Neurons-based Rotation-Invariant Descriptor for LiDAR Place Recognition

LiDAR-based place recognition plays a crucial role in Simultaneous Localization and Mapping (SLAM) and LiDAR localization. Despite the emergence of various deep learning-based and hand-crafting-based methods, rotation-induced place recognition failure remains a critical challenge. Existing studies address this limitation through specific training strategies or network structures. However, the former does not produce satisfactory results, while the latter focuses mainly on the reduced problem of SO(2) rotation invariance. Methods targeting SO(3) rotation invariance suffer from limitations in discrimination capability. In this paper, we propose a new method that employs Vector Neurons Network (VNN) to achieve SO(3) rotation invariance. We first extract rotation-equivariant features from neighboring points and map low-dimensional features to a high-dimensional space through VNN. Afterwards, we calculate the Euclidean and Cosine distance in the rotation-equivariant feature space as rotation-invariant feature descriptors. Finally, we aggregate the features using GeM pooling to obtain global descriptors. To address the significant information loss when formulating rotation-invariant descriptors, we propose computing distances between features at different layers within the Euclidean space neighborhood. This greatly improves the discriminability of the point cloud descriptors while ensuring computational efficiency. Experimental results on public datasets show that our approach significantly outperforms other baseline methods implementing rotation invariance, while achieving comparable results with current state-of-the-art place recognition methods that do not consider rotation issues

NeurAR: Neural Uncertainty for Autonomous 3D Reconstruction

Implicit neural representations have shown compelling results in offline 3D reconstruction and also recently demonstrated the potential for online SLAM systems. However, applying them to autonomous 3D reconstruction, where robots are required to explore a scene and plan a view path for the reconstruction, has not been studied. In this paper, we explore for the first time the possibility of using implicit neural representations for autonomous 3D scene reconstruction by addressing two key challenges: 1) seeking a criterion to measure the quality of the candidate viewpoints for the view planning based on the new representations, and 2) learning the criterion from data that can generalize to different scenes instead of hand-crafting one. For the first challenge, a proxy of Peak Signal-to-Noise Ratio (PSNR) is proposed to quantify a viewpoint quality. The proxy is acquired by treating the color of a spatial point in a scene as a random variable under a Gaussian distribution rather than a deterministic one; the variance of the distribution quantifies the uncertainty of the reconstruction and composes the proxy. For the second challenge, the proxy is optimized jointly with the parameters of an implicit neural network for the scene. With the proposed view quality criterion, we can then apply the new representations to autonomous 3D reconstruction. Our method demonstrates significant improvements on various metrics for the rendered image quality and the geometry quality of the reconstructed 3D models when compared with variants using TSDF or reconstruction without view planning.Comment: 8 pages, 6 figures, 2 table

ImmFusion: Robust mmWave-RGB Fusion for 3D Human Body Reconstruction in All Weather Conditions

3D human reconstruction from RGB images achieves decent results in good weather conditions but degrades dramatically in rough weather. Complementary, mmWave radars have been employed to reconstruct 3D human joints and meshes in rough weather. However, combining RGB and mmWave signals for robust all-weather 3D human reconstruction is still an open challenge, given the sparse nature of mmWave and the vulnerability of RGB images. In this paper, we present ImmFusion, the first mmWave-RGB fusion solution to reconstruct 3D human bodies in all weather conditions robustly. Specifically, our ImmFusion consists of image and point backbones for token feature extraction and a Transformer module for token fusion. The image and point backbones refine global and local features from original data, and the Fusion Transformer Module aims for effective information fusion of two modalities by dynamically selecting informative tokens. Extensive experiments on a large-scale dataset, mmBody, captured in various environments demonstrate that ImmFusion can efficiently utilize the information of two modalities to achieve a robust 3D human body reconstruction in all weather conditions. In addition, our method's accuracy is significantly superior to that of state-of-the-art Transformer-based LiDAR-camera fusion methods

Low-intensity anomaly involving ML≥4 events preceding strong earthquakes in Tibet

Seismic quiescence or enhanced phenomena are anomalous changes against the background of normal seismic activity. Preliminary studies have found that earthquakes with a magnitude of ML≥4 often occur at a low occurrence frequency before giant earthquakes in Tibet. This study analyzed the catalog of ML≥4 earthquakes from 2008 to 2022 and examined the anomalous occurrence of ML≥4 earthquakes preceding most ML≥6 earthquakes. When the monthly occurrence frequency of ML≥4 earthquakes was lower than 4 times over six consecutive months, the subsequent occurrence of ML≥6 earthquakes was highly likely as evidenced by observations. The anomalous characteristics of low-intensity activities were analyzed as a medium- and short-term forecasting index for large earthquakes in the Tibetan area

The genome evolution and domestication of tropical fruit mango

Background: Mango is one of the world’s most important tropical fruits. It belongs to the family Anacardiaceae, which includes several other economically important species, notably cashew, sumac and pistachio from other genera. Many species in this family produce family-specific urushiols and related phenols, which can induce contact dermatitis. Results: We generate a chromosome-scale genome assembly of mango, providing a reference genome for the Anacardiaceae family. Our results indicate the occurrence of a recent whole-genome duplication (WGD) event in mango. Duplicated genes preferentially retained include photosynthetic, photorespiration, and lipid metabolic genes that may have provided adaptive advantages to sharp historical decreases in atmospheric carbon dioxide and global temperatures. A notable example of an extended gene family is the chalcone synthase (CHS) family of genes, and particular genes in this family show universally higher expression in peels than in flesh, likely for the biosynthesis of urushiols and related phenols. Genome resequencing reveals two distinct groups of mango varieties, with commercial varieties clustered with India germplasms and demonstrating allelic admixture, and indigenous varieties from Southeast Asia in the second group. Landraces indigenous in China formed distinct clades, and some showed admixture in genomes. Conclusions: Analysis of chromosome-scale mango genome sequences reveals photosynthesis and lipid metabolism are preferentially retained after a recent WGD event, and expansion of CHS genes is likely associated with urushiol biosynthesis in mango. Genome resequencing clarifies two groups of mango varieties, discovers allelic admixture in commercial varieties, and shows distinct genetic background of landraces

Construction and immunological characterization of CD40L or GM-CSF incorporated Hantaan virus like particle

Infection of Hantaan virus (HTNV) usually causes hemorrhagic fever with renal syndrome (HFRS). China has the worst epidemic incidence of HFRS as well as high fatality. Inactivated whole virus has been used for HFRS vaccination, however there are still problems such as safety concerns. CD40 ligand (CD40L) and granulocyte macrophage colony-stimulating factor (GM-CSF) are well-known immune stimulating molecules that can enhance antigen presenting, lymphocytes activation and maturation, incorporation of CD40L and GM-CSF to the surface of virus like particles (VLPs) can greatly improve the vaccination effect. We constructed eukaryotic vectors expressing HTNV M segment and S segment, as well as vectors expressing HTNV M segment with CD40L or GM-CSF, our results showed successful production of CD40L or GM-CSF incorporated HTNV VLPs. In vitro stimulation with CD40L or GM-CSF anchored HTNV VLP showed enhanced activation of macrophages and DCs. CD40L/GM-CSF incorporated VLP can induce higher level of HTNV specific antibody and neutralizing antibody in mice. Immunized mice splenocytes showed higher ability of secreting IFN-γ and IL-2, as well as enhancing CTL activity. These results suggest CD40L/GM-CSF incorporated VLP can serve as prospective vaccine candidate