4DRVO-Net: Deep 4D Radar-Visual Odometry Using Multi-Modal and Multi-Scale Adaptive Fusion

Four-dimensional (4D) radar--visual odometry (4DRVO) integrates complementary information from 4D radar and cameras, making it an attractive solution for achieving accurate and robust pose estimation. However, 4DRVO may exhibit significant tracking errors owing to three main factors: 1) sparsity of 4D radar point clouds; 2) inaccurate data association and insufficient feature interaction between the 4D radar and camera; and 3) disturbances caused by dynamic objects in the environment, affecting odometry estimation. In this paper, we present 4DRVO-Net, which is a method for 4D radar--visual odometry. This method leverages the feature pyramid, pose warping, and cost volume (PWC) network architecture to progressively estimate and refine poses. Specifically, we propose a multi-scale feature extraction network called Radar-PointNet++ that fully considers rich 4D radar point information, enabling fine-grained learning for sparse 4D radar point clouds. To effectively integrate the two modalities, we design an adaptive 4D radar--camera fusion module (A-RCFM) that automatically selects image features based on 4D radar point features, facilitating multi-scale cross-modal feature interaction and adaptive multi-modal feature fusion. In addition, we introduce a velocity-guided point-confidence estimation module to measure local motion patterns, reduce the influence of dynamic objects and outliers, and provide continuous updates during pose refinement. We demonstrate the excellent performance of our method and the effectiveness of each module design on both the VoD and in-house datasets. Our method outperforms all learning-based and geometry-based methods for most sequences in the VoD dataset. Furthermore, it has exhibited promising performance that closely approaches that of the 64-line LiDAR odometry results of A-LOAM without mapping optimization.Comment: 14 pages,12 figure

Monitoring wound healing of elastic cartilage using multiphoton microscopy

SummaryObjectiveTo demonstrate the ability of multiphoton microscopy (MPM) for monitoring wound healing of elastic cartilage.MethodIn a rabbit ear model, four cartilage specimen groups at 1-day, 1-, 4-, 20-week healing time points as well as a normal elastic cartilage were examined with MPM without using labeling agents. MPM images at wound margins were obtained from specimens at different healing stages, compared with the Hematoxylin and Eosin (H&E) stained images. Image analysis was performed to characterize the collagen morphology for quantifying the wound healing progression of elastic cartilage.ResultsMPM provided high-resolution images of elastic cartilage at varying depths. Comparisons of the images of specimens at different healing stages show obvious cell growth and matrix deposition. The results are consistent with the histological results. Moreover, quantitative analysis results show significant alteration in the collagen cavity size or collagen orientation index during wound healing of elastic cartilage, indicating the possibility to act as indicators for monitoring wound healing.ConclusionOur results suggested that MPM has the ability to monitor the wound healing progression of elastic cartilage, based on the visualization of cell growth and proliferation and quantitative characterization of collagen morphology during wound healing

C-Watcher: A Framework for Early Detection of High-Risk Neighborhoods Ahead of COVID-19 Outbreak

The novel coronavirus disease (COVID-19) has crushed daily routines and is still rampaging through the world. Existing solution for nonpharmaceutical interventions usually needs to timely and precisely select a subset of residential urban areas for containment or even quarantine, where the spatial distribution of confirmed cases has been considered as a key criterion for the subset selection. While such containment measure has successfully stopped or slowed down the spread of COVID-19 in some countries, it is criticized for being inefficient or ineffective, as the statistics of confirmed cases are usually time-delayed and coarse-grained. To tackle the issues, we propose C-Watcher, a novel data-driven framework that aims at screening every neighborhood in a target city and predicting infection risks, prior to the spread of COVID-19 from epicenters to the city. In terms of design, C-Watcher collects large-scale long-term human mobility data from Baidu Maps, then characterizes every residential neighborhood in the city using a set of features based on urban mobility patterns. Furthermore, to transfer the firsthand knowledge (witted in epicenters) to the target city before local outbreaks, we adopt a novel adversarial encoder framework to learn "city-invariant" representations from the mobility-related features for precise early detection of high-risk neighborhoods, even before any confirmed cases known, in the target city. We carried out extensive experiments on C-Watcher using the real-data records in the early stage of COVID-19 outbreaks, where the results demonstrate the efficiency and effectiveness of C-Watcher for early detection of high-risk neighborhoods from a large number of cities.Comment: 11 pages, accepted by AAAI 2021, appendix is include

Convolutional Neural Networks for Crystal Material Property Prediction Using Hybrid Orbital-Field Matrix and Magpie Descriptors

Computational prediction of crystal materials properties can help to do large-scale in-silicon screening. Recent studies of material informatics have focused on expert design of multi-dimensional interpretable material descriptors/features. However, successes of deep learning such as Convolutional Neural Networks (CNN) in image recognition and speech recognition have demonstrated their automated feature extraction capability to effectively capture the characteristics of the data and achieve superior prediction performance. Here, we propose CNN-OFM-Magpie, a CNN model with OFM (Orbital-field Matrix) and Magpie descriptors to predict the formation energy of 4030 crystal material by exploiting the complementarity of two-dimensional OFM features and Magpie features. Experiments showed that our method achieves better performance than conventional regression algorithms such as support vector machines and Random Forest. It is also better than CNN models using only the OFM features, the Magpie features, or the basic one-hot encodings. This demonstrates the advantages of CNN and feature fusion for materials property prediction. Finally, we visualized the two-dimensional OFM descriptors and analyzed the features extracted by the CNN to obtain greater understanding of the CNN-OFM model