Self-Supervised Deep Visual Odometry with Online Adaptation

Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with scenes different from the training data, which makes them unsuitable for practical applications. In this paper, we propose an online meta-learning algorithm to enable VO networks to continuously adapt to new environments in a self-supervised manner. The proposed method utilizes convolutional long short-term memory (convLSTM) to aggregate rich spatial-temporal information in the past. The network is able to memorize and learn from its past experience for better estimation and fast adaptation to the current frame. When running VO in the open world, in order to deal with the changing environment, we propose an online feature alignment method by aligning feature distributions at different time. Our VO network is able to seamlessly adapt to different environments. Extensive experiments on unseen outdoor scenes, virtual to real world and outdoor to indoor environments demonstrate that our method consistently outperforms state-of-the-art self-supervised VO baselines considerably.Comment: Accepted by CVPR 2020 ora

Mechanism of sphingolipid homeostasis revealed by structural analysis of \u3ci\u3eArabidopsis\u3c/i\u3e SPT-ORM1 complex

The serine palmitoyltransferase (SPT) complex catalyzes the first and rate-limiting step in sphingolipid biosynthesis in all eukaryotes. ORM/ORMDL proteins are negative regulators of SPT that respond to cellular sphingolipid levels. However, the molecular basis underlying ORM/ORMDL-dependent homeostatic regulation of SPT is not well understood.We determined the cryo–electron microscopy structure of Arabidopsis SPT-ORM1 complex, composed of LCB1, LCB2a, SPTssa, and ORM1, in an inhibited state. A ceramide molecule is sandwiched between ORM1 and LCB2a in the cytosolic membrane leaflet. Ceramide binding is critical for the ORM1-dependent SPT repression, and dihydroceramides and phytoceramides differentially affect this repression. A hybrid β sheet, formed by the amino termini of ORM1 and LCB2a and induced by ceramide binding, stabilizes the amino terminus of ORM1 in an inhibitory conformation. Our findings provide mechanistic insights into sphingolipid homeostatic regulation via the binding of ceramide to the SPT-ORM/ORMDL complex that may have implications for plant-specific processes such as the hypersensitive response for microbial pathogen resistance

Decreased expression of dual-specificity phosphatase 9 is associated with poor prognosis in clear cell renal cell carcinoma

Background: The molecular mechanisms involved in the development and progression of clear cell renal cell carcinomas (ccRCCs) are poorly understood. The objective of this study was to analyze the expression of dual-specificity phosphatase 9 (DUSP-9) and determine its clinical significance in human ccRCCs. Methods: The expression of DUSP-9 mRNA was determined in 46 paired samples of ccRCCs and adjacent normal tissues by using real-time qPCR. The expression of the DUSP-9 was determined in 211 samples of ccRCCs and 107 paired samples of adjacent normal tissues by immunohistochemical analysis. Statistical analysis was performed to define the relationship between the expression of DUSP-9 and the clinical features of ccRCC. Results: The mRNA level of DUSP-9, which was determined by real-time RT-PCR, was found to be significantly lower in tumorous tissues than in the adjacent non-tumorous tissues (p < 0.001). An immunohistochemical analysis of 107 paired tissue specimens showed that the DUSP-9 expression was lower in tumorous tissues than in the adjacent non-tumorous tissues (p < 0.001). Moreover, there was a significant correlation between the DUSP-9 expression in ccRCCs and gender (p = 0.031), tumor size (p = 0.001), pathologic stage (p = 0.001), Fuhrman grade (p = 0.002), T stage (p = 0.001), N classification (p = 0.012), metastasis (p = 0.005), and recurrence (p < 0.001). Patients with lower DUSP-9 expression had shorter overall survival time than those with higher DUSP-9 expression (p < 0.001). Multivariate analysis indicated that low expression of the DUSP-9 was an independent predictor for poor survival of ccRCC patients. Conclusion: To our knowledge, this is the first study that determines the relationship between DUSP-9 expression and prognosis in ccRCC. We found that decreased expression of DUSP-9 is associated with poor prognosis in ccRCC. DUSP-9 may represent a novel and useful prognostic marker for ccRCC

Effect of Huoxuejiangu Decoction on Osteoarthritis

Objective: To explore the clinical intervention effect of applying Huoxue Jiangu Decoction in the treatment of patients with osteoarthritis. Methods: Research work was carried out in our hospital from December 2018 to December 2019. A total of 100 patients with osteoarthritis received treatment during this period were selected and divided into two groups using random number method. One group was given sodium hyaluronate injection for treatment, which was the control group, and the other group was given Huoxuejiangu Decoction combined with sodium hyaluronate injection, which was the experimental group. The clinical treatment of the two groups of patients was compared and analyzed. Results: The patients' pain levels were compared. There was no significant difference between the groups before the intervention treatment. After treatment, the experimental group score was (3.05±0.55), which was lower than the control group, the improvement effect was more significant, and the difference between the groups was significant (P< 0.05), the experimental group had a better effect. The clinical treatment of the two groups of patients was compared and analyzed. There was no significant difference in the WOMAS index between the two groups before treatment. After treatment, the score of the experimental group was (34.33±6.98), and the improvement rate was (37.45±13.22). After treatment, the score was lower and the improvement rate was higher, which was significantly higher than the control group (P <0.05), which was significant. The treatment effective rate of the patients in the experimental group was 80.00%, and the treatment effective rate of the patients in the control group was 64.00%. When comparing, the effective rate of the experimental group was higher, and the data comparison between the groups was significantly different. Conclusion: For the patients with osteoarthritis, the application of Huoxue Jiangu Decoction has a significant clinical effect, which can reduce the patient's pain level, improve the patient's clinical symptoms, have high clinical value, and it can be promoted