Integration of Absolute Orientation Measurements in the KinectFusion Reconstruction pipeline

In this paper, we show how absolute orientation measurements provided by low-cost but high-fidelity IMU sensors can be integrated into the KinectFusion pipeline. We show that integration improves both runtime, robustness and quality of the 3D reconstruction. In particular, we use this orientation data to seed and regularize the ICP registration technique. We also present a technique to filter the pairs of 3D matched points based on the distribution of their distances. This filter is implemented efficiently on the GPU. Estimating the distribution of the distances helps control the number of iterations necessary for the convergence of the ICP algorithm. Finally, we show experimental results that highlight improvements in robustness, a speed-up of almost 12%, and a gain in tracking quality of 53% for the ATE metric on the Freiburg benchmark.Comment: CVPR Workshop on Visual Odometry and Computer Vision Applications Based on Location Clues 201

Rethinking the Pipeline of Demosaicing, Denoising and Super-Resolution

Incomplete color sampling, noise degradation, and limited resolution are the three key problems that are unavoidable in modern camera systems. Demosaicing (DM), denoising (DN), and super-resolution (SR) are core components in a digital image processing pipeline to overcome the three problems above, respectively. Although each of these problems has been studied actively, the mixture problem of DM, DN, and SR, which is a higher practical value, lacks enough attention. Such a mixture problem is usually solved by a sequential solution (applying each method independently in a fixed order: DM $\to$ DN $\to$ SR), or is simply tackled by an end-to-end network without enough analysis into interactions among tasks, resulting in an undesired performance drop in the final image quality. In this paper, we rethink the mixture problem from a holistic perspective and propose a new image processing pipeline: DN $\to$ SR $\to$ DM. Extensive experiments show that simply modifying the usual sequential solution by leveraging our proposed pipeline could enhance the image quality by a large margin. We further adopt the proposed pipeline into an end-to-end network, and present Trinity Enhancement Network (TENet). Quantitative and qualitative experiments demonstrate the superiority of our TENet to the state-of-the-art. Besides, we notice the literature lacks a full color sampled dataset. To this end, we contribute a new high-quality full color sampled real-world dataset, namely PixelShift200. Our experiments show the benefit of the proposed PixelShift200 dataset for raw image processing.Comment: Code is available at: https://github.com/guochengqian/TENe

Data Dependent Randomized Smoothing

Randomized smoothing is a recent technique that achieves state-of-art performance in training certifiably robust deep neural networks. While the smoothing family of distributions is often connected to the choice of the norm used for certification, the parameters of these distributions are always set as global hyper parameters independent of the input data on which a network is certified. In this work, we revisit Gaussian randomized smoothing and show that the variance of the Gaussian distribution can be optimized at each input so as to maximize the certification radius for the construction of the smoothed classifier. This new approach is generic, parameter-free, and easy to implement. In fact, we show that our data dependent framework can be seamlessly incorporated into 3 randomized smoothing approaches, leading to consistent improved certified accuracy. When this framework is used in the training routine of these approaches followed by a data dependent certification, we achieve 9\% and 6\% improvement over the certified accuracy of the strongest baseline for a radius of 0.5 on CIFAR10 and ImageNet.Comment: First two authors contributed equally to this wor

Real-Time Evaluation in Online Continual Learning: A New Hope

Current evaluations of Continual Learning (CL) methods typically assume that there is no constraint on training time and computation. This is an unrealistic assumption for any real-world setting, which motivates us to propose: a practical real-time evaluation of continual learning, in which the stream does not wait for the model to complete training before revealing the next data for predictions. To do this, we evaluate current CL methods with respect to their computational costs. We conduct extensive experiments on CLOC, a large-scale dataset containing 39 million time-stamped images with geolocation labels. We show that a simple baseline outperforms state-of-the-art CL methods under this evaluation, questioning the applicability of existing methods in realistic settings. In addition, we explore various CL components commonly used in the literature, including memory sampling strategies and regularization approaches. We find that all considered methods fail to be competitive against our simple baseline. This surprisingly suggests that the majority of existing CL literature is tailored to a specific class of streams that is not practical. We hope that the evaluation we provide will be the first step towards a paradigm shift to consider the computational cost in the development of online continual learning methods.Comment: Accepted at CVPR'23 as Highlight (Top 2.5%

Antimicrobial resistance among migrants in Europe: a systematic review and meta-analysis

BACKGROUND: Rates of antimicrobial resistance (AMR) are rising globally and there is concern that increased migration is contributing to the burden of antibiotic resistance in Europe. However, the effect of migration on the burden of AMR in Europe has not yet been comprehensively examined. Therefore, we did a systematic review and meta-analysis to identify and synthesise data for AMR carriage or infection in migrants to Europe to examine differences in patterns of AMR across migrant groups and in different settings. METHODS: For this systematic review and meta-analysis, we searched MEDLINE, Embase, PubMed, and Scopus with no language restrictions from Jan 1, 2000, to Jan 18, 2017, for primary data from observational studies reporting antibacterial resistance in common bacterial pathogens among migrants to 21 European Union-15 and European Economic Area countries. To be eligible for inclusion, studies had to report data on carriage or infection with laboratory-confirmed antibiotic-resistant organisms in migrant populations. We extracted data from eligible studies and assessed quality using piloted, standardised forms. We did not examine drug resistance in tuberculosis and excluded articles solely reporting on this parameter. We also excluded articles in which migrant status was determined by ethnicity, country of birth of participants' parents, or was not defined, and articles in which data were not disaggregated by migrant status. Outcomes were carriage of or infection with antibiotic-resistant organisms. We used random-effects models to calculate the pooled prevalence of each outcome. The study protocol is registered with PROSPERO, number CRD42016043681. FINDINGS: We identified 2274 articles, of which 23 observational studies reporting on antibiotic resistance in 2319 migrants were included. The pooled prevalence of any AMR carriage or AMR infection in migrants was 25·4% (95% CI 19·1-31·8; I2 =98%), including meticillin-resistant Staphylococcus aureus (7·8%, 4·8-10·7; I2 =92%) and antibiotic-resistant Gram-negative bacteria (27·2%, 17·6-36·8; I2 =94%). The pooled prevalence of any AMR carriage or infection was higher in refugees and asylum seekers (33·0%, 18·3-47·6; I2 =98%) than in other migrant groups (6·6%, 1·8-11·3; I2 =92%). The pooled prevalence of antibiotic-resistant organisms was slightly higher in high-migrant community settings (33·1%, 11·1-55·1; I2 =96%) than in migrants in hospitals (24·3%, 16·1-32·6; I2 =98%). We did not find evidence of high rates of transmission of AMR from migrant to host populations. INTERPRETATION: Migrants are exposed to conditions favouring the emergence of drug resistance during transit and in host countries in Europe. Increased antibiotic resistance among refugees and asylum seekers and in high-migrant community settings (such as refugee camps and detention facilities) highlights the need for improved living conditions, access to health care, and initiatives to facilitate detection of and appropriate high-quality treatment for antibiotic-resistant infections during transit and in host countries. Protocols for the prevention and control of infection and for antibiotic surveillance need to be integrated in all aspects of health care, which should be accessible for all migrant groups, and should target determinants of AMR before, during, and after migration. FUNDING: UK National Institute for Health Research Imperial Biomedical Research Centre, Imperial College Healthcare Charity, the Wellcome Trust, and UK National Institute for Health Research Health Protection Research Unit in Healthcare-associated Infections and Antimictobial Resistance at Imperial College London

Anastrozole versus tamoxifen for the prevention of locoregional and contralateral breast cancer in postmenopausal women with locally excised ductal carcinoma in situ (IBIS-II DCIS): a double-blind, randomised controlled trial

Background Third-generation aromatase inhibitors are more effective than tamoxifen for preventing recurrence in postmenopausal women with hormone-receptor-positive invasive breast cancer. However, it is not known whether anastrozole is more effective than tamoxifen for women with hormone-receptor-positive ductal carcinoma in situ (DCIS). Here, we compare the efficacy of anastrozole with that of tamoxifen in postmenopausal women with hormone-receptor-positive DCIS. Methods In a double-blind, multicentre, randomised placebo-controlled trial, we recruited women who had been diagnosed with locally excised, hormone-receptor-positive DCIS. Eligible women were randomly assigned in a 1:1 ratio by central computer allocation to receive 1 mg oral anastrozole or 20 mg oral tamoxifen every day for 5 years. Randomisation was stratified by major centre or hub and was done in blocks (six, eight, or ten). All trial personnel, participants, and clinicians were masked to treatment allocation and only the trial statistician had access to treatment allocation. The primary endpoint was all recurrence, including recurrent DCIS and new contralateral tumours. All analyses were done on a modified intention-to-treat basis (in all women who were randomised and did not revoke consent for their data to be included) and proportional hazard models were used to compute hazard ratios and corresponding confidence intervals. This trial is registered at the ISRCTN registry, number ISRCTN37546358. Results Between March 3, 2003, and Feb 8, 2012, we enrolled 2980 postmenopausal women from 236 centres in 14 countries and randomly assigned them to receive anastrozole (1449 analysed) or tamoxifen (1489 analysed). Median follow-up was 7·2 years (IQR 5·6–8·9), and 144 breast cancer recurrences were recorded. We noted no statistically significant difference in overall recurrence (67 recurrences for anastrozole vs 77 for tamoxifen; HR 0·89 [95% CI 0·64–1·23]). The non-inferiority of anastrozole was established (upper 95% CI <1·25), but its superiority to tamoxifen was not (p=0·49). A total of 69 deaths were recorded (33 for anastrozole vs 36 for tamoxifen; HR 0·93 [95% CI 0·58–1·50], p=0·78), and no specific cause was more common in one group than the other. The number of women reporting any adverse event was similar between anastrozole (1323 women, 91%) and tamoxifen (1379 women, 93%); the side-effect profiles of the two drugs differed, with more fractures, musculoskeletal events, hypercholesterolaemia, and strokes with anastrozole and more muscle spasm, gynaecological cancers and symptoms, vasomotor symptoms, and deep vein thromboses with tamoxifen. Conclusions No clear efficacy differences were seen between the two treatments. Anastrozole offers another treatment option for postmenopausal women with hormone-receptor-positive DCIS, which may be be more appropriate for some women with contraindications for tamoxifen. Longer follow-up will be necessary to fully evaluate treatment differences

Hyperoxemia and excess oxygen use in early acute respiratory distress syndrome : Insights from the LUNG SAFE study

Publisher Copyright: © 2020 The Author(s). Copyright: Copyright 2020 Elsevier B.V., All rights reserved.Background: Concerns exist regarding the prevalence and impact of unnecessary oxygen use in patients with acute respiratory distress syndrome (ARDS). We examined this issue in patients with ARDS enrolled in the Large observational study to UNderstand the Global impact of Severe Acute respiratory FailurE (LUNG SAFE) study. Methods: In this secondary analysis of the LUNG SAFE study, we wished to determine the prevalence and the outcomes associated with hyperoxemia on day 1, sustained hyperoxemia, and excessive oxygen use in patients with early ARDS. Patients who fulfilled criteria of ARDS on day 1 and day 2 of acute hypoxemic respiratory failure were categorized based on the presence of hyperoxemia (PaO2 > 100 mmHg) on day 1, sustained (i.e., present on day 1 and day 2) hyperoxemia, or excessive oxygen use (FIO2 ≥ 0.60 during hyperoxemia). Results: Of 2005 patients that met the inclusion criteria, 131 (6.5%) were hypoxemic (PaO2 < 55 mmHg), 607 (30%) had hyperoxemia on day 1, and 250 (12%) had sustained hyperoxemia. Excess FIO2 use occurred in 400 (66%) out of 607 patients with hyperoxemia. Excess FIO2 use decreased from day 1 to day 2 of ARDS, with most hyperoxemic patients on day 2 receiving relatively low FIO2. Multivariate analyses found no independent relationship between day 1 hyperoxemia, sustained hyperoxemia, or excess FIO2 use and adverse clinical outcomes. Mortality was 42% in patients with excess FIO2 use, compared to 39% in a propensity-matched sample of normoxemic (PaO2 55-100 mmHg) patients (P = 0.47). Conclusions: Hyperoxemia and excess oxygen use are both prevalent in early ARDS but are most often non-sustained. No relationship was found between hyperoxemia or excessive oxygen use and patient outcome in this cohort. Trial registration: LUNG-SAFE is registered with ClinicalTrials.gov, NCT02010073publishersversionPeer reviewe