Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimation

This paper proposes \textit{Contour Context}, a simple, effective, and efficient topological loop closure detection pipeline with accurate 3-DoF metric pose estimation, targeting the urban utonomous driving scenario. We interpret the Cartesian birds' eye view (BEV) image projected from 3D LiDAR points as layered distribution of structures. To recover elevation information from BEVs, we slice them at different heights, and connected pixels at each level will form contours. Each contour is parameterized by abstract information, e.g., pixel count, center position, covariance, and mean height. The similarity of two BEVs is calculated in sequential discrete and continuous steps. The first step considers the geometric consensus of graph-like constellations formed by contours in particular localities. The second step models the majority of contours as a 2.5D Gaussian mixture model, which is used to calculate correlation and optimize relative transform in continuous space. A retrieval key is designed to accelerate the search of a database indexed by layered KD-trees. We validate the efficacy of our method by comparing it with recent works on public datasets.Comment: 7 pages, 7 figures, accepted by ICRA 202

G3Reg: Pyramid Graph-based Global Registration using Gaussian Ellipsoid Model

This study introduces a novel framework, G3Reg, for fast and robust global registration of LiDAR point clouds. In contrast to conventional complex keypoints and descriptors, we extract fundamental geometric primitives including planes, clusters, and lines (PCL) from the raw point cloud to obtain low-level semantic segments. Each segment is formulated as a unified Gaussian Ellipsoid Model (GEM) by employing a probability ellipsoid to ensure the ground truth centers are encompassed with a certain degree of probability. Utilizing these GEMs, we then present a distrust-and-verify scheme based on a Pyramid Compatibility Graph for Global Registration (PAGOR). Specifically, we establish an upper bound, which can be traversed based on the confidence level for compatibility testing to construct the pyramid graph. Gradually, we solve multiple maximum cliques (MAC) for each level of the graph, generating numerous transformation candidates. In the verification phase, we adopt a precise and efficient metric for point cloud alignment quality, founded on geometric primitives, to identify the optimal candidate. The performance of the algorithm is extensively validated on three publicly available datasets and a self-collected multi-session dataset, without changing any parameter settings in the experimental evaluation. The results exhibit superior robustness and real-time performance of the G3Reg framework compared to state-of-the-art methods. Furthermore, we demonstrate the potential for integrating individual GEM and PAGOR components into other algorithmic frameworks to enhance their efficacy. To advance further research and promote community understanding, we have publicly shared the source code.Comment: Under revie

Optimizing protein and lipid levels in practical diet for juvenile northern snakehead fish (Channa argus)

A 3 × 3 factorial feeding trial was conducted to evaluate the production response of juvenile northern snakehead fish (Channa argus). Nine diets containing 3 protein levels (45%, 48% and 51%) and 3 lipid levels (9%, 12% and 15%) were formulated and fed to triplicate groups of juvenile northern snakehead (15.78 ± 0.09 g/fish) for 8 weeks. The formulated diets were named as P45L9, P45L12, P45L15, P48L9, P48L12, P48L15, P51L9, P51L12 and P51L15 (P-Protein, L-Lipid), respectively. Fish fed diets with the lowest protein and lipid combination (P45L9) had the lowest growth performance. Weight gains (WG) of fish fed the 4 diets P48L12, P48L15, P51L9, and P51L12 were not significantly different (P > 0.05), but significantly higher (P  0.05) by dietary treatments. Based on these results, the diet containing 48% protein with either 12% or 15% lipid is the optimal for supporting growth and feed utilization of juvenile northern snakehead under the current testing conditions