CVTNet: A Cross-View Transformer Network for Place Recognition Using LiDAR Data

LiDAR-based place recognition (LPR) is one of the most crucial components of autonomous vehicles to identify previously visited places in GPS-denied environments. Most existing LPR methods use mundane representations of the input point cloud without considering different views, which may not fully exploit the information from LiDAR sensors. In this paper, we propose a cross-view transformer-based network, dubbed CVTNet, to fuse the range image views (RIVs) and bird's eye views (BEVs) generated from the LiDAR data. It extracts correlations within the views themselves using intra-transformers and between the two different views using inter-transformers. Based on that, our proposed CVTNet generates a yaw-angle-invariant global descriptor for each laser scan end-to-end online and retrieves previously seen places by descriptor matching between the current query scan and the pre-built database. We evaluate our approach on three datasets collected with different sensor setups and environmental conditions. The experimental results show that our method outperforms the state-of-the-art LPR methods with strong robustness to viewpoint changes and long-time spans. Furthermore, our approach has a good real-time performance that can run faster than the typical LiDAR frame rate. The implementation of our method is released as open source at: https://github.com/BIT-MJY/CVTNet.Comment: accepted by IEEE Transactions on Industrial Informatics 202

SeqOT: A Spatial-Temporal Transformer Network for Place Recognition Using Sequential LiDAR Data

Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR sensor. We propose a transformer-based network named SeqOT to exploit the temporal and spatial information provided by sequential range images generated from the LiDAR data. It uses multi-scale transformers to generate a global descriptor for each sequence of LiDAR range images in an end-to-end fashion. During online operation, our SeqOT finds similar places by matching such descriptors between the current query sequence and those stored in the map. We evaluate our approach on four datasets collected with different types of LiDAR sensors in different environments. The experimental results show that our method outperforms the state-of-the-art LiDAR-based place recognition methods and generalizes well across different environments. Furthermore, our method operates online faster than the frame rate of the sensor. The implementation of our method is released as open source at: https://github.com/BIT-MJY/SeqOT.Comment: Submitted to IEEE Transactions on Industrial Electronic

Granular Space Reduction to a β

Multigranulation rough set is an extension of classical rough set, and optimistic multigranulation and pessimistic multigranulation are two special cases of it. β multigranulation rough set is a more generalized multigranulation rough set. In this paper, we first introduce fuzzy rough theory into β multigranulation rough set to construct a β multigranulation fuzzy rough set, which can be used to deal with continuous data; then some properties are discussed. Reduction is an important issue of multigranulation rough set, and an algorithm of granular space reduction to β multigranulation fuzzy rough set for preserving positive region is proposed. To test the algorithm, experiments are taken on five UCI data sets with different values of β. The results show the effectiveness of the proposed algorithm

Immunological characterization of stroke-heart syndrome and identification of inflammatory therapeutic targets

Acute cardiac dysfunction caused by stroke-heart syndrome (SHS) is the second leading cause of stroke-related death. The inflammatory response plays a significant role in the pathophysiological process of cardiac damage. However, the mechanisms underlying the brain–heart interaction are poorly understood. Therefore, we aimed to analysis the immunological characterization and identify inflammation therapeutic targets of SHS. We analyzed gene expression data of heart tissue 24 hours after induction of ischemia stoke by MCAO or sham surgery in a publicly available dataset (GSE102558) from Gene Expression Omnibus (GEO). Bioinformatics analysis revealed 138 differentially expressed genes (DEGs) in myocardium of MCAO-treated compared with sham-treated mice, among which, immune and inflammatory pathways were enriched. Analysis of the immune cells infiltration showed that the natural killer cell populations were significantly different between the two groups. We identified five DIREGs, Aplnr, Ccrl2, Cdkn1a, Irak2, and Serpine1 and found that their expression correlated with specific populations of infiltrating immune cells in the cardiac tissue. RT–qPCR and Western blot methods confirmed significant changes in the expression levels of Aplnr, Cdkn1a, Irak2, and Serpine1 after MCAO, which may serve as therapeutic targets to prevent cardiovascular complications after stroke

ConCarE:Personalized Clinical Feature Embedding via Capturing the Healthcare Context

Predicting the patient’s clinical outcome from the historical electronic medical records (EMR) is a fundamental research problem in medical informatics. Most deep learning-based solutions for EMR analysis concentrate on learning the clinical visit embedding and exploring the relations between vis- its. Although those works have shown superior performances in healthcare prediction, they fail to thoroughly explore the personal characteristics during the clinical visits. Moreover, existing work usually assumes that a more recent record has a larger weight in the prediction, but this assumption is not true for certain clinical features. In this paper, we propose ConCare to handle the irregular EMR data and extract feature interrelationship to perform individualized healthcare prediction. Our solution can embed the feature sequences separately by modeling the time-aware distribution. ConCare further improves the multi-head self-attention via the cross-head decorrelation, so that the inter-dependencies among dynamic features and static baseline information can be diversely captured to form the personal health context. Experimental results on two real-world EMR datasets demonstrate the effectiveness of ConCare. More importantly, ConCare is able to extract medical findings which can be confirmed by human experts and medical literature

AdaCare:Explainable Clinical Health Status Representation Learning via Scale Adaptive Feature Extraction and Recalibration

Deep learning-based health status representation learning and clinical prediction have raised much research interest in recent years. Existing models have shown superior performance, but there are still several major issues that have not been fully taken into consideration. First, the historical variation pattern of the biomarker in diverse time scales plays an important role in indicating the health status, but it has not been explicitly extracted by existing works. Second, key factors that strongly indicate the health risk are different among patients. It is still challenging to adaptively make use of the features for patients in diverse conditions. Third, using the prediction model as a black box will limit the reliability in clinical practice. However, none of the existing works can provide satisfying interpretability and meanwhile achieve high prediction performance. In this work, we develop a general health status representation learning model, named AdaCare. It can capture the long and short-term variations of biomarkers as clinical features to depict the health status in multiple time scales. It also models the correlation between clinical features to enhance the ones which strongly indicate the health status and thus can maintain a state-of-the-art performance in terms of prediction accuracy while providing qualitative in- interpretability. We conduct health risk prediction experiment on two real-world datasets. Experiment results indicate that AdaCare outperforms state-of-the-art approaches and provides effective interpretability which is verifiable by clinical experts

A Comprehensive Benchmark for COVID-19 Predictive Modeling Using Electronic Health Records in Intensive Care

The COVID-19 pandemic has posed a heavy burden to the healthcare system worldwide and caused huge social disruption and economic loss. Many deep learning models have been proposed to conduct clinical predictive tasks such as mortality prediction for COVID-19 patients in intensive care units using Electronic Health Record (EHR) data. Despite their initial success in certain clinical applications, there is currently a lack of benchmarking results to achieve a fair comparison so that we can select the optimal model for clinical use. Furthermore, there is a discrepancy between the formulation of traditional prediction tasks and real-world clinical practice in intensive care. To fill these gaps, we propose two clinical prediction tasks, Outcome-specific length-of-stay prediction and Early mortality prediction for COVID-19 patients in intensive care units. The two tasks are adapted from the naive length-of-stay and mortality prediction tasks to accommodate the clinical practice for COVID-19 patients. We propose fair, detailed, open-source data-preprocessing pipelines and evaluate 17 state-of-the-art predictive models on two tasks, including 5 machine learning models, 6 basic deep learning models and 6 deep learning predictive models specifically designed for EHR data. We provide benchmarking results using data from two real-world COVID-19 EHR datasets. One dataset is publicly available without needing any inquiry and another dataset can be accessed on request. We provide fair, reproducible benchmarking results for two tasks. We deploy all experiment results and models on an online platform. We also allow clinicians and researchers to upload their data to the platform and get quick prediction results using our trained models. We hope our efforts can further facilitate deep learning and machine learning research for COVID-19 predictive modeling.Comment: Junyi Gao, Yinghao Zhu and Wenqing Wang contributed equall