CalibNet: Geometrically Supervised Extrinsic Calibration using 3D Spatial Transformer Networks

3D LiDARs and 2D cameras are increasingly being used alongside each other in sensor rigs for perception tasks. Before these sensors can be used to gather meaningful data, however, their extrinsics (and intrinsics) need to be accurately calibrated, as the performance of the sensor rig is extremely sensitive to these calibration parameters. A vast majority of existing calibration techniques require significant amounts of data and/or calibration targets and human effort, severely impacting their applicability in large-scale production systems. We address this gap with CalibNet: a self-supervised deep network capable of automatically estimating the 6-DoF rigid body transformation between a 3D LiDAR and a 2D camera in real-time. CalibNet alleviates the need for calibration targets, thereby resulting in significant savings in calibration efforts. During training, the network only takes as input a LiDAR point cloud, the corresponding monocular image, and the camera calibration matrix K. At train time, we do not impose direct supervision (i.e., we do not directly regress to the calibration parameters, for example). Instead, we train the network to predict calibration parameters that maximize the geometric and photometric consistency of the input images and point clouds. CalibNet learns to iteratively solve the underlying geometric problem and accurately predicts extrinsic calibration parameters for a wide range of mis-calibrations, without requiring retraining or domain adaptation. The project page is hosted at https://epiception.github.io/CalibNetComment: Appeared in the proccedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 201

CAMP: a useful resource for research on antimicrobial peptides

Antimicrobial peptides (AMPs) are gaining popularity as better substitute to antibiotics. These peptides are shown to be active against several bacteria, fungi, viruses, protozoa and cancerous cells. Understanding the role of primary structure of AMPs in their specificity and activity is essential for their rational design as drugs. Collection of Anti-Microbial Peptides (CAMP) is a free online database that has been developed for advancement of the present understanding on antimicrobial peptides. It is manually curated and currently holds 3782 antimicrobial sequences. These sequences are divided into experimentally validated (patents and non-patents: 2766) and predicted (1016) datasets based on their reference literature. Information like source organism, activity (MIC values), reference literature, target and non-target organisms of AMPs are captured in the database. The experimentally validated dataset has been further used to develop prediction tools for AMPs based on the machine learning algorithms like Random Forests (RF), Support Vector Machines (SVM) and Discriminant Analysis (DA). The prediction models gave accuracies of 93.2% (RF), 91.5% (SVM) and 87.5% (DA) on the test datasets. The prediction and sequence analysis tools, including BLAST, are integrated in the database. CAMP will be a useful database for study of sequence-activity and -specificity relationships in AMPs. CAMP is freely available at http://www.bicnirrh.res.in/antimicrobial