DeepICP: An End-to-End Deep Neural Network for 3D Point Cloud Registration

We present DeepICP - a novel end-to-end learning-based 3D point cloud registration framework that achieves comparable registration accuracy to prior state-of-the-art geometric methods. Different from other keypoint based methods where a RANSAC procedure is usually needed, we implement the use of various deep neural network structures to establish an end-to-end trainable network. Our keypoint detector is trained through this end-to-end structure and enables the system to avoid the inference of dynamic objects, leverages the help of sufficiently salient features on stationary objects, and as a result, achieves high robustness. Rather than searching the corresponding points among existing points, the key contribution is that we innovatively generate them based on learned matching probabilities among a group of candidates, which can boost the registration accuracy. Our loss function incorporates both the local similarity and the global geometric constraints to ensure all above network designs can converge towards the right direction. We comprehensively validate the effectiveness of our approach using both the KITTI dataset and the Apollo-SouthBay dataset. Results demonstrate that our method achieves comparable or better performance than the state-of-the-art geometry-based methods. Detailed ablation and visualization analysis are included to further illustrate the behavior and insights of our network. The low registration error and high robustness of our method makes it attractive for substantial applications relying on the point cloud registration task.Comment: 10 pages, 6 figures, 3 tables, typos corrected, experimental results updated, accepted by ICCV 201

Child population, economic development and regional inequality of education resources in China

There is great inequality of educational resources between different provinces in China due to unbalanced economic development. Despite continued redistribution of financial resources by the central government in favor of poorer provinces, educational inequality remains. In this paper, we argue that focusing on educational resources is far from sufficient. Poorer provinces do not only suffer from a lower level of educational resources, but they also have more children to educate, i.e. a greater need for education. Combining and analyzing the data in the Sixth National Population Census of China and the official statistics on education spending and resources, we found that provincial-level variations in the child population and the child dependency ratio have made access to educational resources even more unequal given the unequal financial capacity at the provincial level. Poorer provinces face a higher child dependency ratio and have lower economic development, and these two factors jointly lead to limited educational resources. Apart from a much higher level of redistribution in favor of less developed provinces, encouraging more balanced distribution of teachers and more broadly promoting economic equality are essential to reduce inequality in educational resources in China

EgoVM: Achieving Precise Ego-Localization using Lightweight Vectorized Maps

Accurate and reliable ego-localization is critical for autonomous driving. In this paper, we present EgoVM, an end-to-end localization network that achieves comparable localization accuracy to prior state-of-the-art methods, but uses lightweight vectorized maps instead of heavy point-based maps. To begin with, we extract BEV features from online multi-view images and LiDAR point cloud. Then, we employ a set of learnable semantic embeddings to encode the semantic types of map elements and supervise them with semantic segmentation, to make their feature representation consistent with BEV features. After that, we feed map queries, composed of learnable semantic embeddings and coordinates of map elements, into a transformer decoder to perform cross-modality matching with BEV features. Finally, we adopt a robust histogram-based pose solver to estimate the optimal pose by searching exhaustively over candidate poses. We comprehensively validate the effectiveness of our method using both the nuScenes dataset and a newly collected dataset. The experimental results show that our method achieves centimeter-level localization accuracy, and outperforms existing methods using vectorized maps by a large margin. Furthermore, our model has been extensively tested in a large fleet of autonomous vehicles under various challenging urban scenes.Comment: 8 page

A Unified BEV Model for Joint Learning of 3D Local Features and Overlap Estimation

Pairwise point cloud registration is a critical task for many applications, which heavily depends on finding correct correspondences from the two point clouds. However, the low overlap between input point clouds causes the registration to fail easily, leading to mistaken overlapping and mismatched correspondences, especially in scenes where non-overlapping regions contain similar structures. In this paper, we present a unified bird's-eye view (BEV) model for jointly learning of 3D local features and overlap estimation to fulfill pairwise registration and loop closure. Feature description is performed by a sparse UNet-like network based on BEV representation, and 3D keypoints are extracted by a detection head for 2D locations, and a regression head for heights. For overlap detection, a cross-attention module is applied for interacting contextual information of input point clouds, followed by a classification head to estimate the overlapping region. We evaluate our unified model extensively on the KITTI dataset and Apollo-SouthBay dataset. The experiments demonstrate that our method significantly outperforms existing methods on overlap estimation, especially in scenes with small overlaps. It also achieves top registration performance on both datasets in terms of translation and rotation errors.Comment: 8 pages. Accepted by ICRA-202

Downregulation of SPARC expression decreases gastric cancer cellular invasion and survival

<p>Abstract</p> <p>Background</p> <p>Secreted protein acidic and rich in cysteine (SPARC) plays a key role in the development of many tissues and organ types. Aberrant SPARC expression was found in a wide variety of human cancers, contributes to tumor development. Because SPARC was found to be overexpressed in human gastric cancer tissue, we therefore to explore the expression of SPARC in gastric cancer lines and the carcinogenic mechanisms.</p> <p>Methods</p> <p>SPARC expression was evaluated in a panel of human gastric cancer cell lines. MGC803 and HGC 27 gastric cancer cell lines expressing high level of SPARC were transiently transfected with SPARC-specific small interfering RNAs and subsequently evaluated for effects on invasion and proliferation.</p> <p>Results</p> <p>Small interfering RNA-mediated knockdown of SPARC in MGC803 and HGC 27 gastric cancer cells dramatically decreased their invasion. Knockdown of SPARC was also observed to significantly increase the apoptosis of MGC803 and HGC 27 gastric cancer cells compared with control transfected group.</p> <p>Conclusions</p> <p>Our data showed that downregulating of SPARC inhibits invasion and growth of human gastric cancer cells. Thus, targeting of SPARC could be an effective therapeutic approach against gastric cancer.</p