An Explicit Method for Fast Monocular Depth Recovery in Corridor Environments

Monocular cameras are extensively employed in indoor robotics, but their performance is limited in visual odometry, depth estimation, and related applications due to the absence of scale information.Depth estimation refers to the process of estimating a dense depth map from the corresponding input image, existing researchers mostly address this issue through deep learning-based approaches, yet their inference speed is slow, leading to poor real-time capabilities. To tackle this challenge, we propose an explicit method for rapid monocular depth recovery specifically designed for corridor environments, leveraging the principles of nonlinear optimization. We adopt the virtual camera assumption to make full use of the prior geometric features of the scene. The depth estimation problem is transformed into an optimization problem by minimizing the geometric residual. Furthermore, a novel depth plane construction technique is introduced to categorize spatial points based on their possible depths, facilitating swift depth estimation in enclosed structural scenarios, such as corridors. We also propose a new corridor dataset, named Corr\_EH\_z, which contains images as captured by the UGV camera of a variety of corridors. An exhaustive set of experiments in different corridors reveal the efficacy of the proposed algorithm.Comment: 10 pages, 8 figures. arXiv admin note: text overlap with arXiv:2111.08600 by other author

Recent advances in small incision lenticule extraction (SMILE)-derived refractive lenticule preservation and clinical reuse

Small incision lenticule extraction (SMILE) has become one of the mainstream refractive surgeries in recent years, with satisfactory efficacy, safety, and predictability. SMILE-derived refractive lenticule, the byproduct of the surgery, holds great potential in clinical practice given its easy access and good biocompatibility. Numerous studies have been published to describe its applications in refractive correction, corneal ectasia diseases, and corneal defects. The feasibility and safety were validated in both animal models and clinical studies. Moreover, the preservation method is also crucial for its further promotion and application. Novel techniques are also evaluated and applied in lenticule preservation. We covered the recent advances in the preservation of corneal stromal lenticules and their clinical reuse in this review

Deep sequencing of 1320 genes reveals the landscape of protein-truncating variants and their contribution to psoriasis in 19,973 Chinese individuals

Protein-truncating variants (PTVs) have important impacts on phenotype diversity and disease. However, their population genetics characteristics in more globally diverse populations are not well defined. Here, we describe patterns of PTVs in 1320 genes sequenced in 10,539 healthy controls and 9434 patients with psoriasis, all of Han Chinese ancestry. We identify 8720 PTVs, of which 77% are novel, and estimate 88% of all PTVs are deleterious and subject to purifying selection. Furthermore, we show that individuals with psoriasis have a significantly higher burden of PTVs compared to controls (P = 0.02). Finally, we identified 18 PTVs in 14 genes with unusually high levels of population differentiation, consistent with the action of local adaptation. Our study provides insights into patterns and consequences of PTVs