C. elegans spermatocyte divisions show a weak spindle checkpoint response.

Male meiotic division exhibits two consecutive chromosome separation events without apparent pausing. Several studies have shown that spermatocyte divisions are not stringently regulated as in mitotic cells. In this study, we investigated the role of the canonical spindle assembly (SAC) pathway in Caenorhabditis elegans spermatogenesis. We found the intensity of chromosome-associated outer kinetochore protein BUB-1 and SAC effector MDF-1 oscillates between the two divisions. However, the SAC target securin is degraded during the first division and remains undetectable for the second division. Inhibition of proteasome-dependent protein degradation did not affect the progression of the second division but stopped the first division at metaphase. Perturbation of spindle integrity did not affect the duration of meiosis II, and only slightly lengthened meiosis I. Our results demonstrate that male meiosis II is independent of SAC regulation, and male meiosis I exhibits only weak checkpoint response.

Recent Advances in Rechargeable Metal-CO2 Batteries with Nonaqueous Electrolytes.

This review article discusses the recent advances in rechargeable metal-CO2 batteries (MCBs), which include the Li, Na, K, Mg, and Al-based rechargeable CO2 batteries, mainly with nonaqueous electrolytes. MCBs capture CO2 during discharge by the CO2 reduction reaction and release it during charging by the CO2 evolution reaction. MCBs are recognized as one of the most sophisticated artificial modes for CO2 fixation by electrical energy generation. However, extensive research and substantial developments are required before MCBs appear as reliable, sustainable, and safe energy storage systems. The rechargeable MCBs suffer from the hindrances like huge charging-discharging overpotential and poor cyclability due to the incomplete decomposition and piling of the insulating and chemically stable compounds, mainly carbonates. Efficient cathode catalysts and a suitable architectural design of the cathode catalysts are essential to address this issue. Besides, electrolytes also play a vital role in safety, ionic transportation, stable solid-electrolyte interphase formation, gas dissolution, leakage, corrosion, operational voltage window, etc. The highly electrochemically active metals like Li, Na, and K anodes severely suffer from parasitic reactions and dendrite formation. Recent research works on the aforementioned secondary MCBs have been categorically reviewed here, portraying the latest findings on the key aspects governing secondary MCB performances.

Motion measurements of explosive shock waves based on an event camera.

Shock wave measurement is vital in assessing explosive power and designing warheads. To obtain satisfactory observation data of explosive shock waves, it is preferable for optical sensors to possess high-dynamic range and high-time resolution capabilities. In this paper, the event camera is first employed to observe explosive shock waves, leveraging its high dynamic range and low latency. A comprehensive procedure is devised to measure the motion parameters of shock waves accurately. Firstly, the plane lines-based calibration method is proposed to compute the calibration parameters of the event camera, which utilizes the edge-sensitive characteristic of the event camera. Then, the fitted ellipse parameters of the shock wave are estimated based on the concise event data, which are gained by utilizing the characteristics of the event triggering and shock waves' morphology. Finally, the geometric relationship between the ellipse parameters and the radius of the shock wave is derived, and the motion parameters of the shock wave are estimated. To verify the performance of our method, we compare our measurement results in the TNT explosion test with the pressure sensor results and empirical formula prediction. The relative measurement error compared to pressure sensors is the lowest at 0.33% and the highest at 7.58%. The experimental results verify the rationality and effectiveness of our methods.

Deep-computer-generated holography with temporal-focusing and a digital propagation matrix for rapid 3D multiphoton stimulation.

Deep learning-based computer-generated holography (DeepCGH) has the ability to generate three-dimensional multiphoton stimulation nearly 1,000 times faster than conventional CGH approaches such as the Gerchberg-Saxton (GS) iterative algorithm. However, existing DeepCGH methods cannot achieve axial confinement at the several-micron scale. Moreover, they suffer from an extended inference time as the number of stimulation locations at different depths (i.e., the number of input layers in the neural network) increases. Accordingly, this study proposes an unsupervised U-Net DeepCGH model enhanced with temporal focusing (TF), which currently achieves an axial resolution of around 5 µm. The proposed model employs a digital propagation matrix (DPM) in the data preprocessing stage, which enables stimulation at arbitrary depth locations and reduces the computation time by more than 35%. Through physical constraint learning using an improved loss function related to the TF excitation efficiency, the axial resolution and excitation intensity of the proposed TF-DeepCGH with DPM rival that of the optimal GS with TF method but with a greatly increased computational efficiency.

An expedited model for identifying potential patients with periodic leg movements.

Periodic leg movements during sleep (PLMS) may have crucial consequences in adults. This study aimed to identify baseline characteristics, symptoms, or questionnaires that could help to identify sleep-disordered breathing patients with significant PLMS. Patients aged 20-80 years who underwent polysomnography for assessing sleep disturbance were included. Various factors such as sex, age, body measurements, symptoms, apnea-hypopnea index (AHI), and sleep quality scales were analysed to determine the presence of PLMS. The study included 1480 patients with a mean age of 46.4 ± 13.4 years, among whom 110 (7.4%) had significant PLMS with a PLM index of 15 or higher. There were no significant differences observed in terms of sex or BMI between patients with and without significant PLMS. However, the odds ratios (OR) for PLMS were 4.33, 4.41, and 4.23 in patients who were aged over 50 years, had insomnia, or had an ESS score of less than 10, respectively. Notably, the OR increased up to 67.89 times in patients who presented with all three risk factors. Our analysis identified significant risk factors for PLMS: age over 50, self-reported insomnia, and lower daytime sleepiness levels. These findings aid in identifying potential PLMS patients, facilitating confirmatory examinations and managing associated comorbidities.

Predictability comparison of sizing parameters for postoperative vault after implantable Collamer lens implantation.

PURPOSE: This study aims to assess the accuracy of three parameters (white-to-white distance [WTW], angle-to-angle [ATA], and sulcus-to-sulcus [STS]) in predicting postoperative vault and to formulate an optimized predictive model. METHODS: In this retrospective study, a cohort of 465 patients (comprising 769 eyes) who underwent the implantation of the V4c implantable Collamer lens with a central port (ICL) for myopia correction was examined. Least absolute shrinkage and selection operator (LASSO) regression and classification models were used to predict postoperative vault. The influences of WTW, ATA, and STS on predicting the postoperative vault and ICL size were analyzed and compared. RESULTS: The dataset was randomly divided into training (80%) and test (20%) sets, with no significant differences observed between them. The screened variables included only seven variables which conferred the largest signal in the model, namely, lens thickness (LT, estimated coefficients for logistic least absolute shrinkage of -0.20), STS (-0.04), size (0.08), flat K (-0.006), anterior chamber depth (0.15), spherical error (-0.006), and cylindrical error (-0.0008). The optimal prediction model depended on STS (R2=0.419, RMSE=0.139), whereas the least effective prediction model relied on WTW (R2=0.395, RMSE=0.142). In the classified prediction models of the vault, classification prediction of the vault based on STS exhibited superior accuracy compared to ATA or WTW. CONCLUSIONS: This study compared the capabilities of WTW, ATA, and STS in predicting postoperative vault, demonstrating that STS exhibits a stronger correlation than the other two parameters.

Detection of preceding sleep apnea using ECG spectrogram during CPAP titration night: A novel machine-learning and bag-of-features framework.

Obstructive sleep apnea (OSA) has a heavy health-related burden on patients and the healthcare system. Continuous positive airway pressure (CPAP) is effective in treating OSA, but adherence to it is often inadequate. A promising solution is to detect sleep apnea events in advance, and to adjust the pressure accordingly, which could improve the long-term use of CPAP treatment. The use of CPAP titration data may reflect a similar response of patients to therapy at home. Our study aimed to develop a machine-learning algorithm using retrospective electrocardiogram (ECG) data and CPAP titration to forecast sleep apnea events before they happen. We employed a support vector machine (SVM), k-nearest neighbour (KNN), decision tree (DT), and linear discriminative analysis (LDA) to detect sleep apnea events 30-90 s in advance. Preprocessed 30 s segments were time-frequency transformed to spectrograms using continuous wavelet transform, followed by feature generation using the bag-of-features technique. Specific frequency bands of 0.5-50 Hz, 0.8-10 Hz, and 8-50 Hz were also extracted to detect the most detected band. Our results indicated that SVM outperformed KNN, LDA, and DT across frequency bands and leading time segments. The 8-50 Hz frequency band gave the best accuracy of 98.2%, and a F1-score of 0.93. Segments 60 s before sleep events seemed to exhibit better performance than other pre-OSA segments. Our findings demonstrate the feasibility of detecting sleep apnea events in advance using only a single-lead ECG signal at CPAP titration, making our proposed framework a novel and promising approach to managing obstructive sleep apnea at home.

Associations of overnight changes in body composition with positional obstructive sleep apnea.

PURPOSE: Body composition is considered to be associated with obstructive sleep apnea (OSA) severity. This cross-sectional study aimed to examine associations of overnight body composition changes with positional OSA. METHODS: The body composition of patients diagnosed with non-positional and positional OSA was measured before and after overnight polysomnography. Odds ratios (ORs) of outcome variables between the case (positional OSA) and reference (non-positional OSA) groups were examined for associations with sleep-related parameters and with changes in body composition by a logistic regression analysis. RESULTS: Among 1584 patients with OSA, we used 1056 patients with non-positional OSA as the reference group. We found that a 1-unit increase in overnight changes of total fat percentage and total fat mass were associated with 1.076-fold increased OR (95% confidence interval (CI): 1.014, 1.142) and 1.096-fold increased OR (95% CI: 1.010, 1.189) of positional OSA, respectively (all p < 0.05). Additionally, a 1-unit increase in overnight changes of lower limb fat percentage and upper limb fat mass were associated with 1.043-fold increased OR (95% CI: 1.004, 1.084) and 2.638-fold increased OR (95% CI: 1.313, 5.302) of positional OSA, respectively (all p < 0.05). We observed that a 1-unit increase in overnight changes of trunk fat percentage and trunk fat mass were associated with 1.056-fold increased OR (95% CI: 1.008, 1.106) and 1.150-fold increased OR (95% CI: 1.016, 1.301) of positional OSA, respectively (all p < 0.05). CONCLUSION: Our findings indicated that nocturnal changes in the body's composition, especially total fat mass, total fat percentage, lower limb fat percentage, upper limb fat mass, trunk fat percentage, and trunk fat mass, may be associated with increased odds ratio of positional OSA compared with non-positional OSA.

Predicting Fatigue-Associated Aberrant Driving Behaviors Using a Dynamic Weighted Moving Average Model With a Long Short-Term Memory Network Based on Heart Rate Variability.

OBJECTIVE: This study proposed a moving average (MA) approach to dynamically process heart rate variability (HRV) and developed aberrant driving behavior (ADB) prediction models by using long short-term memory (LSTM) networks. BACKGROUND: Fatigue-associated ADBs have traffic safety implications. Numerous models to predict such acts based on physiological responses have been developed but are still in embryonic stages. METHOD: This study recorded the data of 20 commercial bus drivers during their routine tasks on four consecutive days and subsequently asked them to complete questionnaires, including subjective sleep quality, driver behavior questionnaire and the Karolinska Sleepiness Scale. Driving behaviors and corresponding HRV were determined using a navigational mobile application and a wristwatch. The dynamic-weighted MA (DWMA) and exponential-weighted MA were used to process HRV in 5-min intervals. The data were independently separated for training and testing. Models were trained with 10-fold cross-validation strategy, their accuracies were evaluated, and Shapley additive explanation (SHAP) values were used to determine feature importance. RESULTS: Significant increases in the standard deviation of NN intervals (SDNN), root mean square of successive heartbeat interval differences (RMSSD), and normalized spectrum of high frequency (nHF) were observed in the pre-event stage. The DWMA-based model exhibited the highest accuracy for both driver types (urban: 84.41%; highway: 80.56%). The SDNN, RMSSD, and nHF demonstrated relatively high SHAP values. CONCLUSION: HRV metrics can serve as indicators of mental fatigue. DWMA-based LSTM could predict the occurrence of the level of fatigue associated with ADBs. APPLICATION: The established models can be used in realistic driving scenarios.

Bimodal AFM-Based Nanocharacterization of Cycling-Induced Topographic and Mechanical Evolutions of LiMn2O4 Cathode Films.

Evolution of LiMn2O4 mechanical property during charge/discharge cycles is a critical issue because it is closely related to the performance of lithium-ion batteries. Extensive studies have been conducted by first-principles calculations/molecular dynamics simulation at the atomic level and by the nanoindentation technique at the micron scale. In this study, cycling-induced topographic and mechanical evolutions of the LiMn2O4 films are investigated at the nanoscale using the bimodal atomic force microscopy (AFM), which provides a complementary approach to bridge the gap between atomic-level calculation and micron-scale measurement. The topographic change and elastic modulus degradation of the LiMn2O4 films during the charge/discharge cycles are found to occur simultaneously and irreversibly. Moreover, a dramatic decrease in the elastic modulus of the films takes place at the first 10 cycles, which is consistent with the significant loss of the capacity and the change of the Coulombic efficiency measured by the galvanostatic method. By considering the nanoscale phenomena and the macroscopic measurement results, the reasons for the elastic modulus degradation are discussed. This study would be a valuable addition to a better understanding of the degradation mechanisms of this cathode material.

Simultaneous detection of multiple bacterial and viral aquatic pathogens using a fluorogenic loop-mediated isothermal amplification-based dual-sample microfluidic chip.

Rapid and user-friendly diagnostic tests are necessary for early diagnosis and immediate detection of diseases, particularly for on-site screening of pathogenic microorganisms in aquaculture. In this study, we developed a dual-sample microfluidic chip integrated with a real-time fluorogenic loop-mediated isothermal amplification assay (dual-sample on-chip LAMP) to simultaneously detect 10 pathogenic microorganisms, that is Aeromonas hydrophila, Edwardsiella tarda, Vibrio harveyi, V. alginolyticus, V. anguillarum, V. parahaemolyticus, V. vulnificus, infectious hypodermal and haematopoietic necrosis virus, infectious spleen and kidney necrosis virus, and white spot syndrome virus. This on-chip LAMP provided a nearly automated protocol that can analyse two samples simultaneously, and the tests achieved limits of detection (LOD) ranging from 100 to 10-1  pg/µl for genomic DNA of tested bacteria and 10-4 to 10-5  pg/µl for recombinant plasmid DNA of tested viruses, with run times averaging less than 30 min. The coefficient of variation for the time-to-positive value was less than 10%, reflecting a robust reproducibility. The clinical sensitivity and specificity were 93.52% and 85.53%, respectively, compared to conventional microbiological or clinical methods. The on-chip LAMP assay provides an effective dual-sample and multiple pathogen analysis, and thus would be applicable to on-site detection and routine monitoring of multiple pathogens in aquaculture.

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision.

For the problem of 3D line reconstruction in binocular or multiple view stereo vision, when there are no corresponding points on the line, the method called Direction-then-Point (DtP) can be used, and if there are two pairs of corresponding points on the line, the method called Two Points 3D coordinates (TPS) can be used. However, when there is only one pair of corresponding points on the line, can we get the better accuracy than DtP for 3D line reconstruction? In this paper, a linear and more accurate method called Point-then-Direction (PtD) is proposed. First, we used the intersection method to obtain the 3D point's coordinate from its corresponding image points. Then, we used this point as a position on the line to calculate the direction of the line by minimizing the image angle residual. PtD is also suitable for multiple camera systems. The simulation results demonstrate that PtD increases the accuracy of both the direction and the position of the 3D line compared to DtP. At the same time, PtD achieves a better result in direction of the 3D line than TPS, but has a lower accuracy in the position of 3D lines than TPS.

Comparison of Hospital-Based and Home-Based Obstructive Sleep Apnoea Severity Measurements with a Single-Lead Electrocardiogram Patch.

Obstructive sleep apnoea (OSA) is a global health concern, and polysomnography (PSG) is the gold standard for assessing OSA severity. However, the sleep parameters of home-based and in-laboratory PSG vary because of environmental factors, and the magnitude of these discrepancies remains unclear. We enrolled 125 Taiwanese patients who underwent PSG while wearing a single-lead electrocardiogram patch (RootiRx). After the PSG, all participants were instructed to continue wearing the RootiRx over three subsequent nights. Scores on OSA indices-namely, the apnoea-hypopnea index, chest effort index (CEI), cyclic variation of heart rate index (CVHRI), and combined CVHRI and CEI (Rx index), were determined. The patients were divided into three groups based on PSG-determined OSA severity. The variables (various severity groups and environmental measurements) were subjected to mean comparisons, and their correlations were examined by Pearson's correlation coefficient. The hospital-based CVHRI, CEI, and Rx index differed significantly among the severity groups. All three groups exhibited a significantly lower percentage of supine sleep time in the home-based assessment, compared with the hospital-based assessment. The percentage of supine sleep time (∆Supine%) exhibited a significant but weak to moderate positive correlation with each of the OSA indices. A significant but weak-to-moderate correlation between the ∆Supine% and ∆Rx index was still observed among the patients with high sleep efficiency (≥80%), who could reduce the effect of short sleep duration, leading to underestimation of the patients' OSA severity. The high supine percentage of sleep may cause OSA indices' overestimation in the hospital-based examination. Sleep recording at home with patch-type wearable devices may aid in accurate OSA diagnosis.

miR-524-5p inhibits angiogenesis through targeting WNK1 in colon cancer cells.

There is increasing evidence that microRNA (miRNA) abnormity is involved in the occurrence and the development of various malignancies, including colon cancer. MiRNA-524-5p has been reported to possess anticancer activity in various tumors, which function is seldom investigated in colon cancer cells. The aim of this study was to explore the effect of the miRNA-524-5p/with-no-lysine kinase 1 (WNK1) system on angiogenesis in a colon cancer cell line (HT-29 and COLO205 cells) and further investigate the potential mechanisms. We found miRNA-524-5p expression was relatively high in COLO205 cells and relatively low in HT-29 cells. Elevating miRNA-524-5p expression inhibited proliferation, induced cycle arrest, diminished vascular endothelial growth factor production, and thereby suppressed angiogenesis in HT-29 cells. WNK1 silencing exerted the ability of antiangiogenesis in HT-29 cells. Besides, miRNA-524-5p deficiency-induced angiogenesis was impeded by WNK1 silence in COLO205 cells. In a murine tumor model, miRNA-524-5p agomir treatment significantly suppressed colon cancer tumorigenicity with the downregulation of WNK1 expression. In summary, our results indicated that miRNA-524-5p inhibited angiogenesis in colon cancer cells via targeting WNK1.NEW & NOTEWORTHY MiRNA-524-5p inhibited angiogenesis in colon cancer cells via targeting with-no-lysine kinase 1.

Visualization of Electrochemical Cycling-Induced Dimension Change in LiMn2O4 Nanoparticles by High-Speed Atomic Force Microscopy.

Exploring dynamic dimension change and lithium-ion diffusion kinetics of active nanoparticles is important to further improve the qualities of lithium-ion batteries (LIBs), such as the cycle life and charge rate. For advancing such research, an imaging technique that is capable of operating in an electrochemical environment with high spatial and temporal resolutions is really needed. In this work, we successfully developed electrochemical high-speed atomic force microscopy (EC-HS-AFM), which enabled nanoscale imaging at the rate of ∼1 frame/s during electrochemical cycling. The dimensional evolutions of LiMn2O4 single nanoparticles accompanying an insertion/extraction reaction of lithium ions were visualized. The surface area-potential hysteresis loops of the single nanoparticles at different sweep rates were quantitatively extracted from the successive HS-AFM images or video. The first-order derivative of the hysteresis loop was interestingly similar to the cyclic voltammetry (CV). Moreover, the EC-HS-AFM experiments confirmed that the utilization of the nanoparticles in the cathode can indeed improve the rate performance of the LIBs. These results demonstrated that EC-HS-AFM would be a promising tool to study dimensional evolutions and lithium-ion diffusion kinetics at a nanoscale.

Reconstruction-based 6D pose estimation for robotic assembly.

Pose estimation is important for many robotic applications including bin picking and robotic assembly and collaboration. However, robust and accurate estimation of the poses of industrial objects is a challenging task owing to the various object shapes and complex working environments. This paper presents a method of estimating the poses of narrow and elongated industrial objects with a low-cost RGB-D (depth and color) camera to guide the process of robotic assembly. The proposed method comprises three main steps: reconstruction involved in preprocessing, pose initialization with geometric features, and tracking aided by contour cues. Pose tracking is coupled with real-time dense reconstruction, which can synthesize a smooth depth image as a substitute for the raw depth image. Because industrial objects (e.g., fork and adapter) feature mostly planar structures, primitive geometric features, such as three-dimensional planes, are extracted from the point cloud and utilized to induce a promising initial pose. For robust tracking of the adapter consisting of narrow and elongated planes, the dense surface correspondences are combined with sparse contour correspondences in the refinement scheme. This combination allows for a satisfactory tolerance to the initial guess in the pose tracking phase. The experimental results demonstrate the feasibility of the proposed method.

DNA methylation regulates the neonatal CD4+ T-cell response to pneumonia in mice.

Pediatric acute lung injury, usually because of pneumonia, has a mortality rate of more than 20% and an incidence that rivals that of all childhood cancers combined. CD4+ T-cells coordinate the immune response to pneumonia but fail to function robustly among the very young, who have poor outcomes from lung infection. We hypothesized that DNA methylation represses a mature CD4+ T-cell transcriptional program in neonates with pneumonia. Here, we found that neonatal mice (3-4 days old) aspirated with Escherichia coli bacteria had a higher mortality rate than juvenile mice (11-14 days old). Transcriptional profiling with an unsupervised RNA-Seq approach revealed that neonates displayed an attenuated lung CD4+ T-cell transcriptional response to pneumonia compared with juveniles. Unlike neonates, juveniles up-regulated a robust set of canonical T-cell immune response genes. DNA methylation profiling with modified reduced representation bisulfite sequencing revealed 44,119 differentially methylated CpGs, which preferentially clustered around transcriptional start sites and CpG islands. A methylation difference-filtering algorithm detected genes with a high likelihood of differential promoter methylation regulating their expression; these 731 loci encoded important immune response and tissue-protective T-cell pathway components. Disruption of DNA methylation with the hypomethylating agent decitabine induced plasticity in the lung CD4+ T-cell marker phenotype. Altogether, multidimensional profiling suggested that DNA methylation within the promoters of a core set of CD4+ T-cell pathway genes contributes to the hyporesponsive neonatal immune response to pneumonia. These findings also suggest that DNA methylation could serve as a mechanistic target for disease-modifying therapies in pediatric lung infection and injury.

Self-calibration approach to stereo cameras with radial distortion based on epipolar constraint.

In this paper, we propose a self-calibration approach to stereo cameras with radial distortion from stereo image pairs of a common 3D scene. Based on the epipolar constraint in the stereo image pair, the intrinsic and extrinsic parameters of stereo cameras are estimated synchronously with a minimum number of nine image point correspondences. It is significant within a random sample consensus (RANSAC) scheme to cope with the outliers of feature matches efficiently and robustly. Then the inliers of the stereo image pair that have been determined after RANSAC are used to optimize the calibration parameters of stereo cameras. Furthermore, more accurate calibration results can be achieved with the joint optimization of multiple stereo image pairs. Both synthetic and real data are used to evaluate the performance of the proposed method, demonstrating that our method can calibrate stereo cameras with radial distortions efficiently and accurately.

Direct Experimental Observation of Facet-Dependent SERS of Cu2 O Polyhedra.

Semiconductor-based surface enhanced Raman scattering (SERS) has attracted great attention due to its excellent spectral reproducibility, high uniformity, and good anti-interference ability. However, its relatively low SERS sensitivity still hinders its further developments in both performance and applications. Since the SERS is a peculiar surface effect, investigating the facet-dependent SERS activity of semiconductor nanostructures is crucial to boost their SERS signals. Although the semiconductor facet-dependent SERS effect is predicted via numerical calculations, convincing experimental evidence is scarce due to complicated and undefined surface conditions. In this work, three facet-defined ({100}, {110}, and {111} facets) Cu2 O microcrystals (MCs) with clear surface atomic configuration are utilized to investigate the facet-dependent SERS effect. The results from the Kelvin probe force microscopy measurements on single Cu2 O polyhedron, demonstrate that the facet-dependent work function plays a crucial role in the interfacial charge transfer process. Comparing with the {110} and {111} facets, the {100} facet possesses the lowest electronic work function, which enables more efficient interfacial charge transfer. The simulation results further confirm that the {100}-facets can transfer the most electrons from Cu2 O MCs to molecules due to its lowest facet work function, resulting in the largest increment of the molecular polarization.

Planar self-calibration for stereo cameras with radial distortion.

In this paper, we present a robust technique of stereo calibration using homography constraints. Our method is novel as stereo calibration is performed by solving a polynomial equation system including two radial distortion parameters, using a minimal number of five image point correspondences. This enables us to calibrate from only a pair of stereo images of a planar scene, and to provide the exact algebraic solution to the stereo calibration problem. The minimal case solution is useful to reduce the computation time and increase the calibration robustness when using random sample consensus (RANSAC) from the correspondences of the stereo image pair. Further, a non-linear parameter optimization for the intrinsic and extrinsic parameters of stereo cameras is performed using the inliers, which are determined after RANSAC. In addition, our method can achieve more robust calibration results with multiple stereo image pairs by performing joint optimization. In contrast to the previous stereo calibration methods, our method works without requiring any special hardware and has no problems with one stereo image pair, even corrupted by severe radial distortions. Finally, by evaluating our method on both synthetic and real scene data, we demonstrate that our method is both efficient and accurate for stereo calibration.