CylinderTag: An Accurate and Flexible Marker for Cylinder-Shape Objects Pose Estimation Based on Projective Invariants.

High-precision pose estimation based on visual markers has been a thriving research topic in the field of computer vision. However, the suitability of traditional flat markers on curved objects is limited due to the diverse shapes of curved surfaces, which hinders the development of high-precision pose estimation for curved objects. Therefore, this paper proposes a novel visual marker called CylinderTag, which is designed for developable curved surfaces such as cylindrical surfaces. CylinderTag is a cyclic marker that can be firmly attached to objects with a cylindrical shape. Leveraging the manifold assumption, the cross-ratio in projective invariance is utilized for encoding in the direction of zero curvature on the surface. Additionally, to facilitate the usage of CylinderTag, we propose a heuristic search-based marker generator and a high-performance recognizer as well. Moreover, an all-encompassing evaluation of CylinderTag properties is conducted by means of extensive experimentation, covering detection rate, detection speed, dictionary size, localization jitter, and pose estimation accuracy. CylinderTag showcases superior detection performance from varying view angles in comparison to traditional visual markers, accompanied by higher localization accuracy. Furthermore, CylinderTag boasts real-time detection capability and an extensive marker dictionary, offering enhanced versatility and practicality in a wide range of applications. Experimental results demonstrate that the CylinderTag is a highly promising visual marker for use on cylindrical-like surfaces, thus offering important guidance for future research on high-precision visual localization of cylinder-shaped objects. The code is available at: https://github.com/wsakobe/CylinderTag.

Find Outliers of Image Edge Consistency by Weighted Local Linear Regression with Equality Constraints.

In this paper, we propose a general method to detect outliers from contaminated estimates of various image estimation applications. The method does not require any prior knowledge about the purpose, theory or hardware of the application but simply relies on the law of edge consistency between sources and estimates. The method is termed as ALRe (anchored linear residual) because it is based on the residual of weighted local linear regression with an equality constraint exerted on the measured pixel. Given a pair of source and contaminated estimate, ALRe offers per-pixel outlier likelihoods, which can be used to compose the data weights of post-refinement algorithms, improving the quality of refined estimate. ALRe has the features of asymmetry, no false positive and linear complexity. Its effectiveness is verified on four applications, four post-refinement algorithms and three datasets. It demonstrates that, with the help of ALRe, refined estimates are better in the aspects of both quality and edge consistency. The results are even comparable to model-based and hardware-based methods. Accuracy comparison on synthetic images shows that ALRe could detect outliers reliably. It is as effective as the mainstream weighted median filter at spike detection and is significantly better at bad region detection.

Trace-Water-Induced Competitive Coordination Synthesis and Functionalization of Porphyrinic Metal-Organic Framework Nanoparticles for Treatment of Hypoxic Tumors.

Controlling the size and morphology of metal-organic frameworks (MOF) has received increasing research interest but remains a great challenge. In this work, we demonstrate a trace-water-induced competitive coordination procedure to controllably synthesize porphyrinic MOFs including needle-shaped nanomaterials, hollow nanotubes, and nanocubes, using 5,10,15,20-tetrakis(4-carboxyphenyl) porphyrin as organic linkers and Zr4+ as inorganic building blocks. These three MOFs exhibited shape-dependent singlet oxygen (1O2) production under 655 nm laser irradiation. The designed nanocubes were functionalized by coating a MnO2 shell, which can effectively generate 1O2 in the tumor microenvironment (TME) to improve photodynamic therapy (PDT). Moreover, they reacted with GSH, and the resulted Mn2+ions generated hydroxyl radicals (·OH) for chemodynamic therapy (CDT). Therefore, the designed MOFs@MnO2 nanoparticles were responsive to the hypoxic TME to improve the efficiency of PDT and incorporate CDT for tumor ablation.

Experimental and mechanistic research on methane adsorption in anthracite modified by electrochemical treatment using selected electrode materials.

The strong adsorption capacity of methane in anthracite can seriously affect the methane extraction. Electrochemical treatment is an effective way to weaken the capacity of methane adsorption in coal. Iron, copper, aluminum and graphite as four kinds of electrode materials were selected to modify anthracite by electrochemical treatment. The adsorption of methane in anthracite, before and after modification, was tested under different adsorption pressure. Based on the changes of pore characteristics and chemical groups of anthracite, the modification process of different electrode materials was analyzed. The results showed that after electrochemical modification, the adsorption of methane decreased, when the graphite electrode was used, the methane adsorption decreases the most, followed by copper and iron electrodes, and the aluminum electrode decreased the least. After electrochemical modification using aluminum, iron, copper and graphite electrodes, the Langmuir constant a reduced by 5.22%, 8.48%, 9.24% and 11.33%, respectively, and the degree of reduction is graphite > copper > iron > aluminum. After electrochemical modification using the graphite electrode, the Langmuir constant b was reduced by 23.52%. On the contrary, after electrochemical modification using the mental electrodes, the Langmuir constant b was increased by about 5%. The surface free energy of anthracite decreased with the adsorption of CH4, the higher the pressure, the more the free energy decreased, and the reduction of surface energy decreased after electrochemical modification. The difference of the electrode reactions was the main reason for the electrochemical results, the Mn+ ions generated in the anode changed the properties of the clay mineral in the coal, and the H+ ions corroded the calcite minerals in the coal. The results obtained from this work indicate that the selection of electrode materials is crucial for the electrochemical modification, and graphite electrode is optimum for anthracite when accelerating methane extraction by electrochemical method.