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Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to meet real-time constraints. We believe that high levels of situation awareness require a 3D representation as well as the inclusion of semantic information. We demonstrate that our recently presented hierarchical 3D grid mapping framework UFOMap meets the real-time constraints. Furthermore, we show how it can be used to efficiently support more complex functions such as calculating the occluded parts of space and accumulating the output from a semantic segmentation network., Comment: Submitted, accepted and presented at the 25th IEEE International Conference on Intelligent Transportation Systems (IEEE ITSC 2022)

Introduction Autoimmune disorders such as type 1 diabetes (T1D) are believed to be caused by the interplay between several genetic and environmental factors. Elucidation of the role of environmental factors in metabolic and immune dysfunction leading to autoimmune disease is not yet well characterized. Objectives Here we investigated the impact of exposure to a mixture of persistent organic pollutants (POPs) on the metabolome in non-obese diabetic (NOD) mice, an experimental model of T1D. The mixture contained organochlorides, organobromides, and per- and polyfluoroalkyl substances (PFAS). Methods Analysis of molecular lipids (lipidomics) and bile acids in serum samples was performed by UPLC-Q-TOF/MS, while polar metabolites were analyzed by GC-Q-TOF/MS. Results Experimental exposure to the POP mixture in these mice led to several metabolic changes, which were similar to those previously reported as associated with PFAS exposure, as well as risk of T1D in human studies. This included an increase in the levels of sugar derivatives, triacylglycerols and lithocholic acid, and a decrease in long chain fatty acids and several lipid classes, including phosphatidylcholines, lysophosphatidylcholines and sphingomyelins. Conclusion Taken together, our study demonstrates that exposure to POPs results in an altered metabolic signature previously associated with autoimmunity.