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1,041 results on '"Sun, Haibo"'

9. LinK3D: Linear Keypoints Representation for 3D LiDAR Point Cloud

Author

Cui, Yunge, Zhang, Yinlong, Dong, Jiahua, Sun, Haibo, Chen, Xieyuanli, and Zhu, Feng

Subjects
Computer Science - Computer Vision and Pattern Recognition
Abstract

Feature extraction and matching are the basic parts of many robotic vision tasks, such as 2D or 3D object detection, recognition, and registration. As is known, 2D feature extraction and matching have already achieved great success. Unfortunately, in the field of 3D, the current methods may fail to support the extensive application of 3D LiDAR sensors in robotic vision tasks due to their poor descriptiveness and inefficiency. To address this limitation, we propose a novel 3D feature representation method: Linear Keypoints representation for 3D LiDAR point cloud, called LinK3D. The novelty of LinK3D lies in that it fully considers the characteristics (such as the sparsity and complexity) of LiDAR point clouds and represents the keypoint with its robust neighbor keypoints, which provide strong constraints in the description of the keypoint. The proposed LinK3D has been evaluated on three public datasets, and the experimental results show that our method achieves great matching performance. More importantly, LinK3D also shows excellent real-time performance, faster than the sensor frame rate at 10 Hz of a typical rotating LiDAR sensor. LinK3D only takes an average of 30 milliseconds to extract features from the point cloud collected by a 64-beam LiDAR and takes merely about 20 milliseconds to match two LiDAR scans when executed on a computer with an Intel Core i7 processor. Moreover, our method can be extended to LiDAR odometry task, and shows good scalability. We release the implementation of our method at https://github.com/YungeCui/LinK3D.

Published
2022

41. Individualized genetic makeup that controls natural killer cell function influences the efficacy of isatuximab immunotherapy in patients with multiple myeloma.

Author

Sun, Haibo, Martin, Thomas G, Marra, John, Kong, Denice, Keats, Jonathon, Macé, Sandrine, Chiron, Marielle, Wolf, Jeffrey L, Venstrom, Jeffrey M, and Rajalingam, Raja

Subjects
genetic markers, immunity, immunotherapy, innate
Abstract

BackgroundPhase IIb clinical trial with isatuximab (Isa)-lenalidomide (Len)-dexamethasone (Dex) showed an improved progression-free survival (PFS) in patients with relapsed or refractory multiple myeloma (RRMM), but the efficacy varied by patient. Antibody-dependent cell-mediated cytotoxicity (ADCC) by natural killer (NK) cells plays a crucial role in arbitrating antitumor activities of therapeutic-antibodies. We tested if patient-specific genetic makeup known to set NK cell functional threshold influence response to Isa-Len-Dex therapy.MethodsWe characterized 57 patients with RRMM receiving Isa-Len-Dex for polymorphisms of killer-cell immunoglobulin-like receptors (KIR), human leukocyte antigen (HLA) class I, and FCGR3A loci. In vitro ADCC assay, coincubating primary NK cells expressing specific KIR repertoire with multiple myeloma cell lines (MM cells) expressing selected HLA class I ligands, was used to confirm the identified genetic correlatives of clinical response.ResultsPatients with KIR3DL2+ and its cognate-ligand HLA-A3/11+ had superior PFS than patients missing this combination (HR=0.43; p=0.02), while patients carrying KIR2DL1+ and HLA-C2C2+ compared with to patients missing this pair showed short PFS (HR=3.54; p=0.05). Patients with KIR3DL2+ and HLA-A3/11+ plus high-affinity FCGR3A-158V allele showed the most prolonged PFS (HR=0.35; p=0.007). Consistent with these clinical data, mechanistic experiments demonstrated that NK cells expressing KIR3DL2 trigger greater ADCC when MM cells express HLA-A3/11. Inversely, NK cells expressing KIR2DL1 do not kill if MM cells express the HLA-C2C2 ligand. NK cells expressing high-affinity FCGR3A-158VV-induced greater ADCC compared with those with low-affinity FCGR3A-158FF.ConclusionsOur results suggest that KIR3DL2+ and HLA-A3/11+ with FCGR3A-158V markers lead to enhanced Isa-dependent NK-mediated cytolysis against MM cells and results in improved PFS in patients with RRMM treated by Isa-Len-Dex. Moreover, the presence of KIR2DL1+ and HLA-C2C2+ identifies patients who may have a lower response to Isa-Len-Dex therapy linked to a reduced NK-mediated ADCC. These biomarkers could potentially identify, via precision medicine, patients more likely to respond to Isa-Len-Dex immunotherapy.Trial registration numberNCT01749969.

Published
2021

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