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Omnidirectional depth estimation has received much attention from researchers in recent years. However, challenges arise due to camera soiling and variations in camera layouts, affecting the robustness and flexibility of the algorithm. In this paper, we use the geometric constraints and redundant information of multiple 360-degree cameras to achieve robust and flexible multi-view omnidirectional depth estimation. We implement two algorithms, in which the two-stage algorithm obtains initial depth maps by pairwise stereo matching of multiple cameras and fuses the multiple depth maps to achieve the final depth estimation; the one-stage algorithm adopts spherical sweeping based on hypothetical depths to construct a uniform spherical matching cost of the multi-camera images and obtain the depth. Additionally, a generalized epipolar equirectangular projection is introduced to simplify the spherical epipolar constraints. To overcome panorama distortion, a spherical feature extractor is implemented. Furthermore, a synthetic 360-degree dataset consisting of 12K road scene panoramas and 3K ground truth depth maps is presented to train and evaluate 360-degree depth estimation algorithms. Our dataset takes soiled camera lenses and glare into consideration, which is more consistent with the real-world environment. Experiments show that our two algorithms achieve state-of-the-art performance, accurately predicting depth maps even when provided with soiled panorama inputs. The flexibility of the algorithms is experimentally validated in terms of camera layouts and numbers.

Omnidirectional Depth Estimation has broad application prospects in fields such as robotic navigation and autonomous driving. In this paper, we propose a robotic prototype system and corresponding algorithm designed to validate omnidirectional depth estimation for navigation and obstacle avoidance in real-world scenarios for both robots and vehicles. The proposed HexaMODE system captures 360$^\circ$ depth maps using six surrounding arranged fisheye cameras. We introduce a combined spherical sweeping method and optimize the model architecture for proposed RtHexa-OmniMVS algorithm to achieve real-time omnidirectional depth estimation. To ensure high accuracy, robustness, and generalization in real-world environments, we employ a teacher-student self-training strategy, utilizing large-scale unlabeled real-world data for model training. The proposed algorithm demonstrates high accuracy in various complex real-world scenarios, both indoors and outdoors, achieving an inference speed of 15 fps on edge computing platforms.

A novel concept of membrane process in thermal-driven system is proposed for water desalination. By means of molecular dynamics simulations, we show fast water transport through graphene galleries at a temperature gradient. Water molecules are driven to migrate through nanometer-wide graphene channels from cold reservoir to hot reservoir by the effect of thermal creep flow. Reducing the interlayer spacing to 6.5 {\AA}, an abrupt escalation occurs in water permeation between angstrom-distance graphene slabs. The change from disordered bulklike water to quasi-square structure have been found under this extremely confined condition. This leads to a transition to subcontinuum transport. Water molecules perform collective diffusion behaviors inside graphene channels. The special transport processes with structure change convert thermal energy into motion without dissipation, resulting in unexpected high water permeability. The thermal-driven system reaches maximum flowrate at temperature variance of 80 K, corresponding to the quantity at pressure difference up to 10^5 bar in commercial reverse osmosis processes and 230 bar in pressure-driven slip flow. Our results also reveal the movement of saline ions influenced by thermophoretic effect, which complement the geometry limitation at greater layer spacing, enhancing the blockage of ions. This finding aims to provide an innovational idea of developing a high-efficiency desalination technology able to utilize various forms of energy.

The low conversion rate and efficiency always weaken the performance of thermochemical water-splitting reaction. Herein, we, for the first time, conducted the thermodynamic study of a hydrogen permeable membrane (HPM) in an isothermal thermochemical water-splitting reaction driven by solar energy, which has showed a sharply enhanced conversion rate of 87.8% at 1500 oC and 10-5 atm at permeated side (versus 1.26% with oxygen permeation membrane). According to thermodynamic analysis, the first-law thermodynamic efficiency can reach as high as 59.1%. When taking solar-to-electric efficiency and vacuum pump efficiency into account (for converting separation work into solar energy), we simulated the appreciable efficiency of 3.05% at 1500 oC. The numerical model will provide guidance for the actual production of hydrogen by high temperature solar water splitting. Such novel work manifests the great significance of constructing a HPM reactor for efficient solar thermochemical water splitting, which shows a novel approach for high-temperature solar water splitting., Comment: 26 pages, 10 figures