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Limited-view computed tomography (CT) presents significant potential for reducing radiation exposure and expediting the scanning process. While deep learning (DL) methods have exhibited promising results in mitigating streaking artifacts caused by a reduced number of projection views, their generalization remains challenging. In this work, we proposed a DL-driven alternative Bayesian reconstruction method (DLBayesian) that efficiently integrates data-driven priors and data consistency constraints. DLBayesian comprises three stages: group-level embedding, significance evaluation, and individual-level consistency adaptation. Firstly, DL network parameters are optimized to learn how to eliminate the general limited-view artifacts on a large-scale paired dataset. Then, we introduced a significance score to quantitatively evaluate the contribution of parameters in DL models as a guide for the subsequent individual-level adaptation. Finally, in the Bayesian adaptation stage, an alternative Bayesian reconstruction further optimizes the DL network parameters precisely according to the projection data of the target case. We validated DLBayesian with sparse-view (90 views) projections from a circular trajectory CT and a special data missing case from a multi-segment linear trajectory CT. The results underscore DLBayesian's superior generalization capabilities across variations in patients, anatomic structures, and data distribution, as well as excelling in contextual structure recovery compared to networks solely trained via supervised loss. Real experiments on a dead rat demonstrate its capability in practical CT scans.

Improving the spatial resolution of CT images is a meaningful yet challenging task, often accompanied by the issue of noise amplification. This article introduces an innovative framework for noise-controlled CT super-resolution utilizing the conditional diffusion model. The model is trained on hybrid datasets, combining noise-matched simulation data with segmented details from real data. Experimental results with real CT images validate the effectiveness of our proposed framework, showing its potential for practical applications in CT imaging., Comment: The 8th International Conference on Image Formation in X-Ray Computed Tomography, Bamberg, Germany, August 5 - 9, 2024

Multi-source stationary computed tomography (MSS-CT) offers significant advantages in medical and industrial applications due to its gantry-less scan architecture and/or capability of simultaneous multi-source emission. However, the lack of anti-scatter grid deployment in MSS-CT results in severe forward and/or cross scatter contamination, presenting a critical challenge that necessitates an accurate and efficient scatter correction. In this work, ComptoNet, an innovative end-to-end deep learning framework for scatter estimation in MSS-CT, is proposed, which integrates Compton-scattering physics with deep learning techniques to address the challenges of scatter estimation effectively. Central to ComptoNet is the Compton-map, a novel concept that captures the distribution of scatter signals outside the scan field of view, primarily consisting of large-angle Compton scatter. In ComptoNet, a reference Compton-map and/or spare detector data are used to guide the physics-driven deep estimation of scatter from simultaneous emissions by multiple sources. Additionally, a frequency attention module is employed for enhancing the low-frequency smoothness. Such a multi-source deep scatter estimation framework decouples the cross and forward scatter. It reduces network complexity and ensures a consistent low-frequency signature with different photon numbers of simulations, as evidenced by mean absolute percentage errors (MAPEs) that are less than $1.26\%$. Conducted by using data generated from Monte Carlo simulations with various phantoms, experiments demonstrate the effectiveness of ComptoNet, with significant improvements in scatter estimation accuracy (a MAPE of $0.84\%$). After scatter correction, nearly artifact-free CT images are obtained, further validating the capability of our proposed ComptoNet in mitigating scatter-induced errors.

Diffusion bridge models have demonstrated promising performance in conditional image generation tasks, such as image restoration and translation, by initializing the generative process from corrupted images instead of pure Gaussian noise. However, existing diffusion bridge models often rely on Stochastic Differential Equation (SDE) samplers, which result in slower inference speed compared to diffusion models that employ high-order Ordinary Differential Equation (ODE) solvers for acceleration. To mitigate this gap, we propose a high-order ODE sampler with a stochastic start for diffusion bridge models. To overcome the singular behavior of the probability flow ODE (PF-ODE) at the beginning of the reverse process, a posterior sampling approach was introduced at the first reverse step. The sampling was designed to ensure a smooth transition from corrupted images to the generative trajectory while reducing discretization errors. Following this stochastic start, Heun's second-order solver is applied to solve the PF-ODE, achieving high perceptual quality with significantly reduced neural function evaluations (NFEs). Our method is fully compatible with pretrained diffusion bridge models and requires no additional training. Extensive experiments on image restoration and translation tasks, including super-resolution, JPEG restoration, Edges-to-Handbags, and DIODE-Outdoor, demonstrated that our sampler outperforms state-of-the-art methods in both visual quality and Frechet Inception Distance (FID)., Comment: 9 pages, 5 figures, This work has been submitted to the IEEE for possible publication

Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS), a novel method enhancing the efficiency and quality of photorealistic scene reconstruction in real-time environments. Leveraging 3D Gaussian Splatting (3DGS), CaRtGS achieves superior rendering quality and processing speed, which is crucial for scene photorealistic reconstruction. Our approach tackles computational misalignment in Gaussian Splatting SLAM (GS-SLAM) through an adaptive strategy that enhances optimization iterations, addresses long-tail optimization, and refines densification. Experiments on Replica, TUM-RGBD, and VECtor datasets demonstrate CaRtGS's effectiveness in achieving high-fidelity rendering with fewer Gaussian primitives. This work propels SLAM towards real-time, photorealistic dense rendering, significantly advancing photorealistic scene representation. For the benefit of the research community, we release the code and accompanying videos on our project website: https://dapengfeng.github.io/cartgs., Comment: Accepted by IEEE Robotics and Automation Letters (RA-L)

The human brain exhibits a strong ability to spontaneously associate different visual attributes of the same or similar visual scene, such as associating sketches and graffiti with real-world visual objects, usually without supervising information. In contrast, in the field of artificial intelligence, controllable generation methods like ControlNet heavily rely on annotated training datasets such as depth maps, semantic segmentation maps, and poses, which limits the method's scalability. Inspired by the neural mechanisms that may contribute to the brain's associative power, specifically the cortical modularization and hippocampal pattern completion, here we propose a self-supervised controllable generation (SCG) framework. Firstly, we introduce an equivariant constraint to promote inter-module independence and intra-module correlation in a modular autoencoder network, thereby achieving functional specialization. Subsequently, based on these specialized modules, we employ a self-supervised pattern completion approach for controllable generation training. Experimental results demonstrate that the proposed modular autoencoder effectively achieves functional specialization, including the modular processing of color, brightness, and edge detection, and exhibits brain-like features including orientation selectivity, color antagonism, and center-surround receptive fields. Through self-supervised training, associative generation capabilities spontaneously emerge in SCG, demonstrating excellent generalization ability to various tasks such as associative generation on painting, sketches, and ancient graffiti. Compared to the previous representative method ControlNet, our proposed approach not only demonstrates superior robustness in more challenging high-noise scenarios but also possesses more promising scalability potential due to its self-supervised manner.Codes are released on Github and Gitee.

The ability to estimate pose and generate maps using 3D LiDAR significantly enhances robotic system autonomy. However, existing open-source datasets lack representation of geometrically degenerate environments, limiting the development and benchmarking of robust LiDAR SLAM algorithms. To address this gap, we introduce GEODE, a comprehensive multi-LiDAR, multi-scenario dataset specifically designed to include real-world geometrically degenerate environments. GEODE comprises 64 trajectories spanning over 64 kilometers across seven diverse settings with varying degrees of degeneracy. The data was meticulously collected to promote the development of versatile algorithms by incorporating various LiDAR sensors, stereo cameras, IMUs, and diverse motion conditions. We evaluate state-of-the-art SLAM approaches using the GEODE dataset to highlight current limitations in LiDAR SLAM techniques. This extensive dataset will be publicly available at https://geode.github.io, supporting further advancements in LiDAR-based SLAM., Comment: 15 pages, 9 figures, 6 tables. Submitted for IJRR dataset paper

Diffusion-based models are widely recognized for their effectiveness in image restoration tasks; however, their iterative denoising process, which begins from Gaussian noise, often results in slow inference speeds. The Image-to-Image Schr\"odinger Bridge (I$^2$SB) presents a promising alternative by starting the generative process from corrupted images and leveraging training techniques from score-based diffusion models. In this paper, we introduce the Implicit Image-to-Image Schr\"odinger Bridge (I$^3$SB) to further accelerate the generative process of I$^2$SB. I$^3$SB reconfigures the generative process into a non-Markovian framework by incorporating the initial corrupted image into each step, while ensuring that the marginal distribution aligns with that of I$^2$SB. This allows for the direct use of the pretrained network from I$^2$SB. Extensive experiments on natural images, human face images, and medical images validate the acceleration benefits of I$^3$SB. Compared to I$^2$SB, I$^3$SB achieves the same perceptual quality with fewer generative steps, while maintaining equal or improved fidelity to the ground truth., Comment: 23 pages, 8 figures, submitted to Pattern Recognition

LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper presents RELEAD, a LiDAR-centric solution designed to address scan-matching degradation. Our method enables degeneracy-free point cloud registration by solving constrained ESIKF updates in the front end and incorporates multisensor constraints, even when dealing with outlier measurements, through graph optimization based on Graduated Non-Convexity (GNC). Additionally, we propose a robust Incremental Fixed Lag Smoother (rIFL) for efficient GNC-based optimization. RELEAD has undergone extensive evaluation in degenerate scenarios and has outperformed existing state-of-the-art LiDAR-Inertial odometry and LiDAR-Visual-Inertial odometry methods.

Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized system to facilitate collaborative LiDAR-ranging-inertial state estimation, enabling robotic swarms to operate without the need for anchor deployment. The system efficiently distributes computationally intensive tasks to a central server, thereby reducing the computational burden on individual robots for local odometry calculations. The server back-end establishes a global reference by leveraging shared data and refining joint pose graph optimization through place recognition, global optimization techniques, and removal of outlier data to ensure precise and robust collaborative state estimation. Extensive evaluations of our system, utilizing both publicly available datasets and our custom datasets, demonstrate significant enhancements in the accuracy of collaborative SLAM estimates. Moreover, our system exhibits remarkable proficiency in large-scale missions, seamlessly enabling ten robots to collaborate effectively in performing SLAM tasks. In order to contribute to the research community, we will make our code open-source and accessible at \url{https://github.com/PengYu-team/Co-LRIO}.

Transition-metal honeycomb compounds are capturing scientific attention due to their distinctive electronic configurations, underscored by the triangular-lattice spin-orbit coupling and competition between multiple interactions, paving the way for potential manifestations of phenomena such as Dirac semimetal, superconductivity, and quantum spin liquid states. These compounds can undergo discernible pressure-induced alterations in their crystallographic and electronic paradigms, as exemplified by our high-pressure (HP) synthesis and exploration of the honeycomb polymorph of ReO3 (P6322). This HP-P6322 polymorph bears a phase transition from P6322 to P63/mmc upon cooling around Tp = 250 K, as evidenced by the evolution of temperature-dependent magnetization (M-T curves), cell dimension, and conductivity initiated by an inherent bifurcation of the oxygen position in the ab plane. Insightful analysis of its band structure positions suggests this HP-P6322 polymorph being a plausible candidate for Dirac semimetal properties. This phase transition evokes anomalies in the temperature-dependent variation of paramagnetism (non-linearity) and a crossover from semiconductor to temperature-independent metal, showing a temperature independent conductivity behavior below ~200 K. Under increasing external pressure, both the Tp and resistance of this HP-polymorph is slightly magnetic-field dependent and undergo a "V"-style evolution (decreasing and then increasing) before becoming pressure independent up to 20.2 GPa. Theoretical calculations pinpoint this anionic disorder as a probable catalyst for the decrement in the conductive efficiency and muted temperature-dependent conductivity response.

Ferrimagnetic nodal-line semiconductor Mn$_3$Si$_2$Te$_6$ keeps the records of colossal magnetoresistance (CMR) and angular magnetoresistance (AMR). Here we report tuning the electronic transport properties via doping and pressure in (Mn$_{1-x}$Mg$_x$)$_3$Si$_2$Te$_6$. As the substitution of nonmagnetic Mg$^{2+}$ for magnetic Mn$^{2+}$, ferrimagnetic transition temperature $T_C$ gradually decreases, while the resistivity increases significantly. At the same time, the CMR and AMR are both enhanced for the low-doping compositions (e.g., $x = 0.1$ and 0.2), which can be attributed to doping-induced broadening of the band gap and a larger variation range of the resistivity when undergoing a metal-insulator transition by applying a magnetic field along the $c$ axis. On the contrary, $T_C$ rises with increasing pressure due to the enhancement of the magnetic exchange interactions until a structural transition occurs at $\sim$13 GPa. Meanwhile, the activation gap is lowered under pressure and the magnetoresistance is decreased dramatically above 6 GPa where the gap is closed. At 20 and 26 GPa, evidences for a superconducting transition at $\sim$5 K are observed. The results reveal that doping and pressure are effective methods to tune the activation gap, and correspondingly, the CMR and AMR in nodal-line semiconductors, providing an approach to investigate the magnetoresistance materials for novel spintronic devices., Comment: 5 pages, 5 figures