Mining potential drug-disease associations can speed up drug repositioning for pharmaceutical companies. Previous computational strategies focused on prior biological information for association inference. However, such information may not be comprehensively available and may contain errors. Different from previous research, two inference methods,ProbSandHeatS, were introduced in this paper to predict direct drug-disease associations based only on the basic network topology measure. Bipartite network topology was used to prioritize the potentially indicated diseases for a drug. Experimental results showed that both methods can receive reliable prediction performance and achieve AUC values of 0.9192 and 0.9079, respectively. Case studies on real drugs indicated that some of the strongly predicted associations were confirmed by results in the Comparative Toxicogenomics Database (CTD). Finally, a comprehensive prediction of drug-disease associations enables us to suggest many new drug indications for further studies.

RGB-D cameras offer both color and depth images of the surrounding environment, making them an attractive option for robotic and vision applications. This work introduces the BRISK_D algorithm, which efficiently combines Features from Accelerated Segment Test (FAST) and Binary Robust Invariant Scalable Keypoints (BRISK) methods. In the BRISK_D algorithm, the keypoints are detected by the FAST algorithm and the location of the keypoint is refined in the scale and the space. The scale factor of the keypoint is directly computed with the depth information of the image. In the experiment, we have made a detailed comparative analysis of the three algorithms SURF, BRISK and BRISK_D from the aspects of scaling, rotation, perspective and blur. The BRISK_D algorithm combines depth information and has good algorithm performance.

A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM). The visual feature is encoded with BRAND (binary robust appearance and normals descriptor), which efficiently combines appearance and geometric shape information from RGB-D images. Furthermore, the feature descriptors are stored using the Locality-Sensitive-Hashing (LSH) technique and hierarchical clustering trees are used to search for these binary features. Finally, the algorithm for matching of multi feature points using local geometric constraints is provided, which can effectively reject the possible false closure hypotheses. We demonstrate the efficiency of our algorithms by real-time RGB-D SLAM with loop closing detection in indoor image sequences taken with a handheld Kinect camera and comparative experiments using other algorithms in RTAB-Map dealing with a benchmark dataset.

In recent years, the research on optical remote sensing images has received greater and greater attention. Object detection, as one of the most challenging tasks in the area of remote sensing, has been remarkably promoted by convolutional neural network (CNN)-based methods like You Only Look Once (YOLO) and Faster R-CNN. However, due to the complexity of backgrounds and the distinctive object distribution, directly applying these general object detection methods to the remote sensing object detection usually renders poor performance. To tackle this problem, a highly efficient and robust framework based on YOLO is proposed. We devise and integrate VaryBlock to the architecture which effectively offsets some of the information loss caused by downsampling. In addition, some techniques are utilized to facilitate the performance and to avoid overfitting. Experimental results show that our proposed method can enormously improve the mean average precision by a large margin on the NWPU VHR-10 dataset.

In this paper, we present a novel red-green-blue-depth simultaneous localization and mapping (RGB-D SLAM) algorithm based on cloud robotics, which combines RGB-D SLAM with the cloud robot and offloads the back-end process of the RGB-D SLAM algorithm to the cloud. This paper analyzes the front and back parts of the original RGB-D SLAM algorithm and improves the algorithm from three aspects: feature extraction, point cloud registration, and pose optimization. Experiments show the superiority of the improved algorithm. In addition, taking advantage of the cloud robotics, the RGB-D SLAM algorithm is combined with the cloud robot and the back-end part of the computationally intensive algorithm is offloaded to the cloud. Experimental validation is provided, which compares the cloud robotic-based RGB-D SLAM algorithm with the local RGB-D SLAM algorithm. The results of the experiments demonstrate the superiority of our framework. The combination of cloud robotics and RGB-D SLAM can not only improve the efficiency of SLAM but also reduce the robot’s price and size.

A Method for Extracting Street Trees from Mobile LiDAR Point Clouds