Background: Donepezil, galantamine, rivastigmine and memantine are potentially effective interventions for cognitive impairment in dementia, but the use of these drugs has not been personalised to individual patients yet. We examined whether artificial intelligence-based recommendations can identify the best treatment using routinely collected patient-level information. Methods: Six thousand eight hundred four patients aged 59–102 years with a diagnosis of dementia from two National Health Service (NHS) Foundation Trusts in the UK were used for model training/internal validation and external validation, respectively. A personalised prescription model based on the Recurrent Neural Network machine learning architecture was developed to predict the Mini-Mental State Examination (MMSE) and Montreal Cognitive Assessment (MoCA) scores post-drug initiation. The drug that resulted in the smallest decline in cognitive scores between prescription and the next visit was selected as the treatment of choice. Change of cognitive scores up to 2 years after treatment initiation was compared for model evaluation. Results: Overall, 1343 patients with MMSE scores were identified for internal validation and 285 [21.22%] took the drug recommended. After 2 years, the reduction of mean [standard deviation] MMSE score in this group was significantly smaller than the remaining 1058 [78.78%] patients (0.60 [0.26] vs 2.80 [0.28]; P = 0.02). In the external validation cohort (N = 1772), 222 [12.53%] patients took the drug recommended and reported a smaller MMSE reduction compared to the 1550 [87.47%] patients who did not (1.01 [0.49] vs 4.23 [0.60]; P = 0.01). A similar performance gap was seen when testing the model on patients prescribed with AChEIs only. Conclusions: It was possible to identify the most effective drug for the real-world treatment of cognitive impairment in dementia at an individual patient level. Routine care patients whose prescribed medications were the best fit according to the model had better cognitive performance after 2 years.

Reliable state estimation is a prerequisite for autonomous robot navigation in complex environments. In this work, we present LIO-Fusion, a reinforced LiDAR inertial odometry system that optimally fuses GNSS/relocalization and wheel odometry to provide accurate and robust 6-DoF movement estimation under challenging perceptual conditions. LIO-Fusion formulates multi-source sensors fusion based on factor graph, allowing a multitude of relative and absolute measurements which may be degraded, disturbed or even inaccessible. In the LIO-Fusion system, online initialization consists of point cloud feature extraction and matching, IMU preintegration, encoder integration, GNSS calibration and prior-map relocalization. Then, its global reinforcement module detects the reliability of GNSS/relocalization to obtain healthy GNSS/relocalization factors, whereas the local reinforcement module uses a sub-factor graph to fuse prior estimation results for the reinforced local odometry factor. Finally, the basic LiDAR/IMU factors, healthy GNSS/relocalization factors and reinforced local odometry factor are jointly used to constrain the system state in the main factor graph such that low-drift odometry under LiDAR degradation can be reliably obtained and corrected globally. We extensively evaluated the real-time LIO-Fusion system by real-world experiments, and compared its performance to other state-of-the-art methods on large-scale datasets collected in the urban and hazardous environments. Results have shown that LIO-Fusion yielded high precision localization and mapping accuracy as well as robustness to sensor failures.

The traditional environment maps built by mobile robots include both metric ones and topological ones. These maps are navigation-oriented and not adequate for service robots to interact with or serve human users who normally rely on the conceptual knowledge or semantic contents of the environment. Therefore, the construction of semantic maps becomes necessary for building an effective human-robot interface for service robots. This paper reviews recent research and development in the field of visual-based semantic mapping. The main focus is placed on how to extract semantic information from visual data in terms of feature extraction, object/place recognition and semantic representation methods.

Recently, deep learning techniques have been applied to solve visual or light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM) problems. Supervised deep learning SLAM methods need ground truth data for training, but collecting such data is costly and labour-intensive. Unsupervised training strategies have been adopted by some visual or LiDAR SLAM methods. However, these methods only exploit the potential of single-sensor modalities, which do not take the complementary advantages of LiDAR and visual data. In this paper, we propose a novel unsupervised multi-channel visual-LiDAR SLAM method (MVL-SLAM) which can fuse visual and LiDAR data together. Our SLAM system consists of an unsupervised multi-channel visual-LiDAR odometry (MVLO) component, a deep learning–based loop closure detection component, and a 3D mapping component. The visual-LiDAR odometry component adopts a multi-channel recurrent convolutional neural network (RCNN). Its input consists of front, left, and right view depth images generated from $$360^{\circ }$$360 ∘ 3D LiDAR data and RGB images. We use the features from a deep convolutional neural network (CNN) for the loop closure detection component. Our SLAM method does not require ground truth data for training and can directly construct environmental 3D maps from the 3D mapping component. Experiments conducted on the KITTI odometry dataset have shown the rotation and translation errors are lower than some of the other unsupervised methods, including UnMono, SfmLearner, DeepSLAM, and UnDeepVO. Experimental results show that our methods have good performance. By fusing visual and LiDAR data, MVL-SLAM has higher accuracy and robustness of the pose estimation compared with other single-modal SLAM systems.

• Linking UK Clinical Record Interactive Search (UK-CRIS) and UK Biobank. • Comparison of diagnosis for 854 individuals present in both datasets. • Electronic health records from UK-CRIS used to understand self-reported data in UK Biobank.