Visual Place Recognition (VPR) is vital for robot localization. To date, the most performant VPR approaches are environment- and task-specific: while they exhibit strong performance in structured environments (predominantly urban driving), their performance degrades severely in unstructured environments, rendering most approaches brittle to robust real-world deployment. In this work, we develop a universal solution to VPR – a technique that works across a broad range of structured and unstructured environments (urban, outdoors, indoors, aerial, underwater, and subterranean environments) without any re-training or finetuning. We demonstrate that general-purpose feature representations derived from off-the-shelf self-supervised models with no VPR-specific training are the right substrate upon which to build such a universal VPR solution. Combining these derived features with unsupervised feature aggregation enables our suite of methods, AnyLoc , to achieve up to $4\times$ significantly higher performance than existing approaches. We further obtain a 6% improvement in performance by characterizing the semantic properties of these features, uncovering unique domains which encapsulate datasets from similar environments. Our detailed experiments and analysis lay a foundation for building VPR solutions that may be deployed anywhere , anytime , and across anyview .

The damage to the heart valves causes heart valve disorders (HVDs). The detection of HVDs is crucial in a clinical study as these diseases may cause congestive heart failure, hypertrophy, and stroke. The phonocardiogram (PCG) signal reveals information regarding the mechanical activity of the heart. The early detection of HVDs using PCG signal is vital to minimize the chances of cardiac arrest and other cardiac complications. This article proposes the time–frequency-domain deep learning (TFDDL) framework for automatic detection of HVDs using PCG signals. The time–frequency (TF)-domain representations of PCG signals are evaluated using both time-domain polynomial chirplet transform (TDPCT) and frequency-domain polynomial chirplet transform (FDPCT). The deep convolutional neural network (CNN) model is used to detect four types of HVDs using the TF images of PCG signals obtained using both the TDPCT and FDPCT methods. The proposed TFDDL approach is evaluated using PCG signals from public databases. For the detection of HVDs using TDPCT- and FDPCT-based TF images of PCG signals, the suggested approach has achieved overall accuracy values of 99% and 99.48%, respectively. For the classification of normal and abnormal heart sound classes, the proposed TFDDL approach has obtained an accuracy of 85.16% using PCG signals from the Physionet challenge 2016 database. The proposed TFDDL framework is compared with TF-domain transfer learning models such as residual network (ResNet-50) and visual geometry group (VGGNet-16). The overall accuracy values obtained using VGGNet-16 and ResNet-50 are less than the proposed deep CNN model for the detection of HVDs. The proposed TFDDL model can be validated in real-time using heart sound signals recorded from different subjects for automated identification of HVDs.

Myocardial infarction (MI) occurs due to the decrease in the blood flow into one part of the heart, and it further causes damage to the heart muscle. The 12-channel electrocardiogram (ECG) has been widely used to detect and localize MI pathology in clinical studies. The vectorcardiogram (VCG) is a 3-channel recording system used to measure the heart’s electrical activity in sagittal, transverse, and frontal planes. The VCG signals have advantages over the 12-channel ECG to localize posterior MI pathology. Detection and localization of MI using VCG signals are vital in clinical practice. This paper proposes a multi-channel multi-scale two-stage deep-learning-based approach to detect and localize MI using VCG signals. In the first stage, the multivariate variational mode decomposition (MVMD) decomposes the three-channel-based VCG signal beat into five components along each channel. The multi-channel multi-scale VCG tensor is formulated using the modes of each channel of VCG data, and it is used as the input to the deep convolutional neural network (CNN) to classify MI and normal sinus rhythm (NSR) classes. In the second stage, the multi-class deep CNN is used for the categorization of anterior MI (AMI), anterior-lateral MI (ALMI), anterior-septal MI (ASMI), inferior MI (IMI), inferior-lateral MI (ILMI), inferior-posterior-lateral (IPLMI) classes using MI detected multi-channel multi-scale VCG instances from the first stage. The proposed approach is developed using the VCG data obtained from a public database. The results reveal that the approach has obtained the accuracy, sensitivity, and specificity values of 99.58%, 99.18%, and 99.87%, respectively, for MI detection. Moreover, for MI localization, we have obtained the overall accuracy value of 99.86% in the second stage for our proposed network. The proposed approach has demonstrated superior classification performance compared to the existing VCG signal-based MI detection and localization techniques.