Dual Branch PnP Based Network for Monocular 6D Pose Estimation

Monocular 6D pose estimation is a functional task in the field of com-puter vision and robotics.In recent years,2D-3D correspondence-based methods have achieved improved performance in multiview and depth data-based scenes.However,for monocular 6D pose estimation,these methods are affected by the prediction results of the 2D-3D correspondences and the robustness of the per-spective-n-point(PnP)algorithm.There is still a difference in the distance from the expected estimation effect.To obtain a more effective feature representation result,edge enhancement is proposed to increase the shape information of the object by analyzing the influence of inaccurate 2D-3D matching on 6D pose regression and comparing the effectiveness of the intermediate representation.Furthermore,although the transformation matrix is composed of rotation and translation matrices from 3D model points to 2D pixel points,the two variables are essentially different and the same network cannot be used for both variables in the regression process.Therefore,to improve the effectiveness of the PnP algo-rithm,this paper designs a dual-branch PnP network to predict rotation and trans-lation information.Finally,the proposed method is verified on the public LM,LM-O and YCB-Video datasets.The ADD(S)values of the proposed method are 94.2 and 62.84 on the LM and LM-O datasets,respectively.The AUC of ADD(-S)value on YCB-Video is 81.1.These experimental results show that the performance of the proposed method is superior to that of similar methods.

Vertical nanowires enhanced X-ray radiation damage of cells

Cell behavior is affected by nanostructured surface,but it remains unknown how ionizing radiation af-fects cells on nanostructured surface.This paper reports an experimental investigation of X-ray radiation induced damage of cells placed on an array of vertically aligned silicon nanowires.X-ray photoelectrons and secondary electrons produced from nanowire array are measured and compared to those from flat silicon substrate.The cell functions including morphology,viability,adhesion and proliferation have been examined and found to be drastically affected when cells are exposed to X-ray radiation,compared to those sitting on flat substrate and those only exposed to X-ray.The enhanced cell damage on nanowires upon X-ray exposure is attributed to nanowire enhanced production of photoelectrons including Auger electrons and secondary electrons,which have high escaping probability from sharp tips of nanowires.The escaped photoelectrons ionize water molecules and generate hydroxyl free radicals that can damage DNAs of cells.An inference of this work is that the contrast in scanning electron microscopy is useful in assessing the effects of nanomaterials for enhanced X-ray radiation therapy.