In recent years, the task of estimating the 6D pose of object instances and complete scenes, i.e. camera localization, from a single input image has received considerable attention. Consumer RGB-D ...cameras have made this feasible, even for difficult, texture-less objects and scenes. In this work, we show that a single RGB image is sufficient to achieve visually convincing results. Our key concept is to model and exploit the uncertainty of the system at all stages of the processing pipeline. The uncertainty comes in the form of continuous distributions over 3D object coordinates and discrete distributions over object labels. We give three technical contributions. Firstly, we develop a regularized, auto-context regression framework which iteratively reduces uncertainty in object coordinate and object label predictions. Secondly, we introduce an efficient way to marginalize object coordinate distributions over depth. This is necessary to deal with missing depth information. Thirdly, we utilize the distributions over object labels to detect multiple objects simultaneously with a fixed budget of RANSAC hypotheses. We tested our system for object pose estimation and camera localization on commonly used data sets. We see a major improvement over competing systems.
Cas13a has been used to target RNA viruses in cell culture, but efficacy has not been demonstrated in animal models. In this study, we used messenger RNA (mRNA)-encoded Cas13a for mitigating ...influenza virus A and severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) infection in mice and hamsters, respectively. We designed CRISPR RNAs (crRNAs) specific for PB1 and highly conserved regions of PB2 of influenza virus, and against the replicase and nucleocapsid genes of SARS-CoV-2, and selected the crRNAs that reduced viral RNA levels most efficiently in cell culture. We delivered polymer-formulated Cas13a mRNA and the validated guides to the respiratory tract using a nebulizer. In mice, Cas13a degraded influenza RNA in lung tissue efficiently when delivered after infection, whereas in hamsters, Cas13a delivery reduced SARS-CoV-2 replication and reduced symptoms. Our findings suggest that Cas13a-mediated targeting of pathogenic viruses can mitigate respiratory infections.
This paper addresses the task of estimating the 6D-pose of a known 3D object from a single RGB-D image. Most modern approaches solve this task in three steps: i) compute local features, ii) generate ...a pool of pose-hypotheses, iii) select and refine a pose from the pool. This work focuses on the second step. While all existing approaches generate the hypotheses pool via local reasoning, e.g. RANSAC or Hough-Voting, we are the first to show that global reasoning is beneficial at this stage. In particular, we formulate a novel fully-connected Conditional Random Field (CRF) that outputs a very small number of pose-hypotheses. Despite the potential functions of the CRF being non-Gaussian, we give a new, efficient two-step optimization procedure, with some guarantees for optimality. We utilize our global hypotheses generation procedure to produce results that exceed state-of-the-art for the challenging "Occluded Object Dataset".
Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to ...compare the observation with the output of a forward process, such as a rendered image of the object of interest in a particular pose. Due to occlusion or complicated sensor noise, it can be difficult to perform this comparison in a meaningful way. We propose an approach that "learns to compare", while taking these difficulties into account. This is done by describing the posterior density of a particular object pose with a convolutional neural network (CNN) that compares observed and rendered images. The network is trained with the maximum likelihood paradigm. We observe empirically that the CNN does not specialize to the geometry or appearance of specific objects. It can be used with objects of vastly different shapes and appearances, and in different backgrounds. Compared to state-of-the-art, we demonstrate a significant improvement on two different datasets which include a total of eleven objects, cluttered background, and heavy occlusion.
Burkholderia mallei is a highly pathogenic bacterium that causes the zoonosis glanders. Previous studies indicated that the genome of the organism contains eight genes specifying autotransporter ...proteins, which are important virulence factors of Gram-negative bacteria. In the present study, we report the characterization of one of these autotransporters, BpaB. Database searches identified the bpaB gene in ten B. mallei isolates and the predicted proteins were 99-100% identical. Comparative sequence analyses indicate that the gene product is a trimeric autotransporter of 1,090 amino acids with a predicted molecular weight of 105-kDa. Consistent with this finding, we discovered that recombinant bacteria expressing bpaB produce a protein of ≥ 300-kDa on their surface that is reactive with a BpaB-specific monoclonal antibody. Analysis of sera from mice infected with B. mallei indicated that animals produce antibodies against BpaB during the course of disease, thus establishing production of the autotransporter in vivo. To gain insight on its role in virulence, we inactivated the bpaB gene of B. mallei strain ATCC 23344 and determined the median lethal dose of the mutant in a mouse model of aerosol infection. These experiments revealed that the bpaB mutation attenuates virulence 8-14 fold. Using a crystal violet-based assay, we also discovered that constitutive production of BpaB on the surface of B. mallei promotes biofilm formation. To our knowledge, this is the first report of a biofilm factor for this organism.
Burkholderia mallei
is a highly pathogenic bacterium that causes the fatal zoonosis glanders. The organism specifies multiple membrane proteins, which represent prime targets for the development of ...countermeasures given their location at the host-pathogen interface. We investigated one of these proteins, Pal, and discovered that it is involved in the ability of B. mallei to resist complement-mediated killing and replicate inside host cells in vitro, is expressed in vivo and induces antibodies during the course of infection, and contributes to virulence in a mouse model of aerosol infection. A mutant in the pal gene of the B. mallei wild-type strain ATCC 23344 was found to be especially attenuated, as BALB/c mice challenged with the equivalent of 5,350 LD
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completely cleared infection. Based on these findings, we tested the hypothesis that a vaccine containing the Pal protein elicits protective immunity against aerosol challenge. To achieve this, the pal gene was cloned in the vaccine vector Parainfluenza Virus 5 (PIV5) and mice immunized with the virus were infected with a lethal dose of B. mallei. These experiments revealed that a single dose of PIV5 expressing Pal provided 80% survival over a period of 40 days post-challenge. In contrast, only 10% of mice vaccinated with a PIV5 control virus construct survived infection. Taken together, our data establish that the Peptidoglycan-associated lipoprotein Pal is a critical virulence determinant of B. mallei and effective target for developing a glanders vaccine.
Paramyxoviruses include many important animal and human pathogens. Most paramyxoviruses have two integral membrane proteins: fusion protein (F) and attachment proteins hemagglutinin, ...hemagglutinin–neuraminidase, or glycoprotein (G), which are critical for viral entry into cells. J paramyxovirus (JPV) encodes four integral membrane proteins: F, G, SH, and transmembrane (TM). The function of TM is not known. In this work, we have generated a viable JPV lacking TM (JPVΔTM). JPVΔTM formed opaque plaques compared with JPV. Quantitative syncytia assays showed that JPVΔTM was defective in promoting cell-to-cell fusion (i.e., syncytia formation) compared with JPV. Furthermore, cells separately expressing F, G, TM, or F plus G did not form syncytia whereas cells expressing F plus TM formed some syncytia. However, syncytia formation was much greater with coexpression of F, G, and TM. Biochemical analysis indicates that F, G, and TM interact with each other. A small hydrophobic region in the TM ectodomain from amino acid residues 118 to 132, the hydrophobic loop (HL), was important for syncytial promotion, suggesting that the TM HL region plays a critical role in cell-to-cell fusion.
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