The YOLO series has become the most popular frame-work for real-time object detection due to its reasonable trade-off between speed and accuracy. However, we observe that the speed and accuracy of YOLOs are negatively affected by the NMS. Recently, end-to-end Transformer-based detectors (DETRs) have provided an alternative to eliminating NMS. Nevertheless, the high computational cost limits their practicality and hinders them from fully exploiting the advantage of excluding NMS. In this paper, we propose the Real-Time DEtection TRansformer (RT-DETR), the first real-time end-to-end object detector to our best knowledge that addresses the above dilemma. We build RT-DETR in two steps, drawing on the advanced DETR: first we focus on maintaining accuracy while improving speed, followed by maintaining speed while improving accuracy. Specifically, we design an efficient hybrid encoder to expeditiously process multi-scale features by decoupling intra-scale interaction and cross-scale fusion to improve speed. Then, we propose the uncertainty-minimal query selection to provide high-quality initial queries to the decoder, thereby improving accuracy. In addition, RT-DETR supports flexible speed tuning by adjusting the number of decoder layers to adapt to various scenarios without retraining. Our RT-DETR-R50 /R101 achieves 53.1% 154.3% AP on COCO and 108 /74 FPS on T4 GPU, outperforming previously advanced YOLOs in both speed and accuracy. Furthermore, RT-DETR-R50 outperforms DINO-R50 by 2.2% AP in accuracy and about 21 times in FPS. After pre-training with Objects365, RT-DETR-R50 / R101 achieves 55.3% 156.2% AP. The project page: https://zhao-yian.github.io/RTDEtr.
Radiance Field methods have recently revolutionized novel-view synthesis of scenes captured with multiple photos or videos. However, achieving high visual quality still requires neural networks that are costly to train and render, while recent faster methods inevitably trade off speed for quality. For unbounded and complete scenes (rather than isolated objects) and 1080p resolution rendering, no current method can achieve real-time display rates. We introduce three key elements that allow us to achieve state-of-the-art visual quality while maintaining competitive training times and importantly allow high-quality real-time (≥ 30 fps) novel-view synthesis at 1080p resolution. First, starting from sparse points produced during camera calibration, we represent the scene with 3D Gaussians that preserve desirable properties of continuous volumetric radiance fields for scene optimization while avoiding unnecessary computation in empty space; Second, we perform interleaved optimization/density control of the 3D Gaussians, notably optimizing anisotropic covariance to achieve an accurate representation of the scene; Third, we develop a fast visibility-aware rendering algorithm that supports anisotropic splatting and both accelerates training and allows realtime rendering. We demonstrate state-of-the-art visual quality and real-time rendering on several established datasets.
Traffic congestion is one of the growing urban problem with associated problems like fuel wastage, loss of lives, and slow productivity. The existing traffic system uses programming logic control (PLC) with round-robin scheduling algorithm. Recent works have proposed IoT-based frameworks that use traffic density of each lane to control traffic movement, but they suffer from low accuracy due to lack of emergency vehicle image datasets for training deep neural networks. In this paper, we propose a novel distributed IoT framework that is based on two observations. The first observation is major structural changes to road are rare. This observation is exploited by proposing a novel two stage vehicle detector that is able to achieve 77% vehicle detection accuracy on UA-DETRAC dataset. The second observation is emergency vehicle have distinct siren sound that is detected using a novel acoustic detection algorithm on an edge device. The proposed system is able to detect emergency vehicles with an average accuracy of 99.4%.
Real-time object detection is one of the most important research topics in computer vision. As new approaches regarding architecture optimization and training optimization are continually being developed, we have found two research topics that have spawned when dealing with these latest state-of-the-art methods. To address the topics, we propose a trainable bag-of-freebies oriented solution. We combine the flexible and efficient training tools with the proposed architecture and the compound scaling method. YOLOv7 surpasses all known object detectors in both speed and accuracy in the range from 5 FPS to 120 FPS and has the highest accuracy 56.8% AP among all known real-time object detectors with 30 FPS or higher on GPU V100. Source code is released in https://github.com/WongKinYiu/yolov7.
BACKGROUND: Even though real-time PCR has been broadly applied in biomedical sciences, data processing procedures for the analysis of quantitative real-time PCR are still lacking; specifically in the realm of appropriate statistical treatment. Confidence interval and statistical significance considerations are not explicit in many of the current data analysis approaches. Based on the standard curve method and other useful data analysis methods, we present and compare four statistical approaches and models for the analysis of real-time PCR data. RESULTS: In the first approach, a multiple regression analysis model was developed to derive DeltaDeltaCt from estimation of interaction of gene and treatment effects. In the second approach, an ANCOVA (analysis of covariance) model was proposed, and the DeltaDeltaCt can be derived from analysis of effects of variables. The other two models involve calculation DeltaCt followed by a two group t-test and non-parametric analogous Wilcoxon test. SAS programs were developed for all four models and data output for analysis of a sample set are presented. In addition, a data quality control model was developed and implemented using SAS. CONCLUSION: Practical statistical solutions with SAS programs were developed for real-time PCR data and a sample dataset was analyzed with the SAS programs. The analysis using the various models and programs yielded similar results. Data quality control and analysis procedures presented here provide statistical elements for the estimation of the relative expression of genes using real-time PCR.
Use of the real-time polymerase chain reaction (PCR) to amplify cDNA products reverse transcribed from mRNA is on the way to becoming a routine tool in molecular biology to study low abundance gene expression. Real-time PCR is easy to perform, provides the necessary accuracy and produces reliable as well as rapid quantification results. But accurate quantification of nucleic acids requires a reproducible methodology and an adequate mathematical model for data analysis. This study enters into the particular topics of the relative quantification in real-time RT-PCR of a target gene transcript in comparison to a reference gene transcript. Therefore, a new mathematical model is presented. The relative expression ratio is calculated only from the real-time PCR efficiencies and the crossing point deviation of an unknown sample versus a control. This model needs no calibration curve. Control levels were included in the model to standardise each reaction run with respect to RNA integrity, sample loading and inter-PCR variations. High accuracy and reproducibility (<2.5% variation) were reached in LightCycler PCR using the established mathematical model.
A key challenge for neural modeling is to explain how a continuous stream of multimodal input from a rapidly changing environment can be processed by stereotypical recurrent circuits of integrate-and-fire neurons in real time. We propose a new computational model for real-time computing on time-varying input that provides an alternative to paradigms based on Turing machines or attractor neural networks. It does not require a task-dependent construction of neural circuits. Instead, it is based on principles of high-dimensional dynamical systems in combination with statistical learning theory and can be implemented on generic evolved or found recurrent circuitry. It is shown that the inherent transient dynamics of the high-dimensional dynamical system formed by a sufficiently large and heterogeneous neural circuit may serve as universal analog fading memory. Readout neurons can learn to extract in real time from the current state of such recurrent neural circuit information about current and past inputs that may be needed for diverse tasks. Stable internal states are not required for giving a stable output, since transient internal states can be transformed by readout neurons into stable target outputs due to the high dimensionality of the dynamical system. Our approach is based on a rigorous computational model, the liquid state machine, that, unlike Turing machines, does not require sequential transitions between well-defined discrete internal states. It is supported, as the Turing machine is, by rigorous mathematical results that predict universal computational power under idealized conditions, but for the biologically more realistic scenario of real-time processing of time-varying inputs. Our approach provides new perspectives for the interpretation of neural coding, the design of experiments and data analysis in neurophysiology, and the solution of problems in robotics and neurotechnology.
We present a system for accurate real-time mapping of complex and arbitrary indoor scenes in variable lighting conditions, using only a moving low-cost depth camera and commodity graphics hardware. We fuse all of the depth data streamed from a Kinect sensor into a single global implicit surface model of the observed scene in real-time. The current sensor pose is simultaneously obtained by tracking the live depth frame relative to the global model using a coarse-to-fine iterative closest point (ICP) algorithm, which uses all of the observed depth data available. We demonstrate the advantages of tracking against the growing full surface model compared with frame-to-frame tracking, obtaining tracking and mapping results in constant time within room sized scenes with limited drift and high accuracy. We also show both qualitative and quantitative results relating to various aspects of our tracking and mapping system. Modelling of natural scenes, in real-time with only commodity sensor and GPU hardware, promises an exciting step forward in augmented reality (AR), in particular, it allows dense surfaces to be reconstructed in real-time, with a level of detail and robustness beyond any solution yet presented using passive computer vision.
This paper presents a unique real-time obstacle avoidance approach for manipulators and mobile robots based on the artificial potential field concept. Collision avoidance, tradi tionally considered a high level planning problem, can be effectively distributed between different levels of control, al lowing real-time robot operations in a complex environment. This method has been extended to moving obstacles by using a time-varying artificial patential field. We have applied this obstacle avoidance scheme to robot arm mechanisms and have used a new approach to the general problem of real-time manipulator control. We reformulated the manipulator con trol problem as direct control of manipulator motion in oper ational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and kine matic transformation. Outside the obstacles' regions of influ ence, we caused the end effector to move in a straight line with an upper speed limit. The artificial potential field ap proach has been extended to collision avoidance for all ma nipulator links. In addition, a joint space artificial potential field is used to satisfy the manipulator internal joint con straints. This method has been implemented in the COSMOS system for a PUMA 560 robot. Real-time collision avoidance demonstrations on moving obstacles have been performed by using visual sensing.
We have developed a novel "real time" quantitative PCR method. The method measures PCR product accumulation through a dual-labeled fluorogenic probe (i.e., TaqMan Probe). This method provides very accurate and reproducible quantitation of gene copies. Unlike other quantitative PCR methods, real-time PCR does not require post-PCR sample handling, preventing potential PCR product carry-over contamination and resulting in much faster and higher throughput assays. The real-time PCR method has a very large dynamic range of starting target molecule determination (at least five orders of magnitude). Real-time quantitative PCR is extremely accurate and less labor-intensive than current quantitative PCR methods.
We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system, which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement, the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together, these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a high-performance full-size humanoid robot and live augmented reality with a hand-held camera.
This paper develops a theory of the allocation of formal and real authority within organizations. Real authority is determined by the structure of information, which in turn depends on the allocation of formal authority. An increase in an agent's real authority promotes initiative but results in a loss of control for the principal. The paper analyzes the allocation of formal authority as well as some determinants of the subordinates' real authority: overload, lenient rules, urgency of decision, reputation, performance measurement, and multiplicity of superiors. Finally, the amount of communication in an organization is shown to depend on the allocation of formal authority. Copyright 1997 by the University of Chicago.
In December, 2019, a local outbreak of pneumonia of initially unknown cause was detected in Wuhan (Hubei, China), and was quickly determined to be caused by a novel coronavirus,1WHOWHO statement regarding cluster of pneumonia cases in Wuhan, China.https://www.who.int/china/news/detail/09-01-2020-who-statement-regarding-cluster-of-pneumonia-cases-in-wuhan-chinaDate: Jan 9, 2020Date accessed: February 11, 2020Google Scholar namely severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2). The outbreak has since spread to every province of mainland China as well as 27 other countries and regions, with more than 70 000 confirmed cases as of Feb 17, 2020.2WHOCoronavirus disease 2019 (COVID-19) situation reports.https://www.who.int/emergencies/diseases/novel-coronavirus-2019/situation-reportsDate accessed: February 17, 2020Google Scholar In response to this ongoing public health emergency, we developed an online interactive dashboard, hosted by the Center for Systems Science and Engineering (CSSE) at Johns Hopkins University, Baltimore, MD, USA, to visualise and track reported cases of coronavirus disease 2019 (COVID-19) in real time. The dashboard, first shared publicly on Jan 22, illustrates the location and number of confirmed COVID-19 cases, deaths, and recoveries for all affected countries. It was developed to provide researchers, public health authorities, and the general public with a user-friendly tool to track the outbreak as it unfolds. All data collected and displayed are made freely available, initially through Google Sheets and now through a GitHub repository, along with the feature layers of the dashboard, which are now included in the Esri Living Atlas. The dashboard reports cases at the province level in China; at the city level in the USA, Australia, and Canada; and at the country level otherwise. During Jan 22–31, all data collection and processing were done manually, and updates were typically done twice a day, morning and night (US Eastern Time). As the outbreak evolved, the manual reporting process became unsustainable; therefore, on Feb 1, we adopted a semi-automated living data stream strategy. Our primary data source is DXY, an online platform run by members of the Chinese medical community, which aggregates local media and government reports to provide cumulative totals of COVID-19 cases in near real time at the province level in China and at the country level otherwise. Every 15 min, the cumulative case counts are updated from DXY for all provinces in China and for other affected countries and regions. For countries and regions outside mainland China (including Hong Kong, Macau, and Taiwan), we found DXY cumulative case counts to frequently lag behind other sources; we therefore manually update these case numbers throughout the day when new cases are identified. To identify new cases, we monitor various Twitter feeds, online news services, and direct communication sent through the dashboard. Before manually updating the dashboard, we confirm the case numbers with regional and local health departments, including the respective centres for disease control and prevention (CDC) of China, Taiwan, and Europe, the Hong Kong Department of Health, the Macau Government, and WHO, as well as city-level and state-level health authorities. For city-level case reports in the USA, Australia, and Canada, which we began reporting on Feb 1, we rely on the US CDC, the government of Canada, the Australian Government Department of Health, and various state or territory health authorities. All manual updates (for countries and regions outside mainland China) are coordinated by a team at Johns Hopkins University. The case data reported on the dashboard aligns with the daily Chinese CDC3Chinese Center for Disease Control and PreventionTracking the epidemic.http://weekly.chinacdc.cn/news/TrackingtheEpidemic.htmDate accessed: February 11, 2020Google Scholar and WHO situation reports2WHOCoronavirus disease 2019 (COVID-19) situation reports.https://www.who.int/emergencies/diseases/novel-coronavirus-2019/situation-reportsDate accessed: February 17, 2020Google Scholar for within and outside of mainland China, respectively (figure). Furthermore, the dashboard is particularly effective at capturing the timing of the first reported case of COVID-19 in new countries or regions (appendix). With the exception of Australia, Hong Kong, and Italy, the CSSE at Johns Hopkins University has reported newly infected countries ahead of WHO, with Hong Kong and Italy reported within hours of the corresponding WHO situation report. Given the popularity and impact of the dashboard to date, we plan to continue hosting and managing the tool throughout the entirety of the COVID-19 outbreak and to build out its capabilities to establish a standing tool to monitor and report on future outbreaks. We believe our efforts are crucial to help inform modelling efforts and control measures during the earliest stages of the outbreak. This online publication has been corrected. The corrected version first appeared at thelancet.com/infection on June 12, 2020 This online publication has been corrected. The corrected version first appeared at thelancet.com/infection on June 12, 2020 We declare no competing interests. We are grateful for the technical support from the Esri Living Atlas team and the Johns Hopkins University Applied Physics Lab. Download .pdf (.29 MB) Help with pdf files Supplementary appendix Correction to Lancet Infect Dis 2020; 20: 533–34Dong E, Du H, Gardner L. An interactive web-based dashboard to track COVID-19 in real time. Lancet Infect Dis 2020; 20: 533–34—In this Correspondence, on the y-axis of the graph in figure A, “500” has been corrected to “5000”. This correction has been made to the online version as of June 12, 2020. Full-Text PDF SeroTracker: a global SARS-CoV-2 seroprevalence dashboardAs the initial phase of the COVID-19 pandemic passes its peak in many countries, serological studies are becoming increasingly important in guiding public health responses. Antibody testing is crucial for monitoring the evolution of the pandemic, providing a more complete picture of the total number of people infected with severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) than molecular diagnostic testing alone.1 All individuals with SARS-CoV-2-specific antibodies have been exposed to the virus, so antibody testing can highlight differences in past exposure between regions, demographic groups, and occupations. Full-Text PDF Mental health services in Italy during the COVID-19 outbreakAs of March 24, 2020, 63 927 confirmed cases and 6077 deaths due to coronavirus disease 2019 (COVID-19) make Italy one of the most severely affected countries of what has been defined a global pandemic by WHO.1 In Lombardy, the epicentre of the outbreak in Italy, large metropolitan hospitals in cities like Milan and Bergamo are struggling to contain an exponential growth of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) case presentations requiring hospitalisation. Full-Text PDF An eventful 20 yearsThis issue marks 20 years of publication of The Lancet Infectious Diseases. In the issue, we publish two Reviews that reflect themes from the journal's first year of publication. The first paper published (in the April, 2001, preview issue) was a Review of the history of hand hygiene by Didier Pittet and John M Boyce. In this issue, Pittet and colleagues (with Nasim Lotfinejad as first author) return to this life-saving topic in infection control with a Review of 20 years of progress in promotion of hand hygiene. Full-Text PDF
Real-time reverse transcription followed by polymerase chain reaction (RT-PCR) is the most suitable method for the detection and quantification of mRNA. It offers high sensitivity, good reproducibility and a wide quantification range. Today, relative expression is increasingly used, where the expression of a target gene is standardised by a non-regulated reference gene. Several mathematical algorithms have been developed to compute an expression ratio, based on real-time PCR efficiency and the crossing point deviation of an unknown sample versus a control. But all published equations and available models for the calculation of relative expression ratio allow only for the determination of a single transcription difference between one control and one sample. Therefore a new software tool was established, named REST (relative expression software tool), which compares two groups, with up to 16 data points in a sample and 16 in a control group, for reference and up to four target genes. The mathematical model used is based on the PCR efficiencies and the mean crossing point deviation between the sample and control group. Subsequently, the expression ratio results of the four investigated transcripts are tested for significance by a randomisation test. Herein, development and application of REST is explained and the usefulness of relative expression in real-time PCR using REST is discussed. The latest software version of REST and examples for the correct use can be downloaded at http://www.wzw.tum.de/gene-quantification/.
This article describes the implementation of real-space refinement in the phenix.real_space_refine program from the PHENIX suite. The use of a simplified refinement target function enables very fast calculation, which in turn makes it possible to identify optimal data-restraint weights as part of routine refinements with little runtime cost. Refinement of atomic models against low-resolution data benefits from the inclusion of as much additional information as is available. In addition to standard restraints on covalent geometry, phenix.real_space_refine makes use of extra information such as secondary-structure and rotamer-specific restraints, as well as restraints or constraints on internal molecular symmetry. The re-refinement of 385 cryo-EM-derived models available in the Protein Data Bank at resolutions of 6 Å or better shows significant improvement of the models and of the fit of these models to the target maps.
BACKGROUND: Currently, a lack of consensus exists on how best to perform and interpret quantitative real-time PCR (qPCR) experiments. The problem is exacerbated by a lack of sufficient experimental detail in many publications, which impedes a reader's ability to evaluate critically the quality of the results presented or to repeat the experiments. CONTENT: The Minimum Information for Publication of Quantitative Real-Time PCR Experiments (MIQE) guidelines target the reliability of results to help ensure the integrity of the scientific literature, promote consistency between laboratories, and increase experimental transparency. MIQE is a set of guidelines that describe the minimum information necessary for evaluating qPCR experiments. Included is a checklist to accompany the initial submission of a manuscript to the publisher. By providing all relevant experimental conditions and assay characteristics, reviewers can assess the validity of the protocols used. Full disclosure of all reagents, sequences, and analysis methods is necessary to enable other investigators to reproduce results. MIQE details should be published either in abbreviated form or as an online supplement. SUMMARY: Following these guidelines will encourage better experimental practice, allowing more reliable and unequivocal interpretation of qPCR results.
A common method for real-time segmentation of moving regions in image sequences involves "background subtraction", or thresholding the error between an estimate of the image without moving objects and the current image. The numerous approaches to this problem differ in the type of background model used and the procedure used to update the model. This paper discusses modeling each pixel as a mixture of Gaussians and using an on-line approximation to update the model. The Gaussian, distributions of the adaptive mixture model are then evaluated to determine which are most likely to result from a background process. Each pixel is classified based on whether the Gaussian distribution which represents it most effectively is considered part of the background model. This results in a stable, real-time outdoor tracker which reliably deals with lighting changes, repetitive motions from clutter, and long-term scene changes. This system has been run almost continuously for 16 months, 24 hours a day, through rain and snow.
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This memorandum describes a protocol called RTP suitable for the end-to-end network transport of real-time data, such as audio, video or simulation data for both multicast and unicast transport services. The data transport is augmented by a control protocol (RTCP) designed to provide minimal control and identification functionality particularly in multicast networks. RTP and RTCP are designed to be independent of the underlying transport and network layers. The protocol supports the use of RTP-level translators and bridges. Within multicast associations, sites can direct control messages to individual sites. The protocol does not address resource reservation and does not guarantee quality-of-service for real-time services. This specification is a product of the Audio-Video Transport working group within the Internet Engineering Task Force. Comments are solicited and should be addressed to the working group&apos;s mailing list at rem-conf@es.net and/or the authors. INTERNET-DRAFT dr...
Accurate estimation of the contrast transfer function (CTF) is critical for a near-atomic resolution cryo electron microscopy (cryoEM) reconstruction. Here, a GPU-accelerated computer program, Gctf, for accurate and robust, real-time CTF determination is presented. The main target of Gctf is to maximize the cross-correlation of a simulated CTF with the logarithmic amplitude spectra (LAS) of observed micrographs after background subtraction. Novel approaches in Gctf improve both speed and accuracy. In addition to GPU acceleration (e.g. 10-50×), a fast '1-dimensional search plus 2-dimensional refinement (1S2R)' procedure further speeds up Gctf. Based on the global CTF determination, the local defocus for each particle and for single frames of movies is accurately refined, which improves CTF parameters of all particles for subsequent image processing. Novel diagnosis method using equiphase averaging (EPA) and self-consistency verification procedures have also been implemented in the program for practical use, especially for aims of near-atomic reconstruction. Gctf is an independent program and the outputs can be easily imported into other cryoEM software such as Relion (Scheres, 2012) and Frealign (Grigorieff, 2007). The results from several representative datasets are shown and discussed in this paper.