Han Ye

Han Ye, Yuqiang Jin, Jinyuan Liu et al.

Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for multi-LiDAR systems that does not rely on overlapping fields of view or precise initial parameter estimates. Unlike conventional calibration methods that require manual annotations or specific reference patterns, our approach introduces a unified optimization framework by integrating LiDAR bundle adjustment (LBA) optimization with robust iterative refinement. The proposed method constructs an accurate reference point cloud map via continuous scanning from the target LiDAR and sliding-window LiDAR bundle adjustment, while formulating extrinsic calibration as a joint LBA optimization problem. This method effectively mitigates cumulative mapping errors and achieves outlier-resistant parameter estimation through an adaptive weighting mechanism. Extensive evaluations in both the CARLA simulation environment and real-world scenarios demonstrate that our method outperforms state-of-the-art calibration techniques in both accuracy and robustness. Experimental results show that for non-overlapping sensor configurations, our framework achieves an average translational error of 5 mm and a rotational error of 0.2°, with an initial error tolerance of up to 0.4 m/30°. Moreover, the calibration process operates without specialized infrastructure or manual parameter tuning. The code is open source and available on GitHub (\underline{https://github.com/Silentbarber/DLBAcalib})

Han Ye, Haofu Wang, Yunchi Zhang et al.

Reconstructing building floor plans from point cloud data is key for indoor navigation, BIM, and precise measurements. Traditional methods like geometric algorithms and Mask R-CNN-based deep learning often face issues with noise, limited generalization, and loss of geometric details. We propose FloorSAM, a framework that integrates point cloud density maps with the Segment Anything Model (SAM) for accurate floor plan reconstruction from LiDAR data. Using grid-based filtering, adaptive resolution projection, and image enhancement, we create robust top-down density maps. FloorSAM uses SAM's zero-shot learning for precise room segmentation, improving reconstruction across diverse layouts. Room masks are generated via adaptive prompt points and multistage filtering, followed by joint mask and point cloud analysis for contour extraction and regularization. This produces accurate floor plans and recovers room topological relationships. Tests on Giblayout and ISPRS datasets show better accuracy, recall, and robustness than traditional methods, especially in noisy and complex settings. Code and materials: github.com/Silentbarber/FloorSAM.

Jack Yutong Li, Ruoqing Zhu, Annie Qu et al.

Emergency Department (ED) crowding is a worldwide issue that affects the efficiency of hospital management and the quality of patient care. This occurs when the request for an admit ward-bed to receive a patient is delayed until an admission decision is made by a doctor. To reduce the overcrowding and waiting time of ED, we build a classifier to predict the disposition of patients using manually-typed nurse notes collected during triage, thereby allowing hospital staff to begin necessary preparation beforehand. However, these triage notes involve high dimensional, noisy, and also sparse text data which makes model fitting and interpretation difficult. To address this issue, we propose the semi-orthogonal non-negative matrix factorization (SONMF) for both continuous and binary design matrices to first bi-cluster the patients and words into a reduced number of topics. The subjects can then be interpreted as a non-subtractive linear combination of orthogonal basis topic vectors. These generated topic vectors provide the hospital with a direct understanding of the cause of admission. We show that by using a transformation of basis, the classification accuracy can be further increased compared to the conventional bag-of-words model and alternative matrix factorization approaches. Through simulated data experiments, we also demonstrate that the proposed method outperforms other non-negative matrix factorization (NMF) methods in terms of factorization accuracy, rate of convergence, and degree of orthogonality.