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Book ; Online: Transformer-Based Sensor Fusion for Autonomous Driving

Singh, Apoorv

A Survey

2023

Abstract: Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Transformers-based detection head and CNN-based feature encoder to extract features from raw sensor-data has emerged as one of the best performing ... ...

Abstract	Sensor fusion is an essential topic in many perception systems, such as autonomous driving and robotics. Transformers-based detection head and CNN-based feature encoder to extract features from raw sensor-data has emerged as one of the best performing sensor-fusion 3D-detection-framework, according to the dataset leaderboards. In this work we provide an in-depth literature survey of transformer based 3D-object detection task in the recent past, primarily focusing on the sensor fusion. We also briefly go through the Vision transformers (ViT) basics, so that readers can easily follow through the paper. Moreover, we also briefly go through few of the non-transformer based less-dominant methods for sensor fusion for autonomous driving. In conclusion we summarize with sensor-fusion trends to follow and provoke future research. More updated summary can be found at: https://github.com/ApoorvRoboticist/Transformers-Sensor-Fusion Comment: 5 pages, 1 figure
Keywords	Computer Science - Computer Vision and Pattern Recognition
Publishing date	2023-02-22
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Book ; Online: End-to-end Autonomous Driving using Deep Learning

Singh, Apoorv

A Systematic Review

2023

Abstract: End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This paper attempts ... ...

Abstract	End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This paper attempts to systematically review all recent Machine Learning-based techniques to perform this end-to-end task, including, but not limited to, object detection, semantic scene understanding, object tracking, trajectory predictions, trajectory planning, vehicle control, social behavior, and communications. This paper focuses on recent fully differentiable end-to-end reinforcement learning and deep learning-based techniques. Our paper also builds taxonomies of the significant approaches by sub-grouping them and showcasing their research trends. Finally, this survey highlights the open challenges and points out possible future directions to enlighten further research on the topic. Comment: 11 pages, 6 figures, submitted in WACV conference
Keywords	Computer Science - Robotics ; Computer Science - Artificial Intelligence
Subject code	629
Publishing date	2023-08-27
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Book ; Online: Vision-RADAR fusion for Robotics BEV Detections

Singh, Apoorv

A Survey

2023

Abstract: Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic platform at ... ...

Abstract	Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic platform at scale we need to emphasize on autonomous robot platform bring-up cost as well. Cameras and radars, which inherently includes complementary perception information, has potential for developing autonomous robotic platform at scale. However, there is a limited work around radar fused with Vision, compared to LiDAR fused with vision work. In this paper, we tackle this gap with a survey on Vision-Radar fusion approaches for a BEV object detection system. First we go through the background information viz., object detection tasks, choice of sensors, sensor setup, benchmark datasets and evaluation metrics for a robotic perception system. Later, we cover per-modality (Camera and RADAR) data representation, then we go into detail about sensor fusion techniques based on sub-groups viz., early-fusion, deep-fusion, and late-fusion to easily understand the pros and cons of each method. Finally, we propose possible future trends for vision-radar fusion to enlighten future research. Regularly updated summary can be found at: https://github.com/ApoorvRoboticist/Vision-RADAR-Fusion-BEV-Survey Comment: 6 pages, 6 figures, 2 tables
Keywords	Computer Science - Computer Vision and Pattern Recognition
Subject code	629
Publishing date	2023-02-13
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Book ; Online: Training Strategies for Vision Transformers for Object Detection

Singh, Apoorv

2023

Abstract: Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual features. ... ...

Abstract	Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual features. However Transformers, initially designed for language models, have mostly focused on the performance accuracy, and not so much on the inference-time budget. For a safety critical system like autonomous driving, real-time inference at the on-board compute is an absolute necessity. This keeps our object detection algorithm under a very tight run-time budget. In this paper, we evaluated a variety of strategies to optimize on the inference-time of vision transformers based object detection methods keeping a close-watch on any performance variations. Our chosen metric for these strategies is accuracy-runtime joint optimization. Moreover, for actual inference-time analysis we profile our strategies with float32 and float16 precision with TensorRT module. This is the most common format used by the industry for deployment of their Machine Learning networks on the edge devices. We showed that our strategies are able to improve inference-time by 63% at the cost of performance drop of mere 3% for our problem-statement defined in evaluation section. These strategies brings down Vision Transformers detectors inference-time even less than traditional single-image based CNN detectors like FCOS. We recommend practitioners use these techniques to deploy Transformers based hefty multi-view networks on a budge-constrained robotic platform. Comment: 9 pages, 2 figures, IEEE CVPR WAD'23 conference
Keywords	Computer Science - Computer Vision and Pattern Recognition
Subject code	006
Publishing date	2023-04-04
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Article ; Online: Molecular mechanism of caloric restriction mimetics-mediated neuroprotection of age-related neurodegenerative diseases: an emerging therapeutic approach.

Sharma, Apoorv / Singh, Abhishek Kumar

Biogerontology

2023 Volume 24, Issue 5, Page(s) 679–708

Abstract: Aging-induced neurodegenerative diseases (NDs) are significantly increasing health problem worldwide. It has been well documented that oxidative stress is one of the potential causes of aging and age-related NDs. There are no drugs for the treatment of ... ...

Abstract	Aging-induced neurodegenerative diseases (NDs) are significantly increasing health problem worldwide. It has been well documented that oxidative stress is one of the potential causes of aging and age-related NDs. There are no drugs for the treatment of NDs, therefore there is an immediate necessity for the development of strategies/treatments either to prevent or cure age-related NDs. Caloric restriction (CR) and intermittent fasting have been considered as effective strategies in increasing the healthspan and lifespan, but it is difficult to adhere to these routines strictly, which has led to the development of calorie restriction mimetics (CRMs). CRMs are natural compounds that provide similar molecular and biochemical effects of CR, and activate autophagy process. CRMs have been reported to regulate redox signaling by enhancing the antioxidant defense systems through activation of the Nrf2 pathway, and inhibiting ROS generation through attenuation of mitochondrial dysfunction. Moreover, CRMs also regulate redox-sensitive signaling pathways such as the PI3K/Akt and MAPK pathways to promote neuronal cell survival. Here, we discuss the neuroprotective effects of various CRMs at molecular and cellular levels during aging of the brain. The CRMs are envisaged to become a cornerstone of the pharmaceutical arsenal against aging and age-related pathologies.
MeSH term(s)	Humans ; Caloric Restriction ; Neuroprotection ; Neurodegenerative Diseases/prevention & control ; Phosphatidylinositol 3-Kinases ; Aging/metabolism
Chemical Substances	Phosphatidylinositol 3-Kinases (EC 2.7.1.-)
Language	English
Publishing date	2023-07-10
Publishing country	Netherlands
Document type	Journal Article ; Review ; Research Support, Non-U.S. Gov't
ZDB-ID	2047160-9
ISSN	1573-6768 ; 1389-5729
ISSN (online)	1573-6768
ISSN	1389-5729
DOI	10.1007/s10522-023-10045-y
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Article ; Online: Elucidating hepatoprotective potential of Cichorium intybus through multimodal assessment and molecular docking analysis with hepatic protective enzymes.

Pathak, Abhishek / Singh, Satya Pal / Tiwari, Apoorv

Food and chemical toxicology : an international journal published for the British Industrial Biological Research Association

2024 Volume 187, Page(s) 114595

Abstract: This study employed a comprehensive approach to validate the hepatoprotective potential of phytoconstituents from Cichorium intybus leaves. In vitro, in vivo and in silico techniques were used to confirm the protective effects on liver enzymes. In vitro ... ...

Abstract	This study employed a comprehensive approach to validate the hepatoprotective potential of phytoconstituents from Cichorium intybus leaves. In vitro, in vivo and in silico techniques were used to confirm the protective effects on liver enzymes. In vitro antioxidant assessment revealed the highest potential in the hydroethanolic leaf extract compared to aqueous and methanolic extracts. The study further investigated the ameliorative efficacy of the hydro-ethanolic extract (HECL) in male Wistar rats exposed to lead (50 mg/kg b wt.) and nickel (4.0 mg/kg b wt.) individually and in combination for 90 days. HECL at 250 mg/kg b wt. mitigated hepatic injury, oxidative stress, DNA fragmentation, ultrastructural and histopathological alterations induced by lead and nickel. Molecular docking explored the interaction of 28 phytoconstituents from C. intybus with hepatoprotective protein targets. Cyanidin and rutin exhibited the highest affinity for liver corrective enzymes among the screened phytoconstituents. These findings underscore the liver corrective potential of C. intybus leaf phytoconstituents, shedding light on their molecular interactions with hepatoprotective targets. This research contributes valuable insights into the therapeutic applications of C. intybus in liver protection.
MeSH term(s)	Male ; Rats ; Animals ; Molecular Docking Simulation ; Cichorium intybus ; Plant Extracts/chemistry ; Nickel ; Rats, Wistar ; Antioxidants/chemistry ; Liver
Chemical Substances	Plant Extracts ; Nickel (7OV03QG267) ; Antioxidants
Language	English
Publishing date	2024-03-28
Publishing country	England
Document type	Journal Article
ZDB-ID	782617-5
ISSN	1873-6351 ; 0278-6915
ISSN (online)	1873-6351
ISSN	0278-6915
DOI	10.1016/j.fct.2024.114595
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Zs.A 529: Show issues

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Article ; Online: Intraoperative Regional Cerebral Oxygenation During Pediatric Thoracoscopic Surgery: A Systematic Review.

Prasad, Gaurav / Singh, Apoorv / Kainth, Deepika / Khanna, Puneet / Anand, Sachit

Journal of laparoendoscopic & advanced surgical techniques. Part A

2023 Volume 34, Issue 3, Page(s) 274–279

Abstract: Background: ...

Abstract	Background:
MeSH term(s)	Child ; Humans ; Infant, Newborn ; Esophageal Atresia/surgery ; Hernias, Diaphragmatic, Congenital/surgery ; Lung/surgery ; Retrospective Studies ; Thoracoscopy/methods ; Tracheoesophageal Fistula/surgery ; Treatment Outcome ; Infant ; Child, Preschool ; Intraoperative Period ; Oxygen/analysis
Chemical Substances	Oxygen (S88TT14065)
Language	English
Publishing date	2023-10-20
Publishing country	United States
Document type	Systematic Review ; Journal Article
ZDB-ID	1381909-4
ISSN	1557-9034 ; 1092-6429
ISSN (online)	1557-9034
ISSN	1092-6429
DOI	10.1089/lap.2023.0228
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Zs.A 3246: Show issues

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Book ; Online: Surround-View Vision-based 3D Detection for Autonomous Driving

Singh, Apoorv / Bankiti, Varun

A Survey

2023

Abstract: Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye View) ... ...

Abstract	Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye View) performance is not an easy task using 2D sensor input-data with cameras. In this paper we provide a literature survey for the existing Vision Based 3D detection methods, focused on autonomous driving. We have made detailed analysis of over $60$ papers leveraging Vision BEV detections approaches and highlighted different sub-groups for detailed understanding of common trends. Moreover, we have highlighted how the literature and industry trend have moved towards surround-view image based methods and note down thoughts on what special cases this method addresses. In conclusion, we provoke thoughts of 3D Vision techniques for future research based on shortcomings of the current techniques including the direction of collaborative perception.
Keywords	Computer Science - Computer Vision and Pattern Recognition
Subject code	004
Publishing date	2023-02-13
Publishing country	us
Document type	Book ; Online
Database	BASE - Bielefeld Academic Search Engine (life sciences selection)

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Article ; Online: Computational exploration of microsomal cytochrome P450 3A1 enzyme modulation by phytochemicals of Cichorium intybus L.: Insights into drug metabolism.

Pathak, Abhishek / Singh, Satya Pal / Singh, Dev Bukhsh / Anjaria, Pranav / Tiwari, Apoorv

Biopharmaceutics & drug disposition

2024 Volume 45, Issue 1, Page(s) 15–29

Abstract: Drug metabolism plays a crucial role in drug fate, including therapeutic inactivation or activation, as well as the formation of toxic compounds. This underscores the importance of understanding drug metabolism in drug discovery and development. ... ...

Abstract	Drug metabolism plays a crucial role in drug fate, including therapeutic inactivation or activation, as well as the formation of toxic compounds. This underscores the importance of understanding drug metabolism in drug discovery and development. Considering the substantial costs associated with traditional drug development methods, computational approaches have emerged as valuable tools for predicting the metabolic fate of drug candidates. With this in mind, the present study aimed to investigate the potential mechanisms underlying the modulation of microsomal cytochrome P450 3A1 (CYP3A1) enzyme activity by various phytochemicals found in Cichorium intybus L., commonly known as chicory. To achieve this goal, several in silico methods, including molecular docking and molecular dynamics (MD) simulation, were employed to explore computationally the microsomal CYP3A1 enzyme. Schrodinger software was utilized for the molecular docking study, which involved the interaction analysis between CYP3A1 and 28 phytoconstituents of Cichorium intybus. Virtual screening of 28 compounds from chicory led to the identification of the top five ranked compounds. These compounds were evaluated for drug-likeness properties, pharmacokinetic profiles, and predicted binding affinities to CYP3A1. Caffeoylshikimic acid and cichoric acid emerged as promising candidates due to their favorable characteristics, including good oral bioavailability and high binding affinities to CYP3A1. Molecular dynamics simulations were conducted to assess the stability of caffeoylshikimic acid within the CYP3A1 binding pocket. The results demonstrated that caffeoylshikimic acid maintained stable interactions with the enzyme throughout the simulation, suggesting its potential as an effective modulator of CYP3A1 activity. The findings of this study have the potential to provide valuable insights into the complex molecular mechanisms by which Cichorium intybus L. acts on hepatocytes and modulates CYP3A1 enzyme expression or activity. By elucidating the impact of these phytochemicals on drug metabolism, this research contributes to our understanding of how chicory may interact with drugs and influence their efficacy and safety profiles.
MeSH term(s)	Cichorium intybus ; Molecular Docking Simulation ; Cytochrome P-450 Enzyme System/metabolism ; Microsomes/metabolism ; Phytochemicals
Chemical Substances	Cytochrome P-450 Enzyme System (9035-51-2) ; Phytochemicals
Language	English
Publishing date	2024-01-20
Publishing country	England
Document type	Journal Article
ZDB-ID	603014-2
ISSN	1099-081X ; 0142-2782
ISSN (online)	1099-081X
ISSN	0142-2782
DOI	10.1002/bdd.2380
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Zs.A 1520: Show issues

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Article ; Online: Re: Cylindrical and button battery ingestion in children: a single-center experience.

Singh, Apoorv / Anand, Sachit / Krishnan, Nellai

Pediatric surgery international

2021 Volume 37, Issue 10, Page(s) 1473–1474

MeSH term(s)	Child ; Eating ; Electric Power Supplies ; Foreign Bodies/diagnostic imaging ; Foreign Bodies/surgery ; Humans
Language	English
Publishing date	2021-08-18
Publishing country	Germany
Document type	Letter ; Comment
ZDB-ID	632773-4
ISSN	1437-9813 ; 0179-0358
ISSN (online)	1437-9813
ISSN	0179-0358
DOI	10.1007/s00383-021-04983-2
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