To evaluate end-to-end autonomous driving systems, a simulation environment based on Novel View Synthesis (NVS) techniques is essential, which synthesizes photo-realistic images and point clouds from previously recorded sequences under new vehicle poses, particularly in cross-lane scenarios. Therefore, the development of a multi-lane dataset and benchmark is necessary. While recent synthetic scene-based NVS datasets have been prepared for cross-lane benchmarking, they still lack the realism of captured images and point clouds. To further assess the performance of existing methods based on NeRF and 3DGS, we present the first multi-lane dataset registering parallel scans specifically for novel driving view synthesis dataset derived from real-world scans, comprising 25 groups of associated sequences, including 16,000 front-view images, 64,000 surround-view images, and 16,000 LiDAR frames. All frames are labeled to differentiate moving objects from static elements. Using this dataset, we evaluate the performance of existing approaches in various testing scenarios at different lanes and distances. Additionally, our method provides the solution for solving and assessing the quality of multi-sensor poses for multi-modal data alignment for curating such a dataset in real-world. We plan to continually add new sequences to test the generalization of existing methods across different scenarios. The dataset is released publicly at the project page: https://nizqleo.github.io/paralane-dataset/.

While recent online HD mapping methods relieve burdened offline pipelines and solve map freshness, they remain limited by perceptual inaccuracies, occlusion in dense traffic, and an inability to fuse multi-agent observations. We propose RTMap to enhance these single-traversal methods by persistently crowdsourcing a multi-traversal HD map as a self-evolutional memory. On onboard agents, RTMap simultaneously addresses three core challenges in an end-to-end fashion: (1) Uncertainty-aware positional modeling for HD map elements, (2) probabilistic-aware localization w.r.t. the crowdsourced prior-map, and (3) real-time detection for possible road structural changes. Experiments on several public autonomous driving datasets demonstrate our solid performance on both the prior-aided map quality and the localization accuracy, demonstrating our effectiveness of robustly serving downstream prediction and planning modules while gradually improving the accuracy and freshness of the crowdsourced prior-map asynchronously. Our source-code will be made publicly available at https://github.com/CN-ADLab/RTMap.

The pathophysiology of major depressive disorder (MDD) has been demonstrated to be highly associated with the dysfunctional integration of brain activity. Existing studies only fuse multi-connectivity information in a one-shot approach and ignore the temporal property of functional connectivity. A desired model should utilize the rich information in multiple connectivities to help improve the performance. In this study, we develop a multi-connectivity representation learning framework to integrate multi-connectivity topological representation from structural connectivity, functional connectivity and dynamic functional connectivities for automatic diagnosis of MDD. Briefly, structural graph, static functional graph and dynamic functional graphs are first computed from the diffusion magnetic resonance imaging (dMRI) and resting state functional magnetic resonance imaging (rsfMRI). Secondly, a novel Multi-Connectivity Representation Learning Network (MCRLN) approach is developed to integrate the multiple graphs with modules of structural-functional fusion and static-dynamic fusion. We innovatively design a Structural-Functional Fusion (SFF) module, which decouples graph convolution to capture modality-specific features and modality-shared features separately for an accurate brain region representation. To further integrate the static graphs and dynamic functional graphs, a novel Static-Dynamic Fusion (SDF) module is developed to pass the important connections from static graphs to dynamic graphs via attention values. Finally, the performance of the proposed approach is comprehensively examined with large cohorts of clinical data, which demonstrates its effectiveness in classifying MDD patients. The sound performance suggests the potential of the MCRLN approach for the clinical use in diagnosis. The code is available at https://github.com/LIST-KONG/MultiConnectivity-master.

Numerous evidence has demonstrated the pathophysiology of a number of mental disorders is intimately associated with abnormal changes of dysfunctional integration of brain network. Functional connectome (FC) exhibits a strong discriminative power for mental disorder identification. However, existing methods are insufficient for modeling both spatial correlation and temporal dynamics of FC. In this study, we propose a novel Spatio-Temporal Attention Graph Convolution Network (STAGCN) for FC classification. In spatial domain, we develop attention enhanced graph convolutional network to take advantage of brain regions’ topological features. Moreover, a novel multi-head self-attention approach is proposed to capture the temporal relationships among different dynamic FC. Extensive experiments on two tasks of mental disorder diagnosis demonstrate the superior performance of the proposed STAGCN.