Although the fusion of images and LiDAR point clouds is crucial to many applications in computer vision, the relative poses of cameras and LiDAR scanners are often unknown. However, due to the modality and domain gap between images and LiDAR point clouds, Image-to-Point Cloud Registration is a significant challenge, especially when the image and point cloud come from non-synchronized frames. To tackle these issues, we introduce the virtual point cloud as a bridge to alleviate the cross-modality gap between images and LiDAR point clouds. In this way, the modality gap is converted to the domain gap of point clouds. Moreover, we introduce a virtual-spherical representation achieving orthogonal decoupling between pixel location and predicted depth. As for the domain gap, we propose a distribution-based adaptive sample module to generate a unified distribution of two types of point clouds. Then, we explore the correct correspondence pattern consistency and prune the false correspondences through a graph-based selection process. Experimental results demonstrate that our method outperforms the state-of-the-art methods by more than 10.77% and 12.53% performance on the KITTI Odometry and nuScenes datasets, respectively. The results demonstrate that our method can effectively solve non-synchronized random-frame registration.

Although the fusion of images and LiDAR point clouds is crucial to many applications in computer vision, the relative poses of cameras and LiDAR scanners often need to be discovered. The general 2D-3D registration pipeline establishes correspondences and performs pose estimation based on the generated matches. However, 2D-3D correspondences are inherently challenging to establish due to the large gap between images and LiDAR point clouds. To this end, we build a bridge to alleviate the 2D-3D gap and propose a practical framework to align LiDAR point clouds to the virtual points generated by images. In this way, the modality gap is converted to the domain gap of point clouds. Furthermore, we propose a registration method with cross-domain feature extraction, frustum classification, and domain-agnostic correspondence pruning to narrow the domain gap to establish 3D-3D correspondences between real and virtual point clouds. Experimental results demonstrate that our image-to-point cloud registration method achieves state-of-theart performance on the KITTI Odometry and Oxford RobotCar datasets.

Recent years have witnessed significant advances brought by microfluidic biochips in automating biochemical processing. Accurate preparation of fluid samples with microfluidic mixers is a fundamental step in various biomedical applications, where concentration prediction and generation are critical. Finite element analysis (FEA) is the most commonly used simulation method for accurate concentration prediction of a given biochip design, such as COMSOL. However, the FEA simulation process is time-consuming with poor scalability for large biochip sizes. This paper proposes a new concentration prediction method based on the graph neural networks (GNN), which efficiently and accurately predicts the generated concentration by random microfluidic mixers of different sizes. Experimental results show that compared with the state-of-the-art method, the proposed GNN-based simulation method obtains a reduction of 88% in terms of errors of predicted concentration, which validates the effectiveness of the proposed GNN model.