Kyungmin Kim, Sumin Lee, Sungoh Jeong, DoHyun Lim, Seonghyun Park, Soonmin Hwang
Despite recent advances in camera-based online HD map construction, these systems remain susceptible to sensor failures due to their reliance on onboard cameras. In contrast, satellite images remain available independently of real-time sensing conditions as they are cached offline. Existing methods utilizing satellite images, however, primarily leverage them under nominal conditions, without explicitly addressing them as redundancy when a sensor degrades. To address this gap, we propose ReSMap, a redundancy-aware camera-satellite fusion framework for robust online HD map construction. Our framework explicitly leverages satellite images as a complementary source to improve robustness against camera failures. A Predict-then-Fuse (PTF) module fuses camera and satellite BEV features by using each branch's own prediction confidence as a per-pixel reliability weight, with no learned router. An Object-Centric Cooperative Multi-modal Query (OCMQ) decoder then extends this per-modality separation to the query level: each modality cross-attends only to its own BEV, and per-modality updates are merged through a learned per-token gate. Our model achieves state-of-the-art performance on nuScenes across all splits and range settings. More importantly, it also sets the new state-of-the-art under camera-failure scenarios, demonstrating that satellite images serve not only as a strong prior but as practical redundancy for robust online HD mapping.
Yesung Cho, Ji Hwan Park, Chan Il Kim, Hyewon Kim, Honglan Li, Yumin Lee, Geongyu Lee, Sujeong Hong 等 31 位作者
Outcome informed AI can localize prognostically relevant regions in digital pathology, but directly characterizing the molecular basis of these spatial predictions remains challenging. Here, we developed an outcome informed, AI-guided deep visual proteomics framework that uses recurrence-risk heatmaps to guide physical tissue sampling and mass spectrometry-based spatial proteomics in triple-negative breast cancer (TNBC). In 156 patients, high- and low-risk regions coexisted within the tumor compartment and showed distinct nuclear and architectural features, indicating intratumoral variation beyond broad tissue identity. Guided by these maps, we physically isolated and profiled 46 AI-defined high- and low-risk tumor regions from two recurrent cases. High-risk regions were enriched for mitotic programs, whereas low-risk regions showed immune- and antigen-presentation-associated programs. We used proteins that consistently differed between high- and low-risk regions to construct a 13-protein composite. The composite showed a significant effect to discriminate highly recurrent patients from less recurrent patients in an expanded TNBC cohort, while the corresponding transcript-based score showed a similar trend in METABRIC. Integrating the protein composite with the H&E-derived risk score improved out-of-bag discrimination, increasing the C-index from 0.679 to 0.739 and the 5-year time-dependent AUC from 0.675 to 0.770. These findings establish outcome-informed H&E risk maps as spatial guides for molecular discovery, extending prognostic AI from prediction toward direct biological interrogation of recurrence-associated tissue states.