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The traditional simultaneous localization and mapping (SLAM) system uses static points of the environment as features for real-time localization and mapping. When there are few available point features, the system is difficult to implement. A feasible solution is to introduce line features. In complex scenarios containing rich line segments, the description of line segments is not strongly differentiated, which can lead to incorrect association of line segment data, thus introducing errors into the system and aggravating the cumulative error of the system. To address this problem, a point-line stereo visual SLAM system incorporating semantic invariants is proposed in this paper. This system improves the accuracy of line feature matching by fusing line features with image semantic invariant information. When defining the error function, the semantic invariant is fused with the reprojection error function, and the semantic constraint is applied to reduce the cumulative error of the poses in the long-term tracking process. Experiments on the Office sequence of the TartanAir dataset and the KITTI dataset show that this system improves the matching accuracy of line features and suppresses the cumulative error of the SLAM system to some extent, and the mean relative pose error (RPE) is 1.38 and 0.0593 m, respectively.

Anti-Müllerian hormone (AMH) is recognized as a reliable marker of ovarian reserve. However, the regulatory mechanism of goose AMH gene remains poorly understood. In the present study, both the full-length coding sequence (CDS) and promoter sequence of goose AMH have been cloned. Its CDS consisted of 2013 nucleotides encoding 670 amino acids and the amino acid sequence contained two structural domain: AMH-N and transforming growth factor beta (TGF-β) domain. The obtained promoter sequence spanned from the −2386 bp to its transcription start site (ATG). Core promoter regions and regulatory elements were identified as well as transcription factors were predicted in its promoter sequence. The luciferase activity was the highest spanning from the −331 to −1 bp by constructing deletion promoter reporter vectors. In CHO cells, the luciferase activity significantly increased by co-expression of AMH and GATA binding protein 4 (GATA-4), while that significantly decreased by mutating the binding sites of GATA-4 located in the −778 and −1477 bp. Results from quantitative real-time polymerase chain reaction (qPCR) indicated that levels of AMH mRNA in geese granulosa layers decreased gradually with the increasing follicular diameter. Taken together, it could be concluded that the transcriptional activity of AMH was activated by GATA-4 to inhibit the development of small follicles in goose.