Abstract: The present disclosure relates to a program verification method and apparatus, a platform, a user terminal, and an online service system, includes: acquiring a root evidence of a server-side program from a blockchain network, and acquiring a verification evidence of the server-side program from a server side, where the root evidence is written into the blockchain network after server-side program review succeeds, and the success of the server-side program review indicates a data processing method of the server-side program satisfies a preset data processing rule; verifying whether the root evidence and the verification evidence are matched, where the root evidence and the verification evidence being matched indicates the server-side program is a program that is operated in a TEE of a computer and is not modified after the root evidence is written into the blockchain network; and determining to connect a user-side program to the server-side program.

Abstract: An information processing method, device, cloud-based processing device, and computer program product are related to the field of data processing technologies and can cause an increased efficiency in detecting whether a road area contains a depression region. The information processing method includes: acquiring a depth image; processing the depth image to obtain a means-by-row graph, based on which a road area in the depth image is determined; determining a suspected depression region in the road area; and judging over the suspected depression region based on a depression threshold to determine whether the depth image contains a depression region.

Abstract: The disclosure relates to a System, Method, Storage medium and Equipment for Mobile Network Access. The system includes: a first certificate authority node located in a block chain network, configured to authorize a first authentication certificate indicating an identity of the first network authentication service node to the first network authentication service node, authorize a first UE certificate indicating an identity of user equipment to the user equipment of the first operator, and store first UE certificate revocation information and a first CA certificate indicating an identity of the first certificate authority node to a block chain, and a first network authentication service node, configured to obtain the first UE certificate revocation information and the first CA certificate from the block chain, perform mutual identity authentication with the user equipment when receiving a first access authentication message, make the user equipment access a mobile network when completing the authentication.

Abstract: The present disclosure discloses a point cloud-based map calibration method and system, a robot and a cloud platform. The method is applied to a cloud platform communicatively connected to a designated robot, and includes: obtaining environmental acquisition information from the designated robot; performing three-dimensional point cloud reconstruction on the environmental acquisition information, performing obstacle recognition on a three-dimensional point cloud reconstruction result, and obtaining an obstacle recognition result including obstacle information and confidence information corresponding to the obstacle information; and when it is determined that the confidence information satisfies a first preset index, sending map calibration information corresponding to the obstacle information to the designated robot, so that the designated robot calibrates map information according to the map calibration information.

Abstract: A method for controlling a robot includes: establishing a reference coordinate system; capturing a user's gaze direction of an indicated target; acquiring a sight line angle of the robot; acquiring a position of the robot; acquiring a linear distance between the robot and the user; calculating in real time a gaze plane in a user's gaze direction relative to the reference coordinate system based on the sight line angle of the robot, the position of the robot and the liner distance between the robot and the user; and smoothly scanning the gaze plane by the robot to search for the indicated target in the user's gaze direction.

Abstract: A motion planning method for robot arms includes: calculating an arm angle range of each pose of a tail end of a robot arm in the motion trajectory; calculating a start arm angle value of a start pose of the tail end of the robot arm in the motion trajectory; calculating an arm angle proportion according to the start arm angle value and the arm angle range of the start pose; identifying an abruptly changing arm angle range in the arm angle range of each pose according to a upper boundary curve and a lower boundary curve; calculating an arm angle of a pose corresponding to the abruptly changing arm angle range; calculating arm angles corresponding to the other poses according to the arm angle proportion; and calculating an angle of a joint of the robot arm.

Abstract: An image annotating method includes: acquiring an image collected at a terminal; acquiring voice information associated with the image; annotating the image according to the voice information; and storing an annotated result of the image.

Abstract: The present disclosure relates to a robot and a housing thereof. The housing includes a forearm shell, an upper arm shell and a chest shell. At least one of the forearm shell, the upper arm shell and the chest shell is a flexible shell. The flexible shell includes an elastic main body layer. According to the above technical solution, the robot housing provided by the present disclosure may reduce and even avoid limitations of the housing to motion ranges of joints of the robot, and also ensures attractive appearance.

Abstract: Provided are an ultrasonic diagnostic device, a method for generating an ultrasonic image, and a storage medium, includes: an ultrasonic probe, an acquisition assembly for a probe image, and a main control assembly connected with the ultrasonic probe and the acquisition assembly. The ultrasonic probe is configured to continuously scan an object to be detected located on an operating table to acquire corresponding ultrasonic images, and transmit the ultrasonic images to the main control assembly; a photographing direction of the acquisition assembly faces the operating table, and a photographing range covers the operating table; the acquisition assembly is configured to acquire, when the ultrasonic probe is operated, a probe image containing the ultrasonic probe in real time; and the main control assembly is configured to stitch according to the probe image the ultrasonic images to generate an ultrasonic stereo image of the object to be detected.

Abstract: Provided are an ultrasonic diagnostic device, an ultrasonic probe, a method for generating an image, and a storage medium. The ultrasonic diagnostic device includes: an ultrasonic probe, and a main control assembly connected with the ultrasonic probe; the ultrasonic probe includes a probe main body and a pose detection assembly; the pose detection assembly is configured to acquire pose data of the ultrasonic probe in real time; the probe main body is configured to continuously scan a detection object to acquire corresponding ultrasonic images, and transmit the ultrasonic images and the corresponding pose data to the main control assembly; and the main control assembly is configured to stitch, according to the pose data, the continuous ultrasonic images, so as to generate an ultrasonic stereo image of the detection object.

Abstract: The present disclosure discloses a data generation method and apparatus, and a computer-readable storage medium, the method including: importing a robot model by using a game engine; simulating a Red-Green-Blue Depth (RGBD) camera by a scene capture component in the game engine; controlling a human hand of the imported robot model to move within a field of view of the RGBD camera by using a joint control module in the game engine; acquiring RGBD image data by using the RGBD camera; and generating an annotated data set with coordinates of 21 key points according to the RGBD image data and coordinate information of a 3D pose of the 21 key points.

Abstract: Some embodiments of the present disclosure provide an intelligent charging pile for a robot, includes: a charging loop, a protecting loop, and a communication control loop; the charging loop is connected with the protecting loop; the protecting loop is connected with the communication control loop; the communication control loop controls the charging loop to be turned off by means of controlling the protecting loop to be turned off; the communication control loop is connected with the charging loop; the communication control loop is further used for acquiring battery information data of the robot and sending, according to the battery information data, an adjustment instruction to the charging loop; and the charging loop is used for adjusting, according to the adjustment instruction, an own charging parameter and charging, according to the adjusted charging parameter, the robot.

Abstract: A voice replay attack detection method, including: acquiring a multichannel voice signal collected by a microphone array; extracting a non-voice signal in the multichannel voice signal, to obtain a multichannel signal without a voice signal; determining, for N other channel signals except a first channel signal in the multichannel signal, a relative delay spectrum between the other channel signals and the first channel signal, wherein the first channel signal is any channel signal in the multichannel signal, and N is a positive integer greater than or equal to 1; and identifying, according to the relative delay spectrum, whether a collected voice signal is a replay attack or not.

Abstract: A data annotation apparatus for machine learning is provided, which includes a stimulus generation portion, a biometrics reading portion, and a data integration portion. The stimulus generation portion is configured to generate, and present to an agent, at least one stimulus based on a first data from a first machine learning dataset. The biometrics reading portion is configured to measure at least one response of the agent to the at least one stimulus, and to generate biometrics data based on the at least one response. The data integration portion is configured to integrate the biometrics data, data of the at least one stimulus, and data of the first machine learning dataset to thereby obtain a second machine learning dataset. The data annotation apparatus can result in an improved data labeling and an enhanced machine learning.

Abstract: This application relates to the field of visual navigation technology, and discloses a localization method, apparatus, robot and computer storage medium. The localization method is applied to a robot having an autonomous location and navigation function. The localization method includes: determining that localization through an image of surrounding environment fails in a process of driving to a preset distance, and controlling the robot to decelerate and perform localization through an image of surrounding environment in a process of deceleration until the localization succeeds. The localization method enables the robot to reasonably adjust its running velocity in accordance with the environment during driving, thereby accurately localizing the location where the robot is located.

Abstract: The present disclosure provides a method and an apparatus for configuring a resource, a network device, and a storage medium. The method includes: determining a set of network devices that corresponds to each over-the-air area and that provides a network service for the over-the-air area, where the set of network devices includes an identifier of a network device satisfying a condition for providing a network service for the over-the-air area; determining, according to the set of network devices, a target network device providing a network service for a plurality of over-the-air areas, and a beam sequence used by the target network device; generating pilot configuration information for configuring a pilot sequence for the beam sequence of the target network device; and sending the pilot configuration information to the target network device.

Abstract: A method for training an object identification neural network based on a distorted fisheye image includes: acquiring the distorted fisheye image, wherein the distorted fisheye image comprises at least one target object; dividing the distorted fisheye image into a plurality of zones according to a distortion degree; determining a zone to which each of the at least one target object belongs; categorizing the at least one target object according to the zone to which each of the at least one target object belongs; and inputting the distorted fisheye image and a category to which each of the at least one target object belongs into the object identification neural network to train the object identification neural network.

Abstract: A method for generating training data includes: defining a corresponding category tag for an object model in a three-dimensional scenario; acquiring a plurality of corresponding scenario images by modifying scenario parameters of the three-dimensional scenario; rendering the object model to a monochromic material corresponding to the category tag of the object model; acquiring a semantic segmentation image corresponding to each scenario image based on the rendered object model; and storing each scenario image and the semantic segmentation image corresponding to the scenario image as a set of training data.

Abstract: A method for waking up a robot includes: acquiring sight range information when a voice command issuer issues a voice command; if the sight range information of the voice command issuer when issuing the voice command is acquired, determining, based on the sight range information, whether the voice command issuer gazes the robot when the voice command is issued; and determining that the robot is called if the voice command issuer gazes the robot.

Abstract: An actuator, a robot arm and a robot are disclosed. The actuator includes: a housing; a motor, including a motor stator and a motor rotor, wherein the motor stator is disposed on the housing, the motor rotor is rotatably connected to the housing, and the motor rotor covers the motor stator; a position encoder, disposed on the motor rotor; a motor driver, disposed on the housing, and electrically connected to the motor; a reducer, disposed on the housing, and parallelly disposed with the motor; and a transmission mechanism, connected to the motor rotor and the reducer respectively; wherein the reducer is configured to adjust a rotation speed output from the motor rotor.