Abstract: A method for generating simulated point cloud data, a device, and a storage medium includes: acquiring at least one frame of point cloud data collected by a road collecting device in an actual environment without a dynamic obstacle as static scene point cloud data; setting, least one dynamic obstacle in a coordinate system matching the static scene point cloud data; simulating in the coordinate system, a plurality of simulated scanning lights emitted by a virtual scanner located at an origin of the coordinate system; updating the static scene point cloud data according to intersections of the plurality of simulated scanning lights and the at least one dynamic obstacle to obtain the simulated point cloud data comprising point cloud data of the dynamic obstacle; and at least one of adding a set noise to the simulated point cloud data, and, deleting point cloud data corresponding to the dynamic obstacle according to a set ratio.

Abstract: A device for detecting a rotary angle used for an excavator. The device can include: a synchronous belt, arranged around a rotating shaft of a slewing mechanism of the excavator, a tooth-shaped surface of the synchronous belt being away from a surface of the rotating shaft; a transmission part, engaged with the tooth-shaped surface of the synchronous belt and arranged on a supporting base; an angle detection part, in transmission connection to the transmission part; and the supporting base, connected to a chassis of the excavator.

Abstract: Embodiments of the present disclosure relate to a method and apparatus for controlling an excavator to excavate. The method includes: acquiring a two-dimensional image of a material pile; generating a three-dimensional model of the material pile based on the two-dimensional image; analyzing the three-dimensional model to determine a target excavating point and a target excavating trajectory of the material pile; and controlling an excavator to excavate a material at the target excavating point along the target excavating trajectory.

Abstract: Embodiments of the present disclosure relate to a three-dimensional reconstruction method and apparatus for a material pile, an electronic device, and a computer-readable medium. The method may include: acquiring, in response to an instruction for controlling an excavator body of an excavator to rotate to transport materials being detected, a sequence of depth images of an excavated material pile collected by a binocular camera provided on a side of the excavator; and performing three-dimensional reconstruction based on the sequence of depth images of the material pile, to generate a three-dimensional model of the material pile.

Abstract: Presented herein are novel embodiments for converting a given speech audio or text into a photo-realistic speaking video of a person with synchronized, realistic, and expressive body dynamics. In one or more embodiments, 3D skeleton movements are generated from the audio sequence using a recurrent neural network, and an output video is synthesized via a conditional generative adversarial network. To make movements realistic and expressive, the knowledge of an articulated 3D human skeleton and a learned dictionary of personal speech iconic gestures may be embedded into the generation process in both learning and testing pipelines. The former prevents the generation of unreasonable body distortion, while the later helps the model quickly learn meaningful body movement with a few videos. To produce photo-realistic and high-resolution video with motion details, a part-attention mechanism is inserted in the conditional GAN, where each detailed part is automatically zoomed in to have their own discriminators.

Abstract: Embodiments of the present disclosure disclose an apparatus and method for fixing a sensing system to an unmanned construction machinery. The fixing apparatus includes an internal fixing module and an external fixing module, in which, the internal fixing module is configured to fix a sensing device in a sensing system of an unmanned construction machinery to the external fixing module in a predetermined fixing manner; and the external fixing module is configured to control the sensing device in the sensing system to perform an environment sensing on a target area of the unmanned construction machinery in a predetermined control manner.

Abstract: A method and an apparatus for controlling an excavator are provided according to the embodiments.

Abstract: Embodiments of the present disclosure relate to a method and apparatus for controlling vehicle driving. The method includes: generating a global path of a driving site of a vehicle; executing following controlling: generating a local path of a site in front of a current position of the vehicle based on the global path, the local path following a direction of the global path, controlling the vehicle to drive along the local path until reaching an end point of the local path, determining whether the vehicle reaches an end point of the global path, and terminating the controlling if the vehicle reaches the endpoint of the global path; and continuing, in response to determining the vehicle failing to reach the end point of the global path, executing the controlling.

Abstract: Embodiments of the present disclosure relate to a method and apparatus for outputting information. The method includes: acquiring a target excavating trajectory, the target excavating trajectory including at least two sub-trajectories; determining trajectory parameters of the at least two sub-trajectories; determining, based on the trajectory parameters, positions of a plurality of control points; and outputting the positions of the plurality of control points.

Abstract: Embodiments of the present disclosure relate to a method and apparatus for controlling vehicle driving. The method includes: generating a global path of a driving site of a vehicle; executing following controlling: generating a local path of a site in front of a current position of the vehicle based on the global path, the local path following a direction of the global path, controlling the vehicle to drive along the local path until reaching an end point of the local path, determining whether the vehicle reaches an end point of the global path, and terminating the controlling if the vehicle reaches the endpoint of the global path; and continuing, in response to determining the vehicle failing to reach the end point of the global path, executing the controlling.

Abstract: Presented are systems and methods for improving speed and quality of real-time per-pixel depth estimation of scene layouts from a single image by using an end-to-end Convolutional Spatial Propagation Network (CSPN). An efficient linear propagation model performs propagation using a recurrent convolutional operation. The affinity among neighboring pixels may be learned through a deep convolutional neural network (CNN). The CSPN may be applied to two depth estimation tasks, given a single image: (1) to refine the depth output of existing methods, and (2) to convert sparse depth samples to a dense depth map, e.g., by embedding the depth samples within the propagation procedure. The conversion ensures that the sparse input depth values are preserved in the final depth map and runs in real-time and is, thus, well suited for robotics and autonomous driving applications, where sparse but accurate depth measurements, e.g., from LiDAR, can be fused with image data.

Abstract: A method and system for simulating a distribution of obstacles are provided. The method includes: acquiring a plurality of point clouds of a plurality of frames, wherein each point cloud includes a plurality of original obstacles; acquiring real labeling data of an acquisition vehicle, and obtaining data of a simulation position of the acquisition vehicle based on the real labeling data and a movement rule of the acquisition vehicle; determining the number of obstacles to be simulated based on the data of the simulation position of the acquisition vehicle; selecting the determined number of obstacles to be simulated, from a range with the simulation position of the acquisition vehicle as a center, wherein the range is less than or equal to a maximum scanning range of the vehicle; and acquiring real labeling data of the selected obstacles, and obtaining a position distribution of the selected obstacles.

Abstract: Embodiments of the present disclosure disclose a control system and a control method of an unmanned engineering machinery. The system includes at least a slave computer, a master computer and an execution device. The slave computer is configured to receive a current sensing value fed back by a sensing device in the unmanned engineering machinery, and to send the current sensing value to the master computer. The master computer is configured to generate a control instruction according to the current sensing value and a predetermined target sensing value of the sensing device, and to send the control instruction to the execution device through the slave computer.

Abstract: Embodiments of the present disclosure relate to a method and apparatus for updating information. The method may include: acquiring road network structure information of a target road network and vehicle information of a target number of vehicles in the target road network, the vehicle information including initial state information, perception information and positioning information, and the vehicle information being constrained by the road network structure information; selecting a target vehicle from the target number of vehicles; determining, based on a vehicle dynamics model, a reference speed at which the target vehicle passes a preset time step; and updating vehicle information of a vehicle in the target road network based on the reference speed of the target vehicle.

Abstract: Embodiments of an obstacle distribution simulation method, device and terminal based on a probability graph are provided. The method can include: acquiring a plurality of point clouds of a plurality of frames; acquiring real labeling data of an acquisition vehicle at vehicle labeled positions, and acquiring data of a simulation position of the acquisition vehicle; determining the number of obstacles to be simulated at a position to be simulated; extracting real labeling data of the obstacles, and constructing a labeling data set; dividing the labeling data set into a plurality of grids and calculating occurrence probabilities of the plurality of obstacles; selecting the determined number of obstacles to be simulated according to the occurrence probabilities; and acquiring a position distribution of the selected obstacles to be simulated for the position to be simulated based on the real labeling data of the selected obstacles to be simulated.

Abstract: Embodiments of the present disclosure relate to a method and apparatus for generating a driving path. The method includes acquiring a two-dimensional image of a driving site obtained by a camera provided on an unmanned aerial vehicle through aerial photography, and a two-dimensional image of a site in front of a vehicle photographed by a camera provided on the vehicle; generating a global map based on the two-dimensional image of the driving site, and generating a local map based on the two-dimensional image of the site in front of the vehicle; and performing path planning based on the global map and the local map, to generate a global path and a local path, the local path following a direction of the global path.

Abstract: The present disclosure provides a method and device for acquiring 3D information of an object. The method includes: extracting two-dimensional (2D) key points of the object based on the image, and determining a candidate 3D model set matching the image; determining a plurality of first reference attitudes and positions of each candidate 3D model according to the 3D key points and the 2D key points; acquiring a plurality of reprojection error values between each candidate 3D model and the object at the plurality of first reference attitudes and positions; determining a first target attitude and position and a first target 3D model corresponding to a minimum reprojection error value in the first reprojection error value set; and acquiring the 3D information of the object based on the first target attitude and position and the first target 3D model.

Abstract: Systems and methods of video inpainting for autonomous driving are disclosed. For example, the method stitches a multiplicity of depth frames into a 3D map, where one or more objects in the depth frames have previously been removed. The method further projects the 3D map onto a first image frame to generate a corresponding depth map, where the first image frame includes a target inpainting region. For each target pixel within the target inpainting region of the first image frame, based on the corresponding depth map, the method further maps the target pixel within the target inpainting region of the first image frame to a candidate pixel in a second image frame. The method further determines a candidate color to fill the target pixel. The method further performs Poisson image editing on the first image frame to achieve color consistency at a boundary and between inside and outside of the target inpainting region of the first image frame.

Abstract: A simulation data augmentation method, a simulation data augmentation device and a simulation data augmentation terminal are provided according to embodiments of the present application. The method includes: acquiring a point cloud based on a plurality of frames, wherein the point cloud includes a plurality of obstacles labeled with real labeling data; dividing the point cloud into a plurality of preset regions, wherein each of the preset regions includes at least one obstacle; and adjusting the obstacle based on the real labeling data of the obstacle in the preset regions to obtain simulation data.

Abstract: Embodiments of the present disclosure relate to a method and apparatus for controlling equipment. The method includes: acquiring an electrical signal collected by a displacement sensor; determining a displacement of a movable rod of a hydraulic cylinder relative to a cylinder tube of the hydraulic cylinder according to the electrical signal; determining, according to the displacement, a rotating angle of a mechanical arm connected to the movable rod relative to a mechanical arm connected to the cylinder tube; and controlling equipment according to the rotating angle.