Abstract: A method and an apparatus for authenticating a device identity, an electronic device and a storage medium are disclosed by the present application. In the present application, the trusted nodes of a tree-type hierarchical structure are constructed, and before a distributed operation is performed, an identity authentication operation is performed between the trusted node and the user device, which not only may enable the user device to perform distributed operations in the cloud computing platform, at the same time, the trusted node may be in a trusted environment to ensure that the operation content is available but invisible for the cloud computing platform, and confidentiality and integrity of the operation are protected.

Abstract: The present disclosure relates to a localization method and apparatus, and a computer apparatus and a computer-readable storage medium. The localization method includes performing radar mapping and visual mapping by respectively using a radar and a vision sensor, wherein a step of the vision mapping includes determining a pose of a key frame; and combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping.

Abstract: A key management method and a related device are provided. The method includes: receiving key generation request information; generating attribute access policy information on the basis of the key generation request information, the attribute access policy information being an attribute set for encrypting a data key; encrypting the data key on the basis of the attribute set for encrypting the data key; receiving key acquisition request information; on the basis of the attribute set for encrypting the data key, verifying whether attribute information of the key acquisition request information is included in the attribute set for encrypting the data key; and in response to the attribute information of the key acquisition request information being included in the attribute set for encrypting the data key, acquiring a destination data key on the basis of the attribute information of the key acquisition request information.

Abstract: Disclosed in the present application are a method and apparatus for sharing encrypted data, and a device and a readable medium. The method for sharing the encrypted data includes: receiving a data sharing request sent by a data owner, and generating a data owner public key and a data owner private key; generating a data user public key, and generating a proxy re-encryption key on the basis of the data user public key and the data owner private key; encrypting shared data on the basis of the data owner public key, and uploading the encrypted data to a data processing center; acquiring a corresponding proxy re-encryption key and corresponding encrypted data on the basis of the data sharing request, and re-encrypting the encrypted data on the basis of the proxy re-encryption key.

Abstract: The present application discloses a key updating method and apparatus, a file sharing method and apparatus, a device, and a computer storage medium. The key updating method includes: acquiring a target root key and an auxiliary target root key; acquiring the identity information of a data owner of target data; acquiring a target timestamp when the target data is encrypted; acquiring a key generation parameter and an auxiliary key that are generated at a timestamp previous to the target timestamp; generating a target private key of the data owner on based on the key generation parameter and auxiliary key of the timestamp previous to the target timestamp, the identity information and the target timestamp, the key generation parameter generated at the timestamp previous to a starting timestamp being the target root key, the auxiliary key generated at the timestamp previous to the starting timestamp being the auxiliary target root key.

Abstract: The present application discloses a method, apparatus and device for constructing a token for cloud platform resource access control. The method includes: acquiring a token application request of an authentication user; according to the token application request, generating an authorization metadata token corresponding to the authentication user; performing digital signature on the authorization metadata token by using a digital certificate, so as to generate a user token; and encrypting the user token by using a user public key, so as to generate an encrypted user token, and sending the encrypted user token and the digital certificate to a client of the authentication user, so that the client performs resource access challenge response by using the authorization metadata token.

Abstract: A key management method and a related device are provided. The method includes: receiving key generation request information; generating attribute access policy information on the basis of the key generation request information, the attribute access policy information being an attribute set for encrypting a data key; encrypting the data key on the basis of the attribute set for encrypting the data key; receiving key acquisition request information; on the basis of the attribute set for encrypting the data key, verifying whether attribute information of the key acquisition request information is included in the attribute set for encrypting the data key; and in response to the attribute information of the key acquisition request information being included in the attribute set for encrypting the data key, acquiring a destination data key on the basis of the attribute information of the key acquisition request information.

Abstract: Disclosed are a path planning method and a device, a robot and a storage medium. The method includes: grading a traversable region between a starting point and an end point in a grid map, and determining cost values corresponding to regions of each level; traversing the traversable region from the starting point based on the cost values of the regions of each level, and determining a plurality of target nodes conforming to a minimum value of a preset function; and determining a target path of a robot based on the plurality of target nodes.

Abstract: A robot relocalization method and apparatus, and a storage medium and an electronic device. The method comprises: performing feature coding on local visual features of image data to obtain image vector features, and searching, in a pre-set key frame database, for the image vector features subjected to dimension reduction processing, so as to obtain a plurality of search results (S120); solving the pose of a robot according to each search result, so as to obtain a first pose initial value, and performing matching on laser point cloud data in a pre-set two-dimensional grid map according to speed data and displacement data, so as to obtain a first matching result (S130); and generating a second matching result according to the first pose initial value and the first matching result, and performing robot relocalization according to a second pose initial value, the first matching result and the second matching result.

Abstract: A package structure includes a second substrate. A second component is connected to the second substrate, and at least a part of the second component is connected to the second connecting rod through the second heat dissipation block, so that heat of the at least a part of the second component can be further transferred to the second connecting rod through the second heat dissipation block, and then transferred, through the second connecting rod, to the second substrate or another structure connected to the second connecting rod. In this way, the heat of the second component is transferred out, and heat conduction paths of the second component are increased.

Abstract: A method of simulating volumetric 3D display, includes: acquiring a display variable of a virtual display screen in a volumetric 3D display simulation space, the virtual display screen comprising a plurality of stereo pixels, the display variable comprising a voxel parameter of the plurality of stereo pixels, and the voxel parameter comprising a size in a first direction of the plurality of stereo pixels, a size in a second direction of the plurality of stereo pixels, and a size in a third direction of the plurality of stereo pixels; determining a display state parameter of a first stereo pixel of the plurality of stereo pixels for an object to be displayed according to the display variable; and simulating display of the object to be displayed according to the display state parameter. A computer-readable storage medium and a volumetric 3D display simulation apparatus are further provided.

Abstract: A data transmission method, a method of displaying three-dimensional image, a data transmission device and a three-dimensional image display device are provided. The shift register unit includes a device. The data transmission method, comprises: performing a phase decomposition on a preset three-dimensional model to generate a plurality of phase images; acquiring position information and color information of pixels in the plurality of phase images; and sending the position information and the color information of the pixels in the plurality of phase images to a volumetric three-dimensional display device.

Abstract: The wireless headset includes a main control module. The main control module includes a rigid-flexible circuit board, a first substrate, a first support member, and a plurality of chips. The rigid-flexible circuit board includes a rigid board portion and a first flexible board portion and a second flexible board portion that are connected to the rigid board portion. The rigid board portion is located in the earbud portion. The first flexible board portion is located in the earbud portion and has one end connected to the rigid board portion. One end of the second flexible board portion is connected to the rigid board portion and the other end thereof extends to the ear handle portion. A plurality of layers of components are stacked on the rigid board portion of the wireless headset, so that component integration degree is high.

Abstract: A camera calibration plate, a camera calibration method and device, and an image acquisition system are described. The camera calibration plate includes a planar plate body, and a plurality of groups of concentric circles on the planar plate body. The plurality of groups of concentric circles are same and include solid circle center points. The plurality of groups of concentric circles are distributed in an array.

Abstract: An optical distortion measurement method that including receiving target field of view information; processing the target field of view information using a coordinate conversion model to obtain screen coordinates of a target angle of view, wherein the coordinate conversion model may be configured to convert image plane coordinates of the target angle of view to screen coordinates of the target angle of view; and outputting at least the screen coordinates of the target angle of view.

Abstract: Provided is a method for compressing texture data of a three-dimensional model, including: acquiring data of polygonal surfaces constituting a contour of a target three-dimensional model, and data of a texture image and a phase plane of the contour; acquiring the texture data of texture points in a texture point group corresponding to each polygonal surface, the texture points in the texture point group including first and second texture points; assigning a weight to each texture point in each texture point group according to the texture data of the first texture points in the texture point group; calculating a sum of weights of each texture point in each texture point group; and compressing the texture data, according to a target compressed data amount, and the texture data and the sum of weights of the texture point whose sum of weights is not zero.

Abstract: The present disclosure provides a method, apparatus, and measurement device for measuring distortion parameters of a display device, and a computer-readable medium. The display device includes a display screen and a lens located on a light exiting side of the display screen, and the method includes: acquiring a distortion image which is generated by imaging an initial image through the lens, wherein the initial image is an image displayed on the display screen, the initial image comprises a plurality of first corner points, and the distortion image comprises a plurality of second corner points which match the plurality of first corner points respectively; and determining the distortion parameters of the display device according to a locational relationship between the second corner points and a first corner points which match the second corner points.

Abstract: A camera positioning method, device and medium are provided. The method includes: determining positioning configuration information; determining, according to the positioning configuration information, positioning information of the camera by a preset algorithm, the positioning information including distance limitation data which defines a distance between a target and the camera; and determining a position of the camera according to the positioning information, wherein the positioning configuration information includes target data, ratio data of a target image in an image captured by the camera, and camera parameter data.

Abstract: Embodiments of the present disclosure provides an image processing method, comprising: acquiring an initial image comprising an image of pupil; acquiring an accumulative histogram set of grayscale values of pixels in the initial image; determining a threshold for binarizing the initial image according to a grayscale value corresponding to a target region in respective accumulative histograms in the accumulative histogram set, wherein the target region corresponds to the image of pupil in the initial image; and binarizing the initial image according to the threshold. An image processing apparatus and a wearable device are further provided.

Abstract: An image segmentation method, an image segmentation apparatus, an image segmentation device are provided, the image segmentation method including: extracting, from a current frame of a video image, a skeleton two-dimensional estimation and a skeleton three-dimensional estimation of a human three-dimensional skeleton; obtaining a target three-dimensional skeleton based on the skeleton two-dimensional estimation and the skeleton three-dimensional estimation; implementing image segmentation based on the target three-dimensional skeleton; wherein the human three-dimensional skeleton has multiple nodes, and the video image is a two-dimensional image, when calculating the target three-dimensional skeleton in the current frame, by comprehensively considering the skeleton two-dimensional estimation and skeleton three-dimensional skeleton estimation of the human three-dimensional skeleton in the current frame, the accuracy and robustness of the obtained target three-dimensional skeleton can be improved, thereby improv