Abstract: The present invention provides a porphyrin compound and its preparation method and uses, and also provides a pharmaceutical composition comprising the porphyrin compound as the active ingredient. The porphyrin compound according to the present invention has a novel modified structure, and can be derived and modified at multiple sites to achieve the biocompatibility modification and functional changes. The porphyrin compound has the absorption wavelength located in the near infrared region, which is contributed to realize the deeper tissue penetration and excellent photodynamic therapy activity.

Abstract: Embodiments of the present disclosure disclose an object detection method, an object detection apparatus, a related device, a storage medium and a vehicle. The method includes the following. Scene point cloud data is inputted into a point cloud feature extraction model pretrained to obtain a point cloud descriptive feature of the scene. Scene image data is input into an image feature extraction model pretrained to obtain an image descriptive feature of the scene. The point cloud descriptive feature and the image descriptive feature of each target region in the scene are input into an object identifying model to obtain a detection result of an object included in each target region.

Abstract: Embodiments of the present disclosure disclose an object detection method, an object detection apparatus, a related device, a storage medium and a vehicle. The method includes the following. Scene point cloud data is inputted into a point cloud feature extraction model pretrained to obtain a point cloud descriptive feature of the scene. Scene image data is input into an image feature extraction model pretrained to obtain an image descriptive feature of the scene. The point cloud descriptive feature and the image descriptive feature of each target region in the scene are input into an object identifying model to obtain a detection result of an object included in each target region.