随着传感器、数据处理、视觉感知、控制决策、人工智能等自动驾驶相关技术的不断发展,自动驾驶成为汽车行业未来发展的重要方向之一.但是,以雨、雾、雪等复杂天气为典型代表的极端驾驶环境,对自动驾驶环境感知提出了严峻挑战.随着激光雷...随着传感器、数据处理、视觉感知、控制决策、人工智能等自动驾驶相关技术的不断发展,自动驾驶成为汽车行业未来发展的重要方向之一.但是,以雨、雾、雪等复杂天气为典型代表的极端驾驶环境,对自动驾驶环境感知提出了严峻挑战.随着激光雷达(Light detection and ranging,LiDAR)在汽车上得到广泛运用,基于车载激光点云的目标检测已成为自动驾驶环境感知的重要研究方向之一,但在复杂天气条件下,LiDAR探测生成的点云存在大量噪点,对目标检测的性能产生严重负面影响.对此,本文首先归纳了点云目标检测的基本定义、任务方法和评测指标,然后分析了复杂天气对点云目标检测的影响,并从数据增强、点云去噪、域自适应以及传感器融合等四个方面,系统分析了复杂天气下基于车载激光点云的目标检测方法及其优缺点,最后探讨了当前存在的数据规模与真实性不足、模型结构复杂、数据分布不均匀、实际部署瓶颈等问题以及未来研究方向.展开更多
To evaluate safety and therapeutic efficacy of sodium glycididazole(CMNa)combined with 131I radiotherapy for differentiated thyroid carcinoma(DTC),the 60 patients of DTC therapeutic protocols were selected and divided...To evaluate safety and therapeutic efficacy of sodium glycididazole(CMNa)combined with 131I radiotherapy for differentiated thyroid carcinoma(DTC),the 60 patients of DTC therapeutic protocols were selected and divided into 3 groups of the DTC 4.44 GBq 131I,DTC 3.70 GBq 131I,and combination of DTC 3.70 GBq 131I with CMNa,and the 20 patients of Graves'Disease were selected as the control group.Peripheral blood was sampled at 131I pre-treatment of 1 day,and 131I post-treatment of 7,91,and 182 days,thus analyzing lymphocyte micronucleus scores and karyotyping profiles.Compared with the control group,the lymphocyte micronucleus and chromosome mutation rates in 131I treated DTC increased after post-treatment of 7 days,recovered after post-treatment of 91 days,and did not bounce after post-treatment of 182 days.The micronucleus and chromosome mutation rates in the combination of DTC 3.70 GBq 131I with CMNa showed less significant variation than other treated DTC groups.Our results demonstrate that micronucleus assay and karyotyping analysis are favorable to evaluate 131I radiotherapy for DTC.The combination of the CMNa with 131I radiotherapy was safe for DTC patients without affecting the long-term therapeutic outcomes.展开更多
文摘随着传感器、数据处理、视觉感知、控制决策、人工智能等自动驾驶相关技术的不断发展,自动驾驶成为汽车行业未来发展的重要方向之一.但是,以雨、雾、雪等复杂天气为典型代表的极端驾驶环境,对自动驾驶环境感知提出了严峻挑战.随着激光雷达(Light detection and ranging,LiDAR)在汽车上得到广泛运用,基于车载激光点云的目标检测已成为自动驾驶环境感知的重要研究方向之一,但在复杂天气条件下,LiDAR探测生成的点云存在大量噪点,对目标检测的性能产生严重负面影响.对此,本文首先归纳了点云目标检测的基本定义、任务方法和评测指标,然后分析了复杂天气对点云目标检测的影响,并从数据增强、点云去噪、域自适应以及传感器融合等四个方面,系统分析了复杂天气下基于车载激光点云的目标检测方法及其优缺点,最后探讨了当前存在的数据规模与真实性不足、模型结构复杂、数据分布不均匀、实际部署瓶颈等问题以及未来研究方向.
基金Supported by the Research Fund of Science and Technology Department of Jilin Province(no.201015185)
文摘To evaluate safety and therapeutic efficacy of sodium glycididazole(CMNa)combined with 131I radiotherapy for differentiated thyroid carcinoma(DTC),the 60 patients of DTC therapeutic protocols were selected and divided into 3 groups of the DTC 4.44 GBq 131I,DTC 3.70 GBq 131I,and combination of DTC 3.70 GBq 131I with CMNa,and the 20 patients of Graves'Disease were selected as the control group.Peripheral blood was sampled at 131I pre-treatment of 1 day,and 131I post-treatment of 7,91,and 182 days,thus analyzing lymphocyte micronucleus scores and karyotyping profiles.Compared with the control group,the lymphocyte micronucleus and chromosome mutation rates in 131I treated DTC increased after post-treatment of 7 days,recovered after post-treatment of 91 days,and did not bounce after post-treatment of 182 days.The micronucleus and chromosome mutation rates in the combination of DTC 3.70 GBq 131I with CMNa showed less significant variation than other treated DTC groups.Our results demonstrate that micronucleus assay and karyotyping analysis are favorable to evaluate 131I radiotherapy for DTC.The combination of the CMNa with 131I radiotherapy was safe for DTC patients without affecting the long-term therapeutic outcomes.
