Beihang University

Hongyu Wu

Bin Zhou

Yang Gao

Qinping Zhao

Aimin Hao

Shiyu Liang

Zongdai Liu

The present disclosure provides a visual perception method and apparatus, a perception network training method and apparatus, a device and a storage medium. The visual perception method recognizes the acquired image to be perceived with a perception network to determine a perceived target and a pose of the perceived target, and finally determines a control command according to a preset control algorithm and the pose, so as to enable an object to be controlled to determine a processing strategy for the perceived target according to the control command. According to the perception network training method, acquire image data and model data, then generate an edited image with a preset editing algorithm according to a 2D image and a 3D model, and finally train the perception network to be trained according to the edited image and the label.

Visual perception method and apparatus, perception network training method and apparatus, device and storage medium

The embodiments of the present disclosure disclose subsurface scattering calculation method for translucent material rendering, which relates to the clipping and polynomial fitting of brute-force Monte Carlo photon tracking experimental results to accurately represent the energy attenuation of subsurface scattering in distance. On this basis, an average free path and a single scattering rate are used to determine the relationship of each term in the multinomial fitting formula so as to facilitate the calculation and adjustment of the reflection profile. In the end, through a new real-time importance sampling solution, the outgoing radiation from any point on the object surface is calculated by the Monte Carlo method. This importance sampling solution is also applicable to any other subsurface scattering calculation model. By combining this subsurface scattering calculation result with other results, such as highlight reflection, any translucent material object can be rendered accurately and efficiently.

Subsurface scattering calculation method for translucent material rendering

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Beijing, China

Hongyu Wu