Chinese Academy of Sciences

Guangdong University of Technology

Jianqi Liu

John Jeffrey Talley

Xin Lu

Yan Chen

Zhengchao Tu

Xiaorong Liu

Yanmei Zhang

Micky D Tortorella

Yican Wang

Mark G Obukowicz

Ouyu Wang

Renke He

Haoyong Shi

Lanfeng Liu

Disclosed are a background filtering method and a system based on a roadside solid-state lidar, whereby a spatial dividing method of solid-state lidar based on channel scanning angle is designed, single-channel point cloud is extracted, point cloud of each channel of all background data frames are fused and superimposed, each background space unit and non-background space unit based on channel scanning space are identified based on a given threshold; then real-time data frames are subjected to background difference based on channels to obtain the single-channel road user information data frames; the background filtering is achieved by splicing single-channel road user information data frames into a complete road user information data frame.

Background filtering method and background filtering system based on roadside solid-state lidar

Disclosed is an indoor SLAM method based on three-dimension (3D) lidar and ultra-wide band (UWB). Firstly, a UWB positioning system is deployed in an indoor area, then a robot carrying 3D lidar sensors explores the indoor area, and finally, a SLAM algorithm integrating lidar data and UWB data is used to generate a map of the explored area. The method specifically includes the following steps: determining a relative pose transformation between the 3D laser SLAM coordinate system and the UWB positioning coordinate system; using UWB data to provide initial value for inter-frame matching of laser odometer; using UWB data to add constraints to SLAM back-end pose graph; and performing loop detection based on curvature feature coding. This application breaks through the limitation of lighting conditions of indoor areas, eliminates the accumulated errors of SLAM, and constructs a high-quality indoor map.

Indoor SLAM method based on 3D lidar and UWB

The present invention discloses deuterated benzopyran compounds having structure features as shown in Formula (I), or pharmaceutically acceptable salts or stereoisomers thereof, or prodrug molecules thereof. With excellent anti-inflammatory and analgesic effects and the capability to inhibit growth of tumor cells, such compounds are novel COX-2 selective inhibitors. The compounds and pharmaceutically acceptable salts thereof disclosed by the present application can be applied in preparing anti-inflammatory and analgesic drugs and drugs for treating or preventing tumors. 

Deuterated benzopyran compounds and the use in the treatment of pain and inflammation

Deuterated benzopyran compounds and application thereof

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Guangdong, China

Jianqi Liu