LiDAR Intensity Completion: Fully Exploiting the Message from LiDAR Sensors.

Light Detection and Ranging (LiDAR) systems are novel sensors that provide robust distance and reflection strength by active pulsed laser beams. They have significant advantages over visual cameras by providing active depth and intensity measurements that are robust to ambient illumination. However, the systemsstill pay limited attention to intensity measurements since the output intensity maps of LiDAR sensors are different from conventional cameras and are too sparse. In this work, we propose exploiting the information from both intensity and depth measurements simultaneously to complete the LiDAR intensity maps. With the completed intensity maps, mature computer vision techniques can work well on the LiDAR data without any specific adjustment. We propose an end-to-end convolutional neural network named LiDAR-Net to jointly complete the sparse intensity and depth measurements by exploiting their correlations. For network training, an intensity fusion method is proposed to generate the ground truth. Experiment results indicate that intensity-depth fusion can benefit the task and improve performance. We further apply an off-the-shelf object (lane) segmentation algorithm to the completed intensity maps, which delivers consistent robust to ambient illumination performance. We believe that the intensity completion method allows LiDAR sensors to cope with a broader range of practice applications.

[Effects of angrographolide on plasma glucose level of experiment diabetic rats and its molecular mechanism].

OBJECTIVE: To investigate the effects of angrographolide on plasma glucose level of diabetic rats and its molecular mechanism. METHODS: The diabetic model rats were established by intraperitoneal injection of streptozotocin (65 mg/kg). Diabetic rats were treated with angrographolide for 2 weeks, then the activity of superoxide dismutase (SOD) and the content of malondialdehyde (MDA) in serum were examined and the expressions of Bcl-2 and Box gene of pancreatic cells were detected. RESULTS: Compared with model rats, the plasma glucose levels and the serum MDA contents of the angrographolide-treated rats decreased, serum insulin and activity of SOD increased significatantly (P < 0.01). The expression of Bcl-2 was lower in the model group, while the expression was stronger in the treatment group (P < 0.05). CONCLUSION: Angrographolide can inhibit the apoptosis of islet cells and depress plasma glucose level of diabetic rat model. Its mechanism may be associated with the upregulation of the expression of Bcl-2, the increase of the activity of SOD, the decrease of the production of free radicals and lipid eroxidadion.