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FusionPlanner: A Multi-task Motion Planner for Mining Trucks using Multi-sensor Fusion Method
Aug 14, 2023
In recent years, significant achievements have been made in motion planning for intelligent vehicles. However, as a typical unstructured environment, open-pit mining attracts limited attention due to its complex operational conditions and adverse environmental factors. A comprehensive paradigm for unmanned transportation in open-pit mines is proposed in this research, including a simulation platform, a testing benchmark, and a trustworthy and robust motion planner. \textcolor{red}{Firstly, we propose a multi-task motion planning algorithm, called FusionPlanner, for autonomous mining trucks by the Multi-sensor fusion method to adapt both lateral and longitudinal control tasks for unmanned transportation. Then, we develop a novel benchmark called MiningNav, which offers three validation approaches to evaluate the trustworthiness and robustness of well-trained algorithms in transportation roads of open-pit mines. Finally, we introduce the Parallel Mining Simulator (PMS), a new high-fidelity simulator specifically designed for open-pit mining scenarios. PMS enables the users to manage and control open-pit mine transportation from both the single-truck control and multi-truck scheduling perspectives.} \textcolor{red}{The performance of FusionPlanner is tested by MiningNav in PMS, and the empirical results demonstrate a significant reduction in the number of collisions and takeovers of our planner. We anticipate our unmanned transportation paradigm will bring mining trucks one step closer to trustworthiness and robustness in continuous round-the-clock unmanned transportation.
Line Drawing Guided Progressive Inpainting of Mural Damages
Nov 12, 2022
Mural image inpainting refers to repairing the damage or missing areas in a mural image to restore the visual appearance. Most existing image-inpainting methods tend to take a target image as the only input and directly repair the damage to generate a visually plausible result. These methods obtain high performance in restoration or completion of some specific objects, e.g., human face, fabric texture, and printed texts, etc., however, are not suitable for repairing murals with varied subjects, especially for murals with large damaged areas. Moreover, due to the discrete colors in paints, mural inpainting may suffer from apparent color bias as compared to natural image inpainting. To this end, in this paper, we propose a line drawing guided progressive mural inpainting method. It divides the inpainting process into two steps: structure reconstruction and color correction, executed by a structure reconstruction network (SRN) and a color correction network (CCN), respectively. In the structure reconstruction, line drawings are used by SRN as a guarantee for large-scale content authenticity and structural stability. In the color correction, CCN operates a local color adjustment for missing pixels which reduces the negative effects of color bias and edge jumping. The proposed approach is evaluated against the current state-of-the-art image inpainting methods. Qualitative and quantitative results demonstrate the superiority of the proposed method in mural image inpainting. The codes and data are available at {https://github.com/qinnzou/mural-image-inpainting}.