ST-SIGMA:Spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting

Scene perception and trajectory forecasting are two fundamental challenges that are crucial to a safe and reliable autonomous driving(AD)system.However,most proposed methods aim at addressing one of the two challenges mentioned above with a single model.To tackle this dilemma,this paper proposes spatio-temporal semantics and interaction graph aggregation for multi-agent perception and trajectory forecasting(STSIGMA),an efficient end-to-end method to jointly and accurately perceive the AD environment and forecast the trajectories of the surrounding traffic agents within a unified framework.ST-SIGMA adopts a trident encoder-decoder architecture to learn scene semantics and agent interaction information on bird’s-eye view(BEV)maps simultaneously.Specifically,an iterative aggregation network is first employed as the scene semantic encoder(SSE)to learn diverse scene information.To preserve dynamic interactions of traffic agents,ST-SIGMA further exploits a spatio-temporal graph network as the graph interaction encoder.Meanwhile,a simple yet efficient feature fusion method to fuse semantic and interaction features into a unified feature space as the input to a novel hierarchical aggregation decoder for downstream prediction tasks is designed.Extensive experiments on the nuScenes data set have demonstrated that the proposed ST-SIGMA achieves significant improvements compared to the state-of-theart(SOTA)methods in terms of scene perception and trajectory forecasting,respectively.Therefore,the proposed approach outperforms SOTA in terms of model generalisation and robustness and is therefore more feasible for deployment in realworld AD scenarios.

ZnO hierarchical aggregates： Solvothermal synthesis and application in dye-sensitized solar cells

ZnO hierarchical aggregates have been successfully synthesized by solvothermal methods through reaction of zinc acetate and potassium hydroxide in methanol solution. The shapes of the aggregates were controlled by varying the ratio of Zn2~ and OH- ions in the reaction system, while the size can be tuned from 2μm to 100 nm. Oriented attachment was found to be the main mechanism of the three-dimensional assembly of small ZnO nanocrystallites into large aggregates. The performance of these aggregates in dye-sensitized solar cells （DSCs） indicated that hierarchical structured photoelectrodes can increase energy conversion efficiency of DSCs effectively when the sizes of aggregates match the wavelengths of visible light.