VMA: Divide-and-Conquer Vectorized Map Annotation System for Large-Scale Driving Scene

High-definition (HD) map serves as the essential infrastructure of autonomous driving. In this work, we build up a systematic vectorized map annotation framework (termed VMA) for efficiently generating HD map of large-scale driving scene. We design a divide-and-conquer annotation scheme to solve the spatial extensibility problem of HD map generation, and abstract map elements with a variety of geometric patterns as unified point sequence representation, which can be extended to most map elements in the driving scene. VMA is highly efficient and extensible, requiring negligible human effort, and flexible in terms of spatial scale and element type. We quantitatively and qualitatively validate the annotation performance on real-world urban and highway scenes, as well as NYC Planimetric Database. VMA can significantly improve map generation efficiency and require little human effort. On average VMA takes 160min for annotating a scene with a range of hundreds of meters, and reduces 52.3% of the human cost, showing great application value

VAD: Vectorized Scene Representation for Efficient Autonomous Driving

Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform planning, which is computationally intensive and misses the instance-level structure information. In this paper, we propose VAD, an end-to-end vectorized paradigm for autonomous driving, which models the driving scene as a fully vectorized representation. The proposed vectorized paradigm has two significant advantages. On one hand, VAD exploits the vectorized agent motion and map elements as explicit instance-level planning constraints which effectively improves planning safety. On the other hand, VAD runs much faster than previous end-to-end planning methods by getting rid of computation-intensive rasterized representation and hand-designed post-processing steps. VAD achieves state-of-the-art end-to-end planning performance on the nuScenes dataset, outperforming the previous best method by a large margin. Our base model, VAD-Base, greatly reduces the average collision rate by 29.0% and runs 2.5x faster. Besides, a lightweight variant, VAD-Tiny, greatly improves the inference speed (up to 9.3x) while achieving comparable planning performance. We believe the excellent performance and the high efficiency of VAD are critical for the real-world deployment of an autonomous driving system. Code and models will be released for facilitating future research.Comment: Code&Demos: https://github.com/hustvl/VA

The MrCYP52 Cytochrome P450 Monoxygenase Gene of Metarhizium robertsii Is Important for Utilizing Insect Epicuticular Hydrocarbons

Fungal pathogens of plants and insects infect their hosts by direct penetration of the cuticle. Plant and insect cuticles are covered by a hydrocarbon-rich waxy outer layer that represents the first barrier against infection. However, the fungal genes that underlie insect waxy layer degradation have received little attention. Here we characterize the single cytochrome P450 monoxygenase family 52 (MrCYP52) gene of the insect pathogen Metarhizium robertsii, and demonstrate that it encodes an enzyme required for efficient utilization of host hydrocarbons. Expressing a green florescent protein gene under control of the MrCYP52 promoter confirmed that MrCYP52 is up regulated on insect cuticle as well as by artificial media containing decane (C10), extracted cuticle hydrocarbons, and to a lesser extent long chain alkanes. Disrupting MrCYP52 resulted in reduced growth on epicuticular hydrocarbons and delayed developmental processes on insect cuticle, including germination and production of appressoria (infection structures). Extraction of alkanes from cuticle prevented induction of MrCYP52 and reduced growth. Insect bioassays against caterpillars (Galleria mellonella) confirmed that disruption of MrCYP52 significantly reduces virulence. However, MrCYP52 was dispensable for normal germination and appressorial formation in vitro when the fungus was supplied with nitrogenous nutrients. We conclude therefore that MrCYP52 mediates degradation of epicuticular hydrocarbons and these are an important nutrient source, but not a source of chemical signals that trigger infection processes

TextBoxes: A Fast Text Detector with a Single Deep Neural Network

This paper presents an end-to-end trainable fast scene text detector, named TextBoxes, which detects scene text with both high accuracy and efficiency in a single network forward pass, involving no post-process except for a standard non-maximum suppression. TextBoxes outperforms competing methods in terms of text localization accuracy and is much faster, taking only 0.09s per image in a fast implementation. Furthermore, combined with a text recognizer, TextBoxes significantly outperforms state-of-the-art approaches on word spotting and end-to-end text recognition tasks

Lignin characteristics in soil profiles in different plant communities in a subtropical mixed forest

Aims Lignin is generally considered as an important indicator of soil organic carbon (SOC) storage and dynamics. To evaluate the effects of plant communities and soil depth on soil lignin is critical to better understand forest carbon cycling. Methods We compared lignin content and chemical signature in three soil depths of four major plant communities in a subtropical forest, which located in the north part of Wuling Mountains, China. Lignin was measured using CuO oxidation method. Important Findings Both lignin content and its biochemical signature in plant litter varied among communities. However, these differences were mostly no longer exist in the upper soil layers. Lignin chemistry in soils inherited some of the biochemical signature of lignin in litter, but in a diminished magnitude. These results suggest that different plant communities had similar decomposition process with varying rates, caused diminished differences in lignin content and its biochemical signature. Lignin content decreased with soil depth, but the biochemical signature of lignin was not significantly different among soil layers for all communities, which suggests that vertical movement of lignin within the soil profile is very likely a key process causing this similar biochemical signature. These results emphasized the important roles of lignin inputs and soil eluviation in shaping lignin characteristics and distribution in forest soils, which pinpoint the urgent need to consider hydrological processes in studying forest soil carbon cycling

Decoupled linkage between soil carbon and nitrogen mineralization among soil depths in a subtropical mixed forest

Deep soil stores a large amount of organic carbon (C) and nitrogen (N). However, little is known regarding the interactions between soil C and net N mineralization in deep soil, which complicates the prediction of ecosystem C and N dynamics. In this study, a 150-day laboratory soil incubation experiment was performed under 20 degrees C and 25 degrees C to investigate the influence of soil depth and warming on C and net N mineralization and their relationship. Soils were collected from a Hapludalfs profile in a subtropical forest with three depth intervals: 0-10 (topsoil), 10-30 (midsoil), and 30-60 cm (subsoil). Soil microbial community-level physiological profiling (CLPP) was conducted to investigate the role of the microbial community in C and N mineralization. The results demonstrated that both C and net N mineralization rates in subsoil were significantly lower than in topsoil. Compared to topsoil, subsoil had lower temperature sensitivity of C mineralization and relatively higher temperature sensitivity of net N mineralization. Cumulative soil C and net N mineralized were positively correlated in topsoil with the mineralized N per mineralized C showed as 0.19 and 0.31 at 20 degrees C and 25 degrees C, respectively. However, there was no significant correlation between cumulative soil C and net N mineralized in subsoil due to the low amount of net N mineralization. The lack of labile C source and degradable organic N were believed to limit the net N mineralization in subsoil. The microbial community in topsoil used relatively more easily decomposable carbohydrates and carboxylic acids, which favored C mineralization. In contrast, the microbial community in subsoil had relatively high utilization of amino acids (N-containing substrates), which indicated there was N limitation. This distinguished substrate utilization patterns of microbial communities could explain the observed C and N mineralization rates among the soil depths, and suggests that the microbial community played an important role in soil C and N mineralization. The decoupled relationships between soil C and net N mineralization in deep soil and their differentiated responses to warmer temperatures among soil depths indicated that deep soil should be considered separately from topsoil for ecosystem C and N cycling, especially for ecosystem C dynamic models. (C) 2017 Elsevier Ltd. All rights reserved

How environmental and vegetation factors affect spatial patterns of soil carbon and nitrogen in a subtropical mixed forest in Central China

Soil properties are highly heterogeneous in forest ecosystems, which poses difficulties in estimating soil carbon (C) and nitrogen (N) pools. However, little is known about the relative contributions of environmental factors and vegetation to spatial variations in soil C and N, especially in highly diverse mixed forests. Here, we examined the spatial variations of soil organic carbon (SOC) and total nitrogen (TN) in a subtropical mixed forest in central China, and then quantified the main drivers. Soil samples (n = 972) were collected from a 25-ha forest dynamic plot in Badagonshan Nature Reserve, central China. All trees with diameter at breast height (DBH) ae1 cm and topography data in the plot were surveyed in detail. Geostatistical analyses were used to characterize the spatial variability of SOC and TN, while variation partitioning combined with Mantel's test were used to quantify the relative contribution of each type of factors. Both surface soil (0-10 cm) and subsurface soil (10-30 cm) exhibited moderate spatial autocorrelation with explainable fractions ranged from 31 to 47 %. The highest contribution to SOC and TN variation came from soil variables (including soil pH and available phosphorus), followed by vegetation and topographic variables. Although the effect of topography was weak, Mantel's test still showed a significant relationship between topography and SOC. Strong interactions among these variables were discovered. Compared with surface soil, the explanatory power of environmental variables was much lower for subsurface soil. The differences in relative contributions between surface and subsurface soils suggest that the dominating ecological process are likely different in the two soil depths. The large unexplained variation emphasized the importance of fine-scale variations and ecological processes. The large variations in soil C and N and their controlling mechanisms should be taken into account when evaluating how forest managements may affect C and N cycles

Soil microbial community structure, metabolic potentials and influencing factors in a subtropical mountain forest ecosystem of China

This study investigated the variances in soil microbial community (SMC) structure and metabolic potentials in subtropical mountain forest ecosystem. Soil samples (0-10, 10-30 and 30-60 cm) were collected within 27 plots (20x20 m(2)) that were randomly assigned. Changes in SMC structure were mainly regulated by soil physicochemical property and tree diversity in 0-10 cm depth, by total nitrogen (TN) and clay in 10-30 cm depth, and by soil organic carbon (SOC) and pH in 30-60 cm depth. Metabolic potential variance was mainly driven by soil chemical property in 0-10 cm depth, by SOC and TN in 10-30 cm depth, and by TN in 30-60 cm depth. Collectively, soil physicochemical properties were the primary factors influencing SMC structure and its metabolic potentials along the soil profile, but the expected effects of tree diversity and topography were not evident

The fate of litter-derived dissolved organic carbon in forest soils: results from an incubation experiment

Despite being a crucial component of nutrient cycling and soil carbon (C) dynamics in forest ecosystems, there is too little information from past studies to discern whether dissolved organic carbon (DOC) exchanges with soil organic carbon or passes unaltered through soils. In this study, we added C-13-labelled litter-derived DOC into different depth soil columns in a 180-day incubation experiment to determine the fate of DOC in soils, and to monitor the changes in DOC composition when it percolates through the soil. The results showed that delta C-13 values increased in soil microbes, which indicated that some litter-derived DOC was immobilized by soil microbial communities. Approximately 76% of litter-derived DOC was retained in the soil (60% in topsoil and 16% in midsoil). Meanwhile, 18%, 4%, and 3% of litter-derived DOC were mineralized into CO2 in topsoil, midsoil and subsoil respectively. Only 0.04% of litter-derived DOC leached from the soil column (0-60 cm). These results indicated that DOC was mainly retained on soil, and a small portion was mineralized by microorganisms, with minimal leaching. The composition of water soluble soil organic carbon (WSOC) and leachate DOC (LDOC) were similar between the control and treatment. This indicated that the composition of WSOC and LDOC was more similar to soil C than the added DOC, which supports the previously hypothesized dynamic exchange model. These findings provide new insight by showing that most litter-derived DOC is sequestered in forest soils

<i>Metarhizium robertsii</i> Produces an Extracellular Invertase (MrINV) That Plays a Pivotal Role in Rhizospheric Interactions and Root Colonization

<div><p>As well as killing pest insects, the rhizosphere competent insect-pathogenic fungus <i>Metarhizium robertsii</i> also boosts plant growth by providing nitrogenous nutrients and increasing resistance to plant pathogens. Plant roots secrete abundant nutrients but little is known about their utilization by <i>Metarhizium</i> spp. and the mechanistic basis of <i>Metarhizium</i>-plant associations. We report here that <i>M. robertsii</i> produces an extracellular invertase (<i>MrInv</i>) on plant roots. Deletion of <i>MrInv</i> (<i>⊿MrInv</i>) reduced <i>M. robertsii</i> growth on sucrose and rhizospheric exudates but increased colonization of <i>Panicum virgatum</i> and <i>Arabidopsis thaliana</i> roots. This could be accounted for by a reduction in carbon catabolite repression in <i>⊿MrInv</i> increasing production of plant cell wall-degrading depolymerases. A non-rhizosphere competent scarab beetle specialist <i>Metarhizium majus</i> lacks invertase which suggests that rhizospheric competence may be related to the sugar metabolism of different <i>Metarhizium</i> species.</p> </div