34results about How to "Avoid false matches" patented technology

The invention discloses a method and a device of updating map data, wherein, each place in the map not only is related to geographic data, but also is related to at least one scene image pictured in the place. The method comprises: collecting video data and the geographic data representing location of the place in each place; extracting a representative area representing the place from the scene image based on predetermined standards and making the representative area related to the place; extracting an image pictured in the place from the video data based on the location of the place; matching the representative area and the extracted image and generating a matching result; in the condition that the matching result shows the map data need to be updated, making the image matched with the representative area as an update image to update the scene image. Making use of the invention can rapidly update the map data, so as to provide up-to-date geographic data for users.

The embodiment of the invention discloses a method for simultaneously constructing a two-dimensional map and a three-dimensional map, and the method is implemented by a mobile robot provided with a wheel encoder, a laser scanner and a Kinect sensor. The method comprises the following steps of obtaining output data of the laser scanner, and constructing a two-dimensional map of an indoor environment; in the process of constructing the two-dimensional map, obtaining a pose and a pose transformation matrix of the mobile robot by the mobile robot; while the mobile robot constructs the two-dimensional map, acquiring a two-dimensional image of the indoor environment by using the Kinect sensor, and converting the two-dimensional image into a three-dimensional point cloud image; replacing the Kinect pose and pose transformation matrix by using the pose and pose transformation matrix of the robot; and finishing adjacent point cloud image splicing according to the pose and pose transformation matrix of the robot, and simultaneously constructing the two-dimensional map and the three-dimensional map of the indoor environment.

The invention discloses a camera self-calibration method based on a two-dimensional mark code. The method comprises the following steps of setting a two-dimensional target with a mark code; carrying out image acquisition on the two-dimensional target and acquiring a two-dimensional target image group possessing the mark code; detecting the mark code in the two-dimensional target image group and matching to a two-dimensional target image; determining a two-dimensional target base image and calculating an inner parameter matrix and an outer parameter matrix of an image acquisition apparatus; optimizing the inner parameter matrix and the outer parameter matrix of the image acquisition apparatus; and adding the image acquisition apparatus and calculating inner and outer parameters and three-dimensional point cloud of the image acquisition apparatus. In the invention, through setting the two-dimensional target possessing the mark code, the image acquisition apparatus is calibrated and technical problems that manufacturing of a three-dimensional target is difficult, an accuracy requirement is high and a self-calibration result precision is poor in a traditional calibration technology are solved.

The invention specifically relates to a communication method of a circuit board and the circuit board, and a host computer, a slave computer and microcontrollers are provided. The host computer and the slave computer communicate with each other via a connecting line, the microcontrollers respectively communicate with the host computer and the slave computer via serial communication ports. The method includes the steps of powering up the host computer and the slave computer, sending a synchronous code from the host computer to the slave computer, the searching the corresponding rate parameters from the slave computer's storage rate parameter list according to the synchronous code received, and adjusting to the corresponding execution value and storing the execution value in the memory of the slave computer, executing the execution value after adjustment and sending the synchronous code to the host computer by the slave computer, and receiving and storing the synchronous code send by the slave computer and realizing the communication between the host computer and the slave computer by the host computer. The invention has the advantages that: 1. simplifying the communication by connecting the host computer, the slave computer and the microcontrollers and reducing the fault caused by connection; 2. realizing a unified connection interface which is compatible with different product interfaces, reducing computer types, giving convenience for maintenance, and lowering the cost.

The invention discloses a speed measurement method based on a monocular vision system, and belongs to the technical field of machine vision, and the speed measurement method specifically comprises the following steps: (1) carrying out background modeling by using a Gaussian mixture model; (2) acquiring high-precision pixel displacement of the target by using a parameter-optimized template matching method; (3) accurately acquiring a pixel size corresponding to the target to be measured by using an improved two-dimensional measurement model method; (4) calculating the actual speed according to the proportional relation; according to the method, the Gaussian mixture model is fused based on template matching, a foreground extraction effect which is more stable than that of traditional background difference can be obtained by automatically updating a background model for a complex background and the Gaussian mixture model, and then parameter setting of template matching is optimized, so that the matching success rate is further improved; and finally, the pixel size corresponding to the target is accurately obtained by using an improved two-dimensional measurement model method, the actual speed is converted through the proportional relation between the physical size of the target and the pixel size, and the visual speed measurement precision and robustness can be improved.

A transmission side transmits the road shape data of an object road 101 to be transmitted, and the branch shape data of a branch 20 intersecting with or branching from the object road 101. A reception side specifies the object road 101 on its own digital map with reference to the branch 20. In this method, the information indicating the shape of a branch or an intersection, which is liable to be erroneously identified, is transmitted as branch shape data to the reception side, so that the reception side can avoid the erroneous location identification. The branch shape 20 makes it possible to discriminate the object road 101 and a parallel road and to discriminate a discrepancy in the longitudinal direction of the object road 101, so that the erroneous location identification to the parallel road or the erroneous location identification in the longitudinal direction of the object road 101 can also be prevented.

Disclosed is an automatic registration method of aviation and ground LiDAR data based on building contour constraint. The method includes firstly extracting building contours or aviation contours and ground contours for short from aviation and ground LiDAR data; extracting building angular points or aviation angular points and ground angular points for short from the aviation contours and the ground contours; taking the matching degree between the aviation contours and the ground contours as constraint, calculating initial transfer matrixes between the aviation angular points and the ground angular points, and obtaining initial matching angle dot pairs; finally, calculating correction transfer matrixes between the initial matching angle dot pairs by using an iterative closest point (ICP) algorithm, and converting ground dot cloud data to be matched through the initial transfer matrixes and the correction transfer matrixes successively to achieve automatic high-precision registration of the aviation and ground LiDAR data. The method has great advantages in registration reliability and accuracy with contour lines serving as constraint; and simultaneously, based on LiDAR data to be matched and reference LiDAR data, accuracy registration between the aviation and ground LiDAR data can be achieved without other auxiliary data.

The invention provides a seamless automatic image splicing method resistant to subtitle interference. By means of the method, video frames (such as video frames or multiple continuous images shot by a continuously moving or rotating camera) in a varied scene can be continuously spliced to form a complete image. Camera position and pose and scene control point information, proportion and perspective transformation are not required, and rotation of videos (or image sequences) at any angle is not required to be considered, full-automatic color video image seamless splicing is achieved, various high-saliency associated information among the image sequences is fully utilized to perform automatic splicing calculation, the splicing accuracy of adjacent frames can reach to sub pixel, and a parallel technology can be utilized to improve the splicing speed in multiples.

The invention discloses a three-dimensional mark point matching method for point cloud registration and a three-dimensional scanning method, and belongs to the field of three-dimensional measurement technologies. The three-dimensional mark point matching method comprises the following steps: acquiring three-dimensional coordinate sets P and Q of two visual-angle mark points through a binocular camera; calculating energy of candidate matching points, which are in regard to a point p in the set P, in the set Q; selecting a certain updating strategy according to the 'uniqueness' constraint and the 'spatial feature unchange' constraint; if the matching points found out are all highest in energy and meet a threshold value condition and a restraint condition, ending iteration, otherwise, returning to iteration until the matching points meeting the conditions are found; calculating Euclid transformation according to the matching points, and performing splicing of multi-view point cloud. Compared with other mark point splicing methods, the splicing method has the advantages that the operation is simpler, the number of iteration times is small, 1-2 times of iteration are performed generally, the splicing time is greatly shortened, and a splicing result is stable and reliable under a condition of enough overlapping regions; the three-dimensional mark point matching method can be widely applied to multi-view point cloud data splicing acquired by various sets of measurement equipment.

The invention discloses a sorting method, a sorting device and a sorting device for a shell-shaped dental appliance, comprising: obtaining identification information of the shell-shaped dental appliance to be sorted, and the user corresponding to the identification information and the shell-shaped dental appliance Correlation; associate the acquired identification information of the shell-shaped dental appliance to be sorted with the position information of multiple accommodation positions of the shell-shaped dental appliance carrier, and place the shell-shaped dental appliance to be sorted on the The corresponding accommodation position; according to the acquired identification information of the shell-shaped dental appliance to be sorted, the identification information of the shell-shaped dental appliance that meets the sorting condition is identified; according to the corresponding identification information of the shell-shaped dental appliance that meets the sorting condition The position information of the accommodating position sorts out the corresponding shell-shaped dental appliance carrier from the shell-shaped dental appliance carrier. The sorting method and sorting device of the appliance of the present invention solve the technical problem of how to quickly and accurately complete the sorting of a large number of shell-shaped dental appliances manufactured on the production line.

The invention discloses a system for improving contact efficiency between a driver and a passenger. The system comprises a taxi dispatching system, an intelligent mobile terminal and a vehicle-mounted intelligent navigation unit. The taxi dispatching system is used for checking information like plate number information and real-time position information of a task taxi, and pushing the information to the intelligent mobile terminal. The intelligent mobile terminal is used for receiving the information pushed by the taxi dispatching system and reminding the passenger of turning on a flash screen or not according to the pushed information. The vehicle-mounted intelligent navigation unit is used for sending vehicle real-time position information to the taxi dispatching system, and receiving order information and designated colors of the flash screen pushed by the taxi dispatching system. The invention further discloses a method for improving the contact efficiency between the driver and the passenger. According to the system and the method for improving the contact efficiency between the driver and the passenger, the flash screen designated colors is pushed to the intelligent mobile terminal of the passenger and the vehicle-mounted intelligent navigation unit of the taxi by grasp of two-way data, namely, grasp of passenger information and grasp of taxi information, of the taxi dispatching system, consequently, quick matching between the driver and passenger can be achieved based on the flash screen designated colors, and therefore the contact efficiency and accuracy between the driver and passenger can be improved.

The invention relates to a method for identifying goods on a goods shelf, which comprises the following steps of: S1, shooting the goods on the goods shelf into at least two pictures; S2, detecting commodity characteristics in the picture; S3, establishing a coordinate system, obtaining commodity adjacent pairs, and labeling the adjacent pairs; And S4, carrying out overlapping mapping on the sameannotations in the two adjacent pictures so as to splice all the pictures into one picture, thereby identifying the commodity. The invention also provides a computer readable medium. The invention also provides an identification system.

The invention discloses an ore granularity detection method based on deep learning. The method comprises that bilateral filtering is carried out on an ore image to obtain a filtering ore image, and the filtering ore image is rotated, expanded and transformed to obtain R rotated, expanded and transformed images; the filtering ore image and the R rotated, expanded and transformed images are input toa YOLOv2 model to obtain a prediction area of each ore in the filtering ore image and an ore prediction area of the R rotated, expanded and transformed images; the ore prediction area of the R rotated, expanded and transformed images is rotated and transformed to obtain an ore prediction area, whose direction is consistent with that of the filtering ore image, of the R expanded images; and the Rexpanded images are searched for R corresponding prediction areas by taking the prediction area of each ore in the filtering ore image as the center, the widths and lengths of the R prediction areas are added, an average value is obtained, and the granularity of each ore is obtained. Thus, the accuracy and instantaneity of ore granularity detection are improved.