4results about How to "Effective calculation" patented technology

This invention provides a depth prior-guided multi-view stereo 3D reconstruction method. It acquires N original images of the target to be reconstructed from different perspectives; it iterates through the N original images, using each image as a reference image and the remaining N-1 images as source images, inputting them into a trained depth map generation network to obtain N depth maps; and then fuses these N depth maps to obtain a 3D point cloud of the target to be reconstructed. Based on its network architecture, the subsequent depth map generation module uses the depth maps output by the preceding depth map generation module to generate a depth prior. This depth prior guides the Transformer in the subsequent depth map generation module to complete cost volume aggregation, generating the final depth map, thereby improving the final quality of the depth map and point cloud.

The application relates to the field of robot control and discloses a live working robot load gravity compensation method, equipment and a storage medium, the method comprises the following steps: constructing a gravity compensation model according to the position relationship of each joint of a robot system; designing an installation angle optimization model with error sum of squares as a constraint index based on the installation angle of a force sensor; collecting multiple sets of mechanical arm pose and force data under experimental conditions; solving the installation angle optimization model by using the multiple sets of mechanical arm pose and force data under the experimental conditions based on an improved PSO method to obtain the optimal installation angle of the force sensor; installing the force sensor through the optimal installation angle, and performing gravity compensation on the mechanical arm end through the gravity compensation model under actual working conditions to obtain accurate external environment contact force. The application has the beneficial effects that all gravity compensation parameters can be calculated at high speed and effectively, and higher-precision and higher-efficiency gravity compensation is realized.

The application discloses a railway transportation enterprise non-traction energy consumption passenger and freight splitting method, which comprises the following steps: classifying railway transportation production units according to energy consumption types; selecting corresponding energy consumption passenger and freight splitting indexes from energy consumption splitting influencing factors for various energy consumption units; performing data cleaning on energy consumption data of each railway transportation enterprise, and classifying according to different energy consumption units based on different energy categories; determining energy consumption passenger and freight splitting data; constructing passenger non-traction energy consumption splitting models and freight non-traction energy consumption splitting models of various energy consumption units; and determining non-traction energy consumption passenger and freight splitting results of various energy consumption units. The application comprehensively considers influencing factors of railway transportation non-traction energy consumption passenger and freight splitting, and screens out main influencing factors as energy consumption splitting indexes, thereby improving the accuracy of non-traction energy consumption passenger and freight splitting, and effectively calculating non-traction energy consumption of passenger transportation and freight transportation of each energy consumption unit.

Embodiments of the present application provide a RefSPAD matrix opening method and related equipment for calculating valid RefSPAD matrix cell combinations. The method comprises: acquiring the number of photons received by each SPAD cell in the RefSPAD matrix; inputting the number of photons of all SPAD cells into a preset calculation model to determine whether there is a SPAD cell combination that meets a photon number threshold; and if so, determining that the SPAD cell combination is a SPAD that needs to be opened.