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46results about How to "High precision extraction" patented technology

Joint calibration method based on laser radar and camera and computer readable storage medium

The invention relates to a joint calibration method based on a laser radar and a camera and a computer readable storage medium. The joint calibration method comprises the following steps of: carryingout edge detection on a laser radar point cloud extracted by the laser radar, extracting edge points of a background part, searching a foreground edge point corresponding to each background edge pointthrough a depth difference of laser radar points; performing repeated searching and comparison to obtain foreground edge points closer to an edge, then respectively extracting the laser radar edge point cloud and the circle center and radius of a circle in an edge image acquired by the camera at a same moment, calculating a translation vector between the camera and the laser radar through a pinhole camera model, searching calibration parameters in a neighborhood space of the obtained translation vector so as to find a calibration result minimizing the projection error. Points scanned by the laser radar at the edge of an object can be extracted with high precision, and the problem of insufficient precision caused by low resolution of the laser radar can be avoided. Through the obtained precise edge points, a more accurate calibration result can be obtained.
Owner:海南智博睿科技有限公司

Pallet sensing device, forklift, pallet sensing method, and program

Provided is a pallet sensing device or the like which can accurately extract a straight line corresponding to the front surface of a pallet without moving a two-dimensional distance measuring device in the vertical direction, and can sense the position and posture of the pallet in a short time. The pallet sensing device is provided with: a point group acquisition unit configured so as to acquire point group data in which point groups measured by the two-dimensional distance measurement device are represented on a depth map; a straight line detection unit configured to detect a straight line corresponding to the front surface of the pallet on the basis of a point group in a region deduced to include the front surface of the pallet in the point group data; a line segment detection unit configured to detect a line segment indicating a front surface of the pallet on the basis of the straight line; and a position and posture acquisition unit configured to acquire the position and posture of the pallet on the basis of the line segment. The straight line detection unit acquires one or more straight line candidates as candidates for straight lines corresponding to the front of the pallet, and assigns, to each of the one or more straight line candidates, a score having a lower priority than a constant of other point groups when selected to a point group on the front side that is a predetermined distance or more from the straight line candidate. A straight line corresponding to the front of the pallet is selected from among the one or more straight line candidates on the basis of a score accumulation value obtained by accumulating scores for the point groups in the region deduced to include the front of the pallet.
Owner:MITSUBISHI LOGISNEXT CO LTD

A joint calibration method and computer-readable storage medium based on lidar and camera

This application relates to a joint calibration method based on laser radar and camera and a computer-readable storage medium. The joint calibration method includes the following steps: performing edge detection on the laser radar point cloud extracted by laser radar, extracting the edge points of the background part, and using the laser The depth difference of radar points finds the foreground edge points corresponding to each background edge point, and obtains the foreground edge points closer to the edge through multiple searches and comparisons, and then extracts the lidar edge point cloud and the circle in the edge image acquired by the camera at the same time Center and radius, calculate the translation vector between the camera and the lidar through the pinhole camera model, and search the calibration parameters in the neighborhood space of the obtained translation vector to find the calibration result that minimizes the projection error, which can be extracted with high precision The laser radar scans the points on the edge of the object, avoiding the problem of insufficient accuracy caused by the low resolution of the laser radar. Through the obtained precise edge points, more accurate calibration results can be obtained.
Owner:海南智博睿科技有限公司
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