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Pedestrian indoor position tracking method based on inertial sensor

ActiveCN104061934AReduced position estimation errorimprove accuracy
The invention discloses a pedestrian indoor position tracking method based on an inertial sensor, relates to a pedestrian indoor position tracking method and particularly relates to a PDR (precision depth recorder) method and a PF fusion map information algorithm based on the inertial sensor. The pedestrian indoor position tracking method disclosed by the invention is used for solving the conditions such as great position estimation errors and even wrong estimation, and the like caused by long-time drift performance of the inertial sensor when only the PDR is used for tracking the pedestrian position. The method comprises the following steps of I. detecting steps and estimating step length according to an acceleration sensor; II. estimating a course angle according to the change of three-axle angular velocity in measured data of a gyroscope, correcting the course angle, carrying out course calculation according to the corrected course angle and the step length of the first step; and finally, estimating the position according to the step length and the course angle through the PDR method; and III. fusing map information with the PDR estimation by particle filtering to complete the pedestrian indoor position tracking method based on the inertial sensor. The pedestrian indoor position tracking method disclosed by the invention is applied to the technical field of indoor positioning.
Owner:严格集团股份有限公司

Transformer substation inspection robot holder control method based on visual servo

ActiveCN106125744Aimprove accuracySave manual labor resources
The invention discloses a transformer substation inspection robot holder control method based on visual servo. The transformer substation inspection robot holder control method comprises the steps of: saving equipment images of each preset position of a transformer substation shot by a transformer substation inspection robot into a template library; acquiring the equipment images at the preset positions, and uploading the equipment images to a background service center; invoking the equipment images in the template library by means of the background service center, adopting an SIFT algorithm for matching a real-time inspection image with a template image, and registering common feature points of the two images; acquiring position information of an equipment region in the acquired image; verifying whether the acquired image contains a complete equipment region to be detected, and counting times of visual servo; and subjecting an equipment image acquired at the preset position by the inspection robot the last time to pattern recognition processing, and outputting real-time operating state of the equipment. The transformer substation inspection robot holder control method based on visual servo allows the robot to observe operating state details of the power equipment at far distance and long focal length, and realizes the purpose that the inspection robot observes the transformer substation equipment in a full-coverage manner.
Owner:STATE GRID INTELLIGENCE TECH CO LTD

Bayonet vehicle image identification method based on image features

InactiveCN103150904Aimprove accuracyfine classification
The invention relates to the field of traffic image processing, in particular to a bayonet vehicle image identification method based on image features. The steps of bayonet vehicle image recognition method based on the image features includes that a template dada bank is established, the data bank stores template images which are shot with different style and different color vehicles, vehicle attribute data, vehicle body color data and vehicle scale invariant feature transform (SIFT) feature data are stored corresponding to each template image, wherein the SIFT feature data are obtained through data processing; vehicle recognition is conducted to to-be-identified images, color identification is conducted to the to-be-identified images, the template images which are fitted with the vehicle body colors are selected form the template data bank according to color identification results; the to-be-identified images are extracted the SIFT features and compared with the selected template images; the template images which are matched with the to-be-identified images are obtained; the vehicle attribute data are output, wherein the vehicle attribute data correspond to the matched template images. The bayonet vehicle image identification method based on the image features combines the vehicle color identification and the recognition based on a SIFT operator principle. Color information is added in the identification process. The defect that the SIFT operator discard the color information is overcome. Identification accuracy can be improved.
Owner:SUN YAT SEN UNIV +1
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