521results about How to "Quick stitching" patented technology

The invention discloses a variable-viewing angle obstacle detection method for a robot based on outline recognition. The method comprises the following steps: (1) calibrating a binocular visual system by using a calibration plate; (2) simultaneously shooting the same scene by virtue of two video cameras, carrying out epipolar rectification on left and right images, then extracting edges and connecting the edges; (3) searching an outline of a target object, and matching the outline; (4) rebuilding three-dimensional point clouds of the outline, and optimizing three-dimensional outline point clouds; (5) rotating a turntable at a certain angle, ensuring an overlapping region in two times of shooting, carrying out three-dimensional rebuilding in another direction; (6) searching the overlapping region of two groups of three-dimensional outline point clouds; (7) carrying out initial registration on the two groups of three-dimensional outline point clouds by adopting a seven-parameter method; (8) providing corresponding point weights of the overlapping region, carrying out iterative closest point operation on the three-dimensional outline point clouds of the overlapping region, and finishing accurate registration of the three-dimensional outline point clouds. The method disclosed by the invention is high in registration accuracy, small in operand and relatively high in instantaneity.

The embodiment of the invention provides a three-dimensional panoramic video stream generating method and equipment and a video conference method and equipment. The three-dimensional panoramic video stream generating method comprises the following steps of: acquiring the depth information of at least two video images; acquiring a plurality of image data of a depth level from a corresponding video image according to the depth information of each video image; and jointing the video image data according to the image data of the depth level to generate a three-dimensional panoramic video stream. The invention provides a three-dimensional panoramic seamless high-resolution telepresence conference video image for users by utilizing a multi-display mode based on different display equipment.

The invention discloses a fast image splicing method, which is characterized by comprising the following steps of: (1) acquiring a single-breadth field image; (2) extracting characteristic information in an image to be spliced; (3) performing two-dimensional wavelet transform on the image to be spliced to obtain high-frequency coefficients reflecting the profile of change in a horizontal direction and a vertical direction of the image, and realizing overlapped position alignment in combination with a phase correlation method; and (4) adopting a weighted mean method to fuse overlapped areas of the image to finish the splicing. In the method, low-energy coefficients reflecting the gradual change of illumination are removed by performing the two-dimensional wavelet transform on the image and then the high-frequency coefficients reflecting the profile of the change in the horizontal direction and the vertical direction of the image are obtained, which can effectively reduce calculation complexity; and simultaneously, the fast and accurate overlapped position alignment is realized in combination with the phase correlation method and the fusion of the image is realized by adopting the weighted mean method so as to realize the fast and accurate splicing of PCB images of various specifications and various colors.

The invention belongs to the field of three-dimensional reconstruction technology, and relates to a three-dimensional reconstruction method. The three-dimensional reconstruction method is combined with binocular stereo vision technology, structured light technology and rotating platform technology and has advantages of high precision, high speed and low cost. Compared with binocular stereo vision, the three-dimensional reconstruction method has advantages of higher reconstruction speed, higher precision and high effect to an area without abundant object surface patterns. Compared with traditional structured light technology, a system according to the three-dimensional reconstruction method is advantageous in that a trouble in projector calibration is not required; a second camera replaces a projector; accuracy in camera calibration is higher than accuracy in projector calibration; and better reconstructed three-dimensional point cloud is realized. A rotating platform splicing algorithm is utilized in multi-visual-angle point cloud splicing. Compared with a traditional ICP registration method, the three-dimensional reconstruction method has advantages of higher point cloud splicing speed, no requirement for initial point cloud data, simple operation and no requirement for artificial participation.

The invention provides an image connection method based on a SURF algorithm, relating to the technical field of image processing. The problem of an unideal image connection processing effect caused by a low feature point extraction speed and low robustness in by using a SIFT algorithm and a Harris algorithms is solved. Matlab is applied to drive an industrial camera, and the calibration of a camera is completed so as to use the camera to carry out video recording. A gray world method is used to carry out white balance adjustment on each frame of image in a recorded video. The SURF algorithm is applied to carry out feature point extraction on two photos which are recorded at the same time after the white balance adjustment. A RANSAC algorithm is applied to carry out mismatching feature point pair removing on the two images whose feature points are marked. The interpolation is used, the images which are processed by the RANSAC algorithm are connected together, the image connection is completed, and an image with a larger viewing angle is obtained. The method is especially suitable for the image connection under an industrial camera platform.

Provided is an image splicing method and device. The method comprises the steps that position matching is performed on a first image and a second image based on a pyramid-structured normalized orthogonal correlation coefficient and sub-pixel estimation, and the first image and the second image are two adjacent images to be spliced; and an image splicing edge is confirmed according to the result of position matching, and splicing of the first image and the second image is completed along the image splicing edge. Rapid and high-efficiency image splicing can be realized by the technical scheme, and higher splicing precision can also be guaranteed.

The invention relates to a video image mosaic method for adaptive light compensation, belonging to the field of video image processing. Including collecting the video shot by the camera, extracting the image pair of the first frame of the video, extracting the feature points of the video image, finding the matching feature vector pair, eliminating the mismatching feature point pair, calculating the transfer matrix, adaptive light compensation, and video stitching . The advantage is that it can realize seamless, large viewing angle, and real-time video stitching, and can be widely used in fields such as video conferencing, video surveillance, and robot vision.

The invention provides a panoramic image splicing method based on a camera geometric position relation, and the method comprises the steps: 1, assembling a multi-camera system, carrying out the calibration, wherein the multi-camera system is composed of a plurality of cameras; Step 2, establishing a panoramic coordinate system, and obtaining an external parameter between each camera and the panoramic coordinate system; Step 3, performing distortion correction on the original distorted image to obtain a corrected image meeting the three-point collinearity of object point-photocenter-image points and removing a part of overlapped areas among the images shot by the adjacent cameras, and mapping the images subjected to overlapping removal to the panoramic spherical surface; And step 4, unfolding the panoramic spherical surface to obtain a spliced panoramic image. According to the method, the splicing efficiency of the panoramic images is improved, and the panoramic images can be obtained through splicing on a real-time level.

The invention relates to a crack splicing method in bridge quality detection. The machine vision technology, modern sensing technology, data analysis processing technology, calculation technology canbe effectively fused into bridge quality detection. Aiming at the acquired local image of the crack; the splicing of crack images is accurately completed. The automatic detection of the whole crack ofthe bridge is met; the safe use of the bridge is ensured. Method of installing an installation device, Collecting crack images, Crack image stitching, carrying out graying on the spliced image; grayscale transformation and image filtering preprocessing are carried out. The method is scientific. The bridge crack automatic splicing device is simple in structure, easy to operate, good in detectioneffect and capable of rapidly and accurately achieving automatic splicing of the same crack at different visual angles, the problem that long cracks cannot be contained in crack images is solved, themaximum crack width and the automatic detection level of the real position of the maximum crack width in bridge quality detection are further improved, and smoothness and safety of traffic transportation are effectively guaranteed.

The invention relates to a stereoscopic vision fast image stitching method suitable for a space tether-robot. Based on ORB feature detection and an image stitching algorithm of a description algorithm, by comparing the method with a traditional stitching algorithm, it can be seen that the method is high in stitching precision and robustness and good in final image stitching effect, has the highest speed when compared with the traditional stitching algorithm, and has a wide application range and good application prospects. Compared with the prior art, the method has the advantages that time consumption of the method is small, the stitching speed is significantly improved, the infusion effect of stitching portions of an image is good, and noise immunity is strong.

The invention discloses a controlled degradable surgical suture thread and a fabricating method thereof. The innermost part is chitosan fiber core, the middle part is collagen layer, and the outermost part is ethyloic-chitosan layer. From innermost to outermost, the thickness ratio of each layer is 2:X:(3-X), wherein X is larger than 1 and smaller than 3. The value of X is related to degradation velocity of the surgical suture thread: the larger the value, the faster the degradation velocity of the surgical suture thread, and the shorter the healing period of wound suitable to be sutured; andthe smaller the value, the slower the degradation velocity of the surgical suture thread, and the longer the healing period of wound suitable to be sutured. The fabricating method of the surgical suture thread comprises: (1) preparing chitosan fiber core and collagen; (2) covering a layer of collagen outside the chitosan fiber; (3) covering a layer of ethyloic-chitosan outside the collagen cover of the chitosan fiber; (4) processing and polishing the suture thread prepared in (3) by an automatic coreless grinder, connecting with suture needles of different models to prepare into a finish product of surgical suture thread. The technical scheme of the invention has plentiful advantages: controllable degradation velocity, high tension strength, improved biocompatibility and anti-infectious property, quick wound healing, no obvious scars, good biocompatibility, etc.

The embodiment of the invention provides a splicing method and a splicing device of Lidar measurement data. The method mainly comprises the following steps of: carrying out multiple times of data acquisition on the same object in difference positions by utilizing LiDAR so as to acquire multiple point cloud data, carrying out two-to-two paring treatment on the multiple point cloud data, and uniformly segmenting two paired point cloud data to generate multiple segmenting units; selecting multiple feature units from a candidate feature unit set of the two paired point cloud data to form a matched feature unit set; forming a transformation matrix R according to a rotating shaft L and a rotating angle theta, and solving the values of the rotating shaft L and the rotating angle theta according to the principle of minimal error sum of squares of all the matched feature units; transforming all data points in the first point cloud data by virtue of the transformation matrix R and adding the obtained transformation data into the second clod point data to be combined into a complete data set. According to the embodiment of the invention, the feature regions of all the cloud point data and multiple matched feature unit pairs can be accurately and quickly determined based on the working parameters of LiDAE acquisition data, so as to quickly carry out effective splicing on the point cloud data subjected to multiple times of LiDAR sampling.

The invention discloses a rapid three-dimensional panoramic image stitching method. The method comprises the following steps of: firstly obtaining internal parameters and distortion parameters of cameras by utilizing a traditional calibration method; obtaining a position transformation relationship between RGB camera coordinate systems and depth camera coordinate systems by utilizing the calibration parameter so as to generate three-dimensional images; recognizing three-dimensional position relationship, in each camera coordinate system, of a calibration plate by utilizing a machine vision method, so as to convert the three-dimensional images in different cameras into a coordinate system of a same calibration object to complete coarse registration of three-dimensional stitching; optimizingand iterating precision of the three-dimensional image stitching by utilizing an icp iteration algorithm, and storing the position transformation relationship of each camera coordinate system so as to generate a coordinate system transformation relationship query table, wherein the query table only needs to be generated for one time; and keeping the position of each camera unchanged, and mappingthe three-dimensional images in the different camera coordinate systems into a same coordinate system by utilizing the query table, so as to complete the rapid three-dimensional panoramic image stitching.

The invention relates to a method and system for binocular fish-eye image splicing and unfolding correction. The method for binocular fish-eye image splicing and unfolding correction includes the steps: utilizing a binocular fish-eye camera to obtain an original binocular fish-eye image, and extracting the left and right two effective circular imaging areas from the original binocular fish-eye image; extracting the characteristic points of the overlapped part in the two effective areas, and matching the characteristic points in pairs; respectively mapping the two effective area images to obtain two space coordinate unit spherical surface images, performing matrix singular value decomposition on the three dimensional space spherical surface, obtaining the rotation relation, that is, the rotation matrix, between the two images through calculation, and correcting one of the space coordinate unit spherical surface images through the rotation matrix; and finally respectively mapping the twospace coordinate unit spherical surface images to obtain two panoramic coordinate images, and splicing the two panoramic coordinate images into a complete 360 DEG panoramic image. The method and system for binocular fish-eye image splicing and unfolding correction can solve the problem that the fish-eye imaging sensors are not in parallel during the assembling process, thus causing errors, and have the advantages of being good in the splicing effect after correction, being high in processing timeliness, and being easy to implement.

The invention discloses an all-data measuring and splicing method and an all-data measuring and splicing device for a blade molded surface. According to the method, firstly, a blade is clamped on a rotary table and the blade scanning is carried out by means of a sensor clamped in different sensor clamping modes according to the characteristics of the blade molded surface. Therefore, the all-data acquisition of the blade molded surface is completed. After that, by means of a standard ball arranged on the rotary table, conversion coordinates are worked out according to the coordinates of the sphere center of the standard ball and the coordinates of the sphere center of the standard ball after being translated, and the center of the rotary table. In this way, the data splicing of the blade molded surface in different coordinate systems is completed. Finally, complete blade three-dimensional point cloud data are obtained. The method and the device are simple to operate, high in acquisitionspeed, high in efficiency, simple and convenient in algorithm and easy to implement. According to the invention, a new reference is provided for the detection of the blade molded surface. Meanwhile,the method and the device have important guiding significance for realizing the measurement of other objects with complex molded surfaces.

The invention discloses a quick binocular fisheye panoramic picture stitching method based on a fixed stitching parameter. The method comprises the following steps that: (1) arranging a fisheye panoramic picture stitching parameter acquisition device; (2) obtaining stitching parameters, i.e. a rotation offset parameter and a zone overlapping parameter; and (3) through the rotation offset parameter and the zone overlapping parameter, generating a fisheye panoramic picture stitching LUT (Lookup Table), and utilizing the LUT to realize the position mapping of the two fisheye pictures to the stitched picture so as to realize the quick stitching of the two fisheye pictures. Through a simple hardware device, the rotation offset parameter and an overlap ratio are obtained to obtain the LUT of the stitched fisheye picture, and the position mapping of the fisheye pictures to the stitched picture can be realized so as to realize the quick binocular fisheye panoramic picture stitching. The method has the advantages of being simple in operation, good in stitching effect, easy in hardware implementation and high in speed.

The invention provides a point cloud splicing method and system. The method comprises the following steps: inputting two groups of point clouds and a preset splicing precision; carrying out initial splicing on the input two groups of point clouds by utilizing match feature points to obtain two groups of initial feature point sets; removing abnormal points in the two groups of initial feature point sets according to the preset constraint conditions to obtain finally-determined two groups of feature point sets; calculating an objective function corresponding to the two groups of feature point sets determined above, and carrying out least square iteration on the two groups of feature point sets determined above to obtain a group of transformed point clouds; and when the precision of the objective function is smaller than the preset splicing precision, carrying out precise splicing on the transformed point clouds and the other group of point clouds in the feature point sets. The point cloud splicing method and system can realize quick and precise point cloud splicing.

A continuous splicer includes first and second closely spaced rotating cylinders each having a respective cutting element and tape retaining arrangement disposed on its outer periphery. With a depleting web fed by the first cylinder and a replenishing web fed by the second cylinder, an end of the replenishing web is adhesively joined to the depleting web while in motion and the depleting web is severed by the first cylinder's cutting element in forming a splice of the two webs. As the replenishing web depletes, a third web may be inserted on the first cylinder and automatically or manually spliced to the original replenishing web without stopping or re-configuring the splicer. The splicer is capable of delivering the webs at a constant rate or a rapidly changing and/or dynamic cycling rate, and applies relatively low web tension for operation with delicate, narrow and extensible webs.

The invention relates to a method for mosaicing infrared images. The method comprises the following steps of (a) collecting the infrared images, and ensuring that the two adjacent images have a 20% to 30% overlapping area; (b) finding matched feature areas, wherein if three pairs of matched feature areas exist, carrying out step (c), and if the three pairs of matched feature areas do not exist, carrying out step (d); (c) mosaicing the infrared images; (d) manually selecting the matched feature areas; and (e) judging whether the mosaicing is completed or not. In the step (b), a 4*4 pixel is used as a window to scan the two images, and if the average value of the difference of the gray-level values of all pixel points of the scanned window is within five gray-level values, the two images are considered as the matched feature area. The method for mosaicing the infrared images has the advantages that the high efficiency of the image mosaicing is ensured, and the defect of the automatic mosaicing that the matched feature areas cannot be found is avoided; the quick mosaicing of the batch infrared images is realized; and the related detection by using the infrared images is more convenient, quick and visual.

The invention provides a method for rapidly splicing transcoding fragmented files, and belongs to the technical field of computers. The method comprises: writing a video source file into a distributed storage, a distributed storage system providing an unified name space for transcoding service, a plurality of transcoding servers reading the video source file from the distributed storage in a parallel manner, according to time period intervals of fragments, obtaining data corresponding to the time period of the video source file; distributing index numbers of fragmented data segments for transcoding nodes through a transcoding scheduler, to transcode the fragmented data. Through recording length of the fragmented transcoding file, file number, and offset information in an aggregation file in an index entry of aggregation information attribution of the aggregation file, a conventional additional writing-in method is completely abandoned, and time-consuming data reading-writing operation is changed to increasing of attribute information, efficiency for merging transcoding fragmented files is improved, and valuable network bandwidth resources are saved.