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Magnetic navigation unmanned vehicle based on road curvature map and road curvature map establishment method

The invention provides a magnetic navigation unmanned vehicle based on a road curvature map and a road curvature map establishment method. The magnetic navigation unmanned vehicle based on the road curvature map comprises a vehicle body, a magnetic nail detection sensor, a dead reckoning sensor, a steering wheel angle sensor, a power driving system, a steering driving system, a control computer in which the curvature map is stored and an expected traveling track on which magnetic nails are laid, wherein the vehicle body serves as a carrier; the magnetic nail detection sensor and the dead reckoning sensor are used for establishing the road curvature map; the magnetic nail detection sensor is used for detecting the magnetic nails and calculating the deviation of the magnetic nails relative to the magnetic nail detection sensor; the dead reckoning sensor is used for tracking the detected magnetic nails, and a tracking result is used for calculation of information of the curvature map; on the condition of automatic driving of the vehicle, the control computer achieves prospective control in combination with positioning information of the vehicle and the information of the curvature map. The magnetic navigation unmanned vehicle based on the road curvature map greatly improves control performance and guarantees driving safety; the establishing process of the curvature map is automated, and the road curvature map is easy to realize.
Owner:SHANGHAI JIAO TONG UNIV

Method for capturing human motion by aid of fused depth images and three-dimensional models

InactiveCN104268138ALarge range of activitiesNot many performance venues are requiredImage analysisCharacter and pattern recognitionHuman bodyHuman motion
The invention relates to a method for capturing human motion by the aid of fused depth images and three-dimensional models. By the aid of the method, problems of adhesion requirement on mark points, inconvenience in interaction and easiness in confusing and shielding the mark points of a method for optically capturing motion can be solved. The method includes acquiring depth information of human actions; removing backgrounds of motion objects; acquiring complete depth information of the human actions; converting the complete depth information of the human actions into three-dimensional point-cloud information of human bodies; acquiring three-dimensional human action models; establishing databases; enabling the databases to be in one-to-one correspondence with data of human action skeleton databases; extracting depth information of to-be-identified human actions to build the three-dimensional models; then matching the similarity of the three-dimensional models with the similarity of human actions in the databases of the three-dimensional models; outputting human action skeletons according to similarity sequences. The human action skeletons are motion capturing results. The method has the advantages that sensors or added mark points can be omitted on the human bodies, the method is easy to implement, motion sequences are matched with one another by the aid of a regular time wrapping process, the matching precision of each two sequences can be improved, the matching time can be greatly shortened, and the motion capturing speed and the motion capturing precision can be guaranteed.
Owner:XIAN TECH UNIV
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