71results about How to "Solving Calibration Problems" patented technology

The invention discloses a virtual scanning and ranging matching-based AGV laser SLAM method, and relates to mobile robot navigation and positioning. The method comprises a grid map representation and establishment method, a virtual scanning and matching positioning method and an algorithm instantaneity improving method. The method using a contour traversal matching principle comprises the specific steps of scanning a map by adopting a virtual laser radar at each traversal position, directly comparing virtually scanned data with data of a current laser radar, finding out optimal position information of an AGV robot and then incrementally building the map. For the problems that most of existing laser SLAM algorithms are aimed at a low-precision sensor, and the filtering, estimating and optimizing stability and the positioning accuracy cannot be absolutely ensured and the application requirements of the industrial AGV robot cannot be easily met, the problem of preliminary construction and calibration in navigation by adopting a reflector board and a triangulation principle can be solved by adopting multi-GPU parallel processing and changing an initial propulsion position of virtual ranging, and the flexibility, the reliability and the precision are improved.

The embodiment of the invention discloses a pose determining method and device and a storage medium, and belongs to the technical field of computers. The method comprises: based on the homography matrix of a marker image relative to a specified coordinate system, tracking the feature points of the marker image and acquiring the homography matrix of a specified image relative to the specified coordinate system; and decomposing the homography matrixes according to a constraint condition and a depth hypothesis condition to obtain a rotational displacement matrix of the specified image relative tothe marker image; and acquiring the pose parameters of the specified image relative to the marker image from the rotational displacement matrix. When the homography matrixes are decomposed, the influence of the depths of the feature points on a tracking process is taken into consideration, and the pose parameters of the specified image relative to the marker image are obtained under the same depth of the feature points on the horizontal plane of the specified coordinate system, thereby determining the position and the attitude of a camera and improving the tracking accuracy of the camera. Noerror is introduced even when switching the marker images.

The invention discloses a Kinect-based augmented reality three-dimensional registration method, which adopts a depth image restoration method fusing the RGB-D information to solve the calibration and the image alignment errors caused by the holes, jitter, edge instability and other problems in a depth image, and provides guarantee for the accuracy of the subsequent three-dimensional registration. A close-range mode automatic judgment method based on a depth histogram is adopted, and in a non-close-range mode, a three-dimensional registration method based on Fast ICP is adopted to calculate the pose of the camera; in the close-range mode, the pose of a camera is calculated by using a three-dimensional registration method of fusing Fast ICP (fast iterative closest point) and ORB (oriented fast and rotated brief), so that the problem of registration failure caused by the hardware limitation is solved, and an accurate and stable three-dimensional registration result can be obtained no matter in a non-close-range mode or a close-range mode. The method is low in algorithm complexity, is easy to understand and implement, is not affected by the illumination and the complex scenes, meets the real-time requirements of an augmented reality system, and can solve a mutual shielding problem.

The invention discloses a method and a system for man-machine interaction and based on laser projection location. The system includes a projection device, an interaction device, an image collection device and an upper computer. The image collection device is fixed beside the projection device, the interaction device is connected with the upper computer, and the image collection device and the projection device are connected with the upper computer respectively. The method for man-machine interaction considers the traditional mouse key definition mode and the relative location mode of cursor position indication, has absolute location mode cursor position indication operation direct feel, avoids system demarcation problems, facilitates use and reduces requirements of the interaction system for environment.

The invention provides a virtual measurement principle and method based on augmented reality. The virtual measurement principle of minimum bounding boxes based on augmented reality comprises a reality measurement environment model, an augmented reality measurement environment model and a human-computer interaction model. The virtual measurement realization method of minimum bounding boxes based on augmented reality comprises visual scanning tracking technology, virtual ruler measurement technology and human-computer interaction interface technology. The invention can be used for contactless measurement and calibration of the minimum bounding boxes of spatial three-dimensional objects, has the advantages of simple concept, flexible structure, convenient application and the like and is augmentation and expansion of the existing manual or instrument measurement modes.

The invention provides a calibration method of an engine flowmeter, and belongs to the technical field of flow measurement. The method comprises the following steps that 1, the calibration condition which is the same as that of the usage environment is established; 2, an engine flow measurement system is established; 3, a standard engine flow is obtained by means of a channel flowmeter; 4, engine flowmeter calibration data processing is conducted; 5, engine flowmeter calibration system uncertainty degree analysis is conducted. According to the calibration method of the engine flowmeter, the calibration problem of the engine flowmeter can be solved, the calibration coefficient and the uncertainty degree are provided, and the calibration method is mainly used for calibration of the engine flowmeter.

The invention discloses a camera-inertial sensor calibration method based on partial sensor information. The method includes the steps that first, a calibration equation based on partial inertial sensor information is established, afterwards, the missing information of an inertial sensor is recovered first, then the relative coordinate transformation between a camera and the inertial sensor is solved, so that the calibration equation based on partial inertial sensor information is solved, and the calibration result is optimized. The camera-inertial sensor calibration problem is solved under the condition that the output information of the inertial sensor is incomplete, in the practical calibration environment, under the condition that observation errors exist, the final calibration result can be optimized through a designed optimization algorithm, and good calibration precision is achieved.

The invention discloses a calibration method of a camera optical axis detection apparatus. The calibration method is characterized by comprising the steps of placing the camera on the optical axis detection apparatus according to a test position, capturing a picture mapped by the camera at the moment, opening the picture by use of drawing software and reading central coordinate values (X, Y), rotating the camera by 180 degrees and reading the central coordinate values (X', Y'), calculating to obtain a center value as shown in the specification, calculating to obtain the difference (delta X, delta Y) between the center value and the central coordinate values of the original value, and moving an apparatus drawing according to (delta X, delta Y) along the X axis and the Y axis by the corresponding number of pixel points. The calibration method has the beneficial effect that the problem of center calibration of the high-precision camera detection apparatus is solved; compared with the prior art, the calibration method is simpler in operation and more accurate in calibration; according to the theory that the camera rotates by 180 degrees around the own center on the apparatus and the center does not change, the whole calibration process is completed in one step and strong digital judgment proof is provided; the cost of fabricating the standard camera is saved, the labor is saved and the production efficiency is improved.

The invention provides a bias scanning mode industrial CT system rotating table rotating center calibration method, which comprises the following steps of according to the initial step length, uniformly installing a plurality of detector nodes at a real detector; obtaining the corresponding relationship of the detector unit on a virtual detector corresponding to the current node on the real detector and the detector unit on the real detector; obtaining a test sinusoidal chart according to the original sinusoidal chart and the corresponding relationship; calculating the center estimation valuecorresponding to the test sinusoidal chart; regulating the current node according to the preset step length increment; repeating the steps until the distance between the current node and the left endpoint of the real detector is not smaller than a preset threshold value after the regulation; using the detector node corresponding to the smallest center estimation value as a rotating center. The problem of the bias scanning mode rotating table rotating center calibration is solved; in addition, a special calibration model body is not needed by the calibration method; the method is simple and convenient; by setting the solving step length in the solving process, the solving precision of the provided method is controllable.

The invention relates to the technical field of attitude acquisition and labeling, in particular to a multi-camera calibration method and device, terminal equipment and a readable storage medium. According to the specific technical scheme, the method comprises: obtaining internal reference calibration on each camera in a camera set to obtain the internal reference of each camera; acquiring a specified camera in the camera set, and performing external parameter calibration on each camera in the specified camera to obtain external parameters among the cameras in the specified camera; and performing external parameter calibration on the cameras in the specified camera and the cameras except the specified camera in the camera set to obtain an external parameter final value between the cameras. The invention provides a new calibration device for an application scene of mixed multi-camera annular layout, the calibration device is composed of a plurality of calibration plates, and it is ensured that each camera can capture an image when external parameters are calibrated by multiple cameras; and a three-stage hybrid multi-camera calibration method is provided based on the calibration device, the problem of external parameter calibration of the annularly-arranged hybrid multi-camera can be effectively solved, and high calibration precision is achieved.

The invention discloses a four-dimensional light field decoding preprocessing method based on an original image. The method comprises the step of utilizing a light field imaging device for collecting the original image of a scene, the step of calibrating the original image to obtain a center coordinate set of the original image, the step of carrying out re-sampling processing on the original image according to the calibration information to obtain a sub-aperture image array, the step of carrying out the vignetting removing processing on an edge sub-aperture image in the sub-aperture image array to obtain a sub-aperture image array with the vignetting removed, and the step of finishing the four-dimensional light field decoding through the sub-aperture image array with the vignetting removed to obtain the parameterization expression of a four-dimensional light field. The method breaks through the dependence limitation on a white image in the two key preprocessing steps of calibrating and vignetting removing in a traditional preprocessing method, the application flexibility of light field imaging is improved, the popularization application range of the light field imaging can be widened, and the method plays a positive role in promoting the application and development of the light field imaging.

According to a method and a system for calibrating the sensors of a weighing shelf provided by the invention, the output values of the plurality of sensors connected with a tray are obtained by moving a weight with the calibrated weight at the appointed position on the tray of the weighing shelf, and a calculation model between the weight of the weight and the coordinates of the weight and the output values of the sensors is established through a moment balance principle, calibration parameters of the sensors are calculated through a preset calculation method, and a mapping relation between the output value and the actual bearing value of each sensor and the position of each sensor are acquired. According to the method and the system, accurate calibration is carried out on the weighing shelf with the plurality of sensors connected in parallel, so that system errors caused by installation angles, aging of the sensors and the like in the weighing shelf are reduced, and the commodity identification accuracy is ensured.

The present invention discloses a multi-plane-mirror reflection tracking pan-tilt system calibration method. The method comprises: calibrating a pan-tilt system initially by using a Zhang Zhengyou calibration method or other conventional calibration methods to acquire an intrinsic and extrinsic parameter matrix of a virtual camera formed by n times of mirror imaging of an actual camera, wherein the intrinsic parameter of the virtual camera is an intrinsic parameter of the actual camera because an internal structure of the virtual camera is the same as an internal structure of the actual camera. The method solves the calibration problem of using reflections of n mirrors to track optical reflection pan-tilt of an object, so that the pan-tilt can be brought into contact with to-be-viewed space and accepts a coordinate instruction of a to-be-viewed object given by the exterior, locates a location of the to-be-viewed object quickly and accurately, and thus even if the object disappears from vision, the object can be followed up quickly; and the method is performed in combination with the conventional calibration method, the required calibration device is the same as that of the conventional calibration method, and the method is simple and convenient.

The invention belongs to the field of multi-camera calibration and measurement, and particularly relates to a multi-camera large-field-of-view surface shape measurement and calibration method, which mainly utilizes a characteristic line and a characteristic surface of a laser line to calibrate a single-camera structured light measurement system, and then rotates and translates a calibration camera coordinate system according to the uniqueness of a light plane. The attitude of the multi-camera system is unified to the attitude of a standard coordinate system, the coordinate translation relationship between adjacent cameras is obtained by calculating the coordinate values of the same feature points in the same view of the adjacent cameras, and the multi-camera system is mapped to the reference coordinates, so that wide-range and large-view-field three-dimensional topography measurement is realized, and more calibration problems caused by installation errors and the like of a multi-camera structured light measurement system are mainly solved.

The present invention provides a calibration method and device of a robot, wherein the calibration method includes the steps of: determining the parameter associated with each quantity to be calibrated and the standard value of each parameter, and collecting the measured values of each quantity to be calibrated and the measured values of the parameters of the robot during moving according to a preset frequency; for any parameter, calibrating the measured value of the parameter according to the multi-dimensional particle swarm optimization algorithm and the standard value of the parameter, forany quantity to be calibrated, obtaining other quantities to be calibrated and each parameter according to the constraint equation, and obtaining a calculated value of the quantity to be calibrated according to the measured values after the calibration of each parameter and the other standard quantity that has been calibrated, and according to the multi-dimensional particle swarm optimization algorithm and the measured value of this quantity to be calibrated, calibrating the calculated value of this quantity. The method has the advantages of fast convergent speed and low local extreme value, which can effectively solve the multi-dimensional complex relationship parameter calibration.

The invention provides equipment for demarcating the zero position mounting angle of a fan blade, and belongs to the technical field of fan blade mounting. The equipment comprises an observation barrel, multiple supports and a vertical adjusting mechanism. The observation barrel is provided with an observation cavity which is through up and down, a demarcating piece and an observation piece are fixed to the observation cavity, and a comparison graph is arranged on the demarcating piece. The upper ends of the supports are used for erecting the observation barrel, and the vertical adjusting mechanism is connected to the lower ends of the supports. According to the equipment for demarcating the zero position mounting angle of the fan blade, by observing whether the projection of the fan bladein a vertical state on the demarcating piece coincides with the comparison graph or not through the observation piece, whether the error of the zero position mounting angle of the fan blade exists ornot can be judged; and the axis of the observation barrel can be in a vertical state through the vertical adjusting mechanism, and the problem about demarcating the zero position mounting angle of the fan blade is solved.