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 invention discloses a non-contact high-precision calibration method and application of the base reference coordinate system of a robot. The non-contact high-precision calibration method comprises the following steps: step 1: installing calibration index tool; step2. calibrating and getting points; step 3. obtaining calibration matrix of the base reference coordinate system of the robot through a coordinate transformation algorithm. By means of the advantages of high precision and non-contact measurement of a laser measuring instrument provided by the invention, through a position encoder and the calibration index tool of internal joint of the robot, the coordinate transformation algorithm is applied, and the non-contact high-precision calibration of the base reference coordinate system of the robot is realized. The non-contact high-precision calibration method of the base reference coordinate system of the robot, the non-contact high-precision calibration method of the workpiece coordinate system of the single robot and the non-contact high-precision calibration method of the tool coordinate system of the single robot are cooperated and applied, hence the non-contact high-precision calibration of the integral robot system is realized. The invention also discloses a non-contact high-precision calibration method of poses between a plurality of robots.

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 medical image volume rendering method and a device thereof. The method comprises the following steps: firstly, volume data are loaded into a display memory, and volume data textures corresponding to different tissues are generated; a transmission function corresponding to each tissue is created; and an image corresponding to each tissue is respectively rendered by utilizing the transmission function and the volume data textures. The invention can be utilized to improve the rendering speed and the rendering quality.

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 discloses an automatic calibration device for abbe cosine error of an interferometer of a lithography machine. The device comprises an illuminating light source, a mask table, an objective imaging system, a workpiece table and an interferometer, wherein the illuminating light source is provided with an object plane mark; the interferometer is arranged on the workpiece table; the device is characterized by also comprising a space image sensor which is arranged on the workpiece table; and by differently rotating and tilting the workpiece table, a measurement result of the interferometer can be compared with a normal position of the workpiece or the theoretical position of an object plane mark space image by the space image sensor when the object plane mark space image is detected by the space image sensor, and fitting is performed to obtain abbe arm and cosine angle of the workpiece table interferometer. The invention also provides an automatic calibration device for the abbe cosine error of the interferometer of the lithography machine. Mark measurement is performed by using the space image sensor, so that the abbe arm and the cosine angle of the interferometer are calibrated without exposure or development. Meanwhile, the problem of calibration of a vertical interferometer can also be solved.

The invention provides a mechanical arm assembly task planing method based on a BIM, and belongs to the field of civil engineering building construction. The method includes the steps that the scene modeling technology based on images, a BIM platform, a mechanical arm and a robot operating system are combined, and the planning method of an assembly task plan is rapidly generated; a construction scene of the mechanical arm is subjected to three-dimensional reconstruction, and a scene model is formed; the designed BIM and the scene model obtained after three-dimensional reconstruction are subjected to combining and matching processing on the BIM platform, and a task model is generated; coordinates of components, executing an assembly task, of the mechanical arm are generated according to thetask model and assigned to a control program of the robot operating system, and a control instruction is generated; and the mechanical arm carries out assembly operation according to the control instruction, and the assembly task is completed according to the planned assembly sequence and point location coordinates. The problems about the efficiency and the precision of the operation of the components, executing assembly, of the mechanical arm can be effectively solved, and the method is low in cost, small in error and high in practicality.

A high-accuracy seawater acoustic velocity measurement method based on an acousto-optic effect includes the steps of, when adjusting a measuring light path and a reference light path, placing a reflector with adjustable pitching and deflection as far as possible from front ends of two beams of light, adjusting the reflector to make the reference light path perpendicular to the reflector, placing asmall aperture in a forward end of the reference light path, and ensuring that the light reflected by the reflector passes through the same aperture; adjusting the position of an ultrasonic probe sothat the ultrasound perpendicularly flies over the reference light path, solving for the sound pressure at the reference light path with the ratio of obtained diffraction light intensity to the original base light intensity, solving for the sound pressure at the measuring light path based on an attenuation coefficient of the ultrasound in the water, back-calculating the light intensity ratio at the measuring light path, and adjusting the position of the ultrasonic probe; and combining the two beams of parallel light that are emitted from a water tank and produce an acousto-optic effect, receiving light signals respectively by a first photodetector and a second photodetector on the two sides of a second polarization beam splitting cube, converting the light signals into electrical signals,and then obtaining flight distance information and time information by a frequency counter and an oscilloscope.

A method for airborne binocular stereo vision calibration of a helicopt is disclosed, belonging to the helicopter flight test technical field. The method includes mounting a binocular camera on a helicopt, Establishing camera coordinate system, calibrating the binocular camera by Zhang 's calibration method, obtaining camera internal reference, making A ground three-dimensional black-and-white checkerboard target is then made, determining the coordinates of at least four planar target vertices, controlling the helicopter to fly above the ground stereoscopic black-and-white checkerboard target,acquiring a target image by a binocular camera, at that same time, obtaining the position of the vertex of the planar target in the target image (shown in the description), obtaining the position ofthe plane target vertex in the airframe coordinate system (shown in the description) and finally Calculating helicopter airborne binocular stereo vision calibration parameters [Rt] according to the coordinate converting relationship (shown in the description) from the camera coordinate system to the airframe coordinate system (shown in the description). The application solves the calibration problem of a binocular vision measurement system in an airborne environment, and realizes the position and posture measurement of an object by using the binocular vision system on a helicopter.

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 relates to a simulation test board for a rocket projectile angle measuring device, and belongs to the field of rocket projectile test. The simulation test board comprises a hall element, a supporting rod, a roller wheel pressure base, a roller wheel supporting base, a rotary coder, a connector, a rotary motor, a supporting plate, a base, a horizontal angle calibration plate and a transmission shaft. By simulating a relatively fixed climbing phase gesture of a pitching angle in a flight process of rocket projectiles, accuracy of the rocket projectile angle measuring device under a flight condition is detected, so that flight gesture precision control requirements of the rocket projectiles are met. The simulation test board disclosed by the invention effectively solves a calibration and test problem of the angle measuring device under a projectile body environment, so that the angle measuring device can be adaptive to the requirements of the rocket projectile control system to the greatest extent.

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.

The invention belongs to the fields of three-dimensional printing techniques and numerical control machining and discloses a centering system and method for a three-dimensional printing equipment jetting head and a numerical control equipment tool. A clamp support is mounted on an equipment Z shaft through mounting holes. The equipment Z shaft is provided with a laser device through a fastening bolt in a second containing hole. A two-dimensional high-precision position sensing device (PSD) is fixed to the center of an equipment C shaft working rotary table. A high-precision position sensing device (PSD) signal acquisition and processing plate is used for processing signals acquired by the position sensing device (PSD) and converting the signals into recognizable digital signals, arranged on an equipment plane and connected with the two-dimensional high-precision position sensing device (PSD) and an upper computer. By means of the centering system and method, the printing jetting head Z-direction centering problem existing in 3D ink-jet printing and the XOY plane center calibration problem in numerical control machining are effectively solved; the centering system is simple in design, ingenious in structure, good in application effect and long in serve life and serves as a PSD centering device for Z-direction centering of the 3D ink-jet printing jetting head and XOY plane tool setting in numerical control machining.

The invention relates to a data calibration method and system based on manifold migration learning. The data calibration method comprises the steps of obtaining feature data of a calibrated label to serve as a source domain, obtaining feature data of a label to be calibrated to serve as a target domain, performing principal component analysis on the source domain and the target domain to obtain asource feature vector and a target feature vector; respectively mapping the source feature vector and the target feature vector to a manifold space so as to obtain a source manifold feature of the source domain in the manifold space and a target manifold feature of the target domain in the manifold space; and counting the label types of the source domain, obtaining an average value of the manifoldfeatures under each label type according to the amount of the feature data under the label types, and performing label calibration for the feature data in the target domain according to the distancebetween the average value and the target manifold feature. The data calibration method simplifies the calibration of large-scale data, improves the generalization ability of the method and improves the operation efficiency of migration calibration.

The invention belongs to the technical field of ship and ocean engineering, and relates to a sea ice thickness identification system suitable for ship ice area sailing test, in particular to an image acquisition device for a sea ice overturning process of a ship in an ice area sailing process and an automatic identification method for sea ice thickness parameters in an image. The image acquisition device comprises a black and white binocular camera, an infrared range finder, a graphic processor, a display screen and a data switch. According to the invention, the video image information of the sea ice cross section can be captured, the sea ice thickness parameter with the delay lower than 1 second and the precision reaching centimeter can be obtained, and the calibration problem of the sea ice image is solved.

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 discloses a method and a system for detecting a device with infrared tracking and beacon light pointing functions, belongs to the field of mechanical engineering, and aims to solve the problem of multi-path large-beam divergence angle parallelism adjustment precision, and the system used by the method comprises a detection target unit, a plurality of calibration rings, a plurality of cubic prisms and a mounting frame; the calibration reflector unit comprises a large-aperture reflector adjusting frame; the detection camera unit is used for detecting a camera and a tripod; the tested unit comprises a multi-path parallel light transmitting mirror group, a multi-path large-beam divergence angle transmitting mirror group and an infrared tracking calibration prism; the theodolite unit comprises a theodolite and a theodolite adjusting table; the position and the angle of a detection target are calibrated through a theodolite, a calibration reflector and a parallel light emission mirror group by taking the optical axis of a lens of an infrared detector as a reference, then multiple paths of beacon light with a beam divergence angle of 1 degree are installed, and the angles of the multiple paths of beacon light are calibrated through a calibration ring on the detection target, so that the parallelism of the multiple paths of beacon light meets index requirements; the problem of large-beam divergence angle beacon light parallelism adjustment is solved.

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 relates to a multi-view imaging device for three-dimensional reconstruction of foot shape, including a foot shape calibration template with a load-bearing function, a camera support frame, at least six cameras, and a computer. The foot shape calibration template is arranged in the camera support frame through a bracket, The at least six cameras are marked towards the center of the foot type calibration template, and the at least six cameras are connected to the computer through the USB data transmission interface, and the collected digital images are three-dimensionally reconstructed by a software system running on the computer, with imaging It has the characteristics of low cost, simple installation, accurate imaging, and fast 3D reconstruction.

The invention relates to a simulation test bench for a rocket angle measuring device, which belongs to the field of rocket testing. The simulated test bench of the present invention includes a Hall element, a pole, a roller press seat, a roller support, a rotary encoder, a connecting body, a rotating motor, a supporting plate, a base, a horizontal angle calibration plate, and a transmission shaft; During the flight, the pitch angle of the missile is relatively fixed in the climb section, so as to check the accuracy of the angle measuring device in the rocket under this flight condition, so as to meet the requirements of the rocket for precise control of the flight attitude. The simulation test bench of the present invention effectively solves the problem of calibration and testing of the angle measuring device in the projectile environment, so that the angle measuring device can adapt to the requirements of the rocket control system as much as possible.

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.