147 results about "3D projection" patented technology

The invention discloses a conductor instance detection method and system based on key point matching, and the method comprises the steps: obtaining original aerial image data, generating a four-dimensional feature matrix through dynamic feature mapping and enhancement processing, obtaining three-dimensional projection feature data through projection transformation, and carrying out the feature enhancement to obtain enhanced feature data. Generating enhanced feature map data through multi-scale feature fusion; performing feature recombination on the enhanced feature map data to obtain feature matrix data, generating response matrix data through recursive decomposition and mapping, and calculating adaptive threshold data to screen key points; generating thermodynamic diagram data for the screened key point set through a multi-layer thermodynamic diagram, obtaining a spatial incidence matrix by combining spatial feature enhancement, and performing endpoint matching based on multi-dimensional constraints; and finally, through boundary feature analysis and cross-block instance matching, a global traverse map is constructed, and accurate detection of traverse instances is realized. According to the invention, the accuracy and robustness of wire detection can be effectively improved.

The invention discloses an underground pipe network construction drawing generation and verification method and system based on image recognition, relates to the technical field of construction drawing verification analysis, and solves the technical problem that in the verification process, detection of pipe network element integrity and space conflicts is not comprehensive and efficient enough. According to the method, extracted pipe network element data is compared with original design data element by element, verification is carried out from element types, number, attributes and other dimensions, whether a construction drawing is complete or not can be rapidly and accurately judged, missing or wrong elements can be found in time, and a minimum rectangular bounding box and a three-dimensional projection overlapping judgment algorithm are utilized to judge whether the construction drawing is complete or not. According to the method, the space conflicts among the pipe network elements can be efficiently detected, the conflict detection efficiency and accuracy are improved, the overlapped elements are classified according to the elastic modulus of the element material, the hard and non-hard overlapped elements are subjected to targeted analysis, whether design conflicts exist or not can be judged, and a more scientific basis is provided for design optimization.

The invention discloses an unmanned aerial vehicle inspection method and system applied to foundation pit accumulated water monitoring, and the method comprises the steps: determining an optimal route node sequence, and generating an unmanned aerial vehicle control instruction set; acquiring internal and external parameters of a multi-source sensor, and performing time alignment compensation on image frames and sensor data; acquiring a ponding area image coordinate set and attribute data; a three-dimensional projection point set of the ponding area is obtained, and the real coverage area of the ponding area is calculated; generating a three-dimensional overview map of the foundation pit by using the multi-view image of the foundation pit area; determining a three-dimensional coordinate point set and an area estimation result of the ponding area; and projecting the three-dimensional coordinate point set of the ponding area to the three-dimensional overview map of the foundation pit to generate a hidden danger monitoring report. By integrating the unmanned aerial vehicle, the sensor data and the advanced image processing technology, the accuracy, stability and visualization effect of foundation pit accumulated water monitoring are greatly improved, more reliable and comprehensive technical support is provided for safety management of foundation pit engineering, and the safety risk in the construction process is remarkably reduced.

The invention relates to the technical field of medical image processing and intelligent diagnosis. The image recognition method for the urinary system calculus comprises the steps that a dynamic video stream of a calculus area is obtained through an endoscope image collection module, and a current frame image is extracted; performing illumination compensation processing on the image, eliminating vascular interference and light reflection, and enhancing the boundary of a calculus main body; based on multispectral feature fusion, separating yellow-like spectrum features of uric acid stones and grey-white-like spectrum features of calcium stones, and calculating stone surface color distribution dispersion; performing multi-angle texture energy detection by adopting a direction sensitive convolution kernel to generate a calcification crystallization density coefficient; inputting the color distribution dispersion and the calcification crystallization density coefficient into a decision tree model, and outputting a calculus type identifier; and according to the stone type identifier and the three-dimensional projection area of the stone contour, frequency-energy combination parameters of the laser stone crusher are generated, and the laser pulse emission time sequence is controlled in real time.

The invention provides a BIM model three-dimensional projection plane extraction method, electronic equipment and a medium, and the method comprises the steps: carrying out the triangularization processing of a BIM model, and obtaining a triangularization mesh model; calculating the projection area and the normal direction of the triangle in the P direction, and deleting the triangle of which the vertex is repeated and the projection area is 0 or the normal direction is opposite to the P direction; calculating a value range of coordinate values of all vertexes of the remaining triangles in the P direction, and dividing the value range into a plurality of intervals; classifying the remaining triangles into a plurality of intervals to obtain a plurality of triangle sets; for each triangle set, extracting a two-dimensional vector surface; and sorting the two-dimensional vector surfaces according to a sequence from small projection height to large projection height, and extracting to obtain a three-dimensional vector surface. According to the method, projection plane extraction is performed after triangularization based on the BIM model, the influence of a professional design software production environment and a multi-source heterogeneous storage format is eliminated, and universality is achieved; compared with two-dimensional expression, the method for extracting the three-dimensional projection surface result provides finer geometric range description, and calculation is simple.

A system projects a user-viewable, computer-generated or -fed image, wherein a head-mounted projector is used to project an image onto a retro-reflective surface, so only the viewer can see the image. The projector is connected to a computer that contains software to create virtual 2-D and or 3-D images for viewing by the user. Further, one projector each is mounted on either side of the user's head, and, by choosing for example a retro angle of less than about 10 degrees, each eye can only see the image of one of the projectors at a given distance up to 3 meters, in this example, from the retro-reflective screen. The retro angle used may be reduced with larger viewing distance desired. These projectors use lasers to avoid the need for focusing, and in some cases these projectors use instead of lasers highly collimated LED light sources to avoid the need for focusing.

The invention discloses an optical quasi-three-dimensional space converter which can convert a three-dimensional space into a large number of fixed-position two-dimensional real images with different object image distance related parameters. The optical quasi-three-dimensional space converter comprises a zoom long-focus lens, a short-focus micro lens array and an object image distance related parameter regulator; one of the two lenses is used for receiving light from an object space and imaging the light into an intermediate image; one is used for converting the intermediate image into a virtual image or a real image of a three-dimensional space; the intermediate image horizontal turner turns the intermediate image left and right in the horizontal direction for real image space conversion; and the object image distance related parameter regulator is used for regulating the focal lengths of the zoom long-focus lens, the short-focus micro lens array and the pick-up lens and the relative positions of the lenses. The optical quasi-three-dimensional space converter can be used for a wide-field-of-view three-dimensional camera, a wide-field-of-view three-dimensional projector for naked eye observation, a three-dimensional optical processing machine, artificial eyes and the like.

In three-dimensional projective reverse transformation, a distance to a measured object is measured, and three-dimensional coordinate values of each point in the measured object corresponding to each of a plurality of pixels configuring an imaging sensor are calculated. In three-dimensional projective transformation, a three-dimensional shape of is a display object is set. Further, positions of a right side eye and a left side eye of a user with respect to a position of the display object are measured. A projected image or a projected movie corresponding to both eyes of the user is formed.

The invention discloses a blood vessel three-dimensional reconstruction method and device based on a multi-view angiography image, computer equipment and a storage medium, and relates to the field of blood vessel simulation, and the method comprises the following steps: firstly, selecting a key frame from a multi-angle angiography sequence, carrying out high-precision blood vessel tree segmentation, and determining a reference image; secondly, constructing a three-dimensional projection cone by extracting projection parameters, taking an intersection of the three-dimensional projection cone and discretizing the intersection, iteratively screening by using a reference image and other visual angle information, and precisely defining a blood vessel tree spatial domain; the three-dimensional model reconstruction method is characterized in that a spatial dispersion and traversal projection thought is introduced, so that the calculation complexity is not remarkably improved when the number of visual angles is increased, and the limitation of the number of visual angles in traditional multi-visual-angle reconstruction is broken through; the method has the advantages of high precision and high expansibility, and can meet the harsh requirements of hemodynamic simulation and other high-end clinical applications on the precision of the blood vessel model.

The invention discloses an electromagnetic shielding instrument parameter optimization method based on differential evolution and a ray tracing algorithm, and the method comprises the implementation steps: modeling a to-be-simulated scene in a three-dimensional projection and height mode, and presetting an electromagnetic interference point, a protection point and related information; enabling the electromagnetic shielding instrument to correspond to population individuals in a differential evolution algorithm, initializing individual parameters, and setting key factors of differential evolution; simulating the simulation points by using a full-three-dimensional reverse ray tracing algorithm, and retaining or adjusting individual parameters according to a result; and selecting an optimal individual from the reserved individuals, and adjusting the power, the frequency and the position of the electromagnetic shielding instrument by using parameters of the optimal individual. The method effectively solves the problem that interference points and protection points are difficult to distinguish and multiple frequency points are difficult to distinguish in electromagnetic interference, avoids accidental damage caused by interference, and can more efficiently optimize parameters of the electromagnetic shielding instrument according to actual scenes.

A retrieval method for an open-vocabulary 3D target, a device and a storage medium are provided. The method includes: inputting text description information of a target object and an image sequence of a real scene into an open-vocabulary 3D target retrieval model. The retrieval model includes an LLM, an open-vocabulary 2D detection and segmentation model, an object filtering module and a 3D projection module. The LLM is used to enhance the text description information to obtain names of a plurality of candidate objects of the target object. The open-vocabulary 2D detection and segmentation model is used to detect and segment according to the names of the candidate objects, to obtain 2D segmentation masks of the plurality of candidate objects. The object filtering module is used to determine the target object from the candidate objects according to the text description information and a 2D segmentation mask of each candidate object.

The present application discloses a method for direct-writing printing of curved surface conformal sensors based on a five-axis motion platform, which relates to the field of direct-writing printing technology. The method performs grid discretization processing on the printed curved surface in a three-dimensional digital model of a three-dimensional structural part and then designs a target printing trajectory, thereby simplifying the process of complex curved surface trajectory design and avoiding trajectory distortion caused by existing two-dimensional to three-dimensional projection methods; then, a two-axis rotation mechanism is used in a direct-writing printing system based on a five-axis motion platform to perform posture adjustment, and a three-axis motion mechanism is used to perform position adjustment and printing. Direct manufacturing on a three-dimensional structural part can be performed when the printing nozzle extrudes ink vertically downward along the normal direction of the contact surface, thereby improving the manufacturing efficiency of curved surface conformal sensors, avoiding pattern distortion caused by transfer, and improving the accuracy and conformality of the manufactured curved surface conformal sensors. The method is suitable for promotion and application in the preparation of curved surface electronics.

The invention relates to a three-dimensional projection deformation measurement and error compensation method based on a single camera, and the method comprises the steps: collecting a plurality of projection images at multiple moments through a single camera, and recording an image intensity value at each pixel coordinate in each projection image at each moment; inputting the image intensity value into a pre-trained deep learning model, and outputting three-dimensional height prediction of a corresponding pixel coordinate at a corresponding moment; performing correlation search based on the image intensity values of the pixel coordinates in each projection image at the reference moment and the deformation moment to obtain an optimal pixel displacement component; based on the three-dimensional height prediction of each pixel coordinate at the reference moment and the deformation moment, constructing an image surface displacement vector at the deformation moment by using the optimal pixel displacement component, calculating a three-dimensional displacement field at the deformation moment based on the image surface displacement vector at the deformation moment, and then performing three-dimensional strain field calculation; and finally, an efficient and robust closed-loop process is formed through error compensation, and measurement and compensation of three-dimensional deformation in a single-camera scene are realized.

The invention discloses an interaction method and device of electronic equipment, the electronic equipment and a storage medium. The method comprises the following steps: acquiring a real scene image, and identifying a plurality of target elements in the real scene image; matching a virtual element corresponding to the target element, and superposing the target element and the virtual element to form a virtual-real superposed image; projecting the virtual-real superposition image to a target element to perform laser interference on the virtual-real superposition image, and generating and displaying a three-dimensional projection interface; in the embodiment of the invention, multiple behavior characteristics of the user responding to the three-dimensional projection interface are captured, and the three-dimensional projection interface is adjusted in combination with the multiple behavior characteristics, so that the dependence on a physical screen can be reduced, and the interaction flexibility and convenience are improved.

The invention relates to a cultural and creative product design display method and system based on augmented reality, and the method comprises the steps: obtaining design drawings of cultural and creative products, determining the projection relation between the design drawings according to the projection relation of the design drawings, and generating a three-dimensional projection model of the cultural and creative products for displaying the cultural and creative products in a display region; in the process of user-oriented display, the visual angle of the user is used as a rendering target of the three-dimensional projection model, so that the three-dimensional projection model is rendered only within the visual angle of the user. The immersive cultural and creative product display experience is provided for the user, the three-dimensional projection model of the cultural and creative product can be viewed from any angle, and the cognition and interest of the user on the product are greatly improved.

The invention relates to the technical field of display equipment, in particular to digital twinborn model display equipment, which comprises a digital twinborn model display stand, and has the beneficial effects that the digital twinborn model display stand and a lifting display screen mounting frame form a three-dimensional lifting display stand; the model holographic projector device, the auxiliary display screen device and the top display screen device are installed in a matched mode, three-dimensional projection display can be carried out on the model, and light effect display, background display and synchronous display of related characters, charts or other supplementary information can be carried out in cooperation with three-dimensional display of the model holographic projector device. The digital twinborn model cooling system can help audiences to better understand functions and characteristics of a digital twinborn model, and is matched with design of a dual-channel heat dissipation mechanism, two independent cold air heat dissipation channels are differentiated, network connection control equipment, auxiliary display screen equipment and model holographic projector equipment are specifically and separately cooled, and heat conduction or radiation between the network connection control equipment, the auxiliary display screen equipment and the model holographic projector equipment can be avoided.

The invention relates to a hydraulic support face guard state monitoring and early warning method and device based on three-dimensional modeling, and the method comprises the steps: carrying out the multi-conversion mapping among a world coordinate system, a camera coordinate system, an image coordinate system and a pixel coordinate system based on an original working condition image of a fully mechanized coal mining face in combination with a face guard three-dimensional model and folding / unfolding safety line information; generating a working condition image fused with the three-dimensional projection; a deep learning instance segmentation algorithm is adopted to extract the contour of the face guard, and a to-be-detected area is dynamically divided; the folding state of the face guard in the advancing direction of the coal mining machine and the unfolding state of the rear face guard are monitored by comparing the overlapping area of the contour of the face guard and the projection area of the safety line; and frame numbers and early warning information are automatically marked for the abnormal state face guard plates, and a visual early warning image is generated. According to the invention, through a double verification mechanism of three-dimensional space projection and two-dimensional visual identification, full-period state monitoring of the face guard is realized, hardware dependence is reduced, three-dimensional space characterization is enriched, and high monitoring accuracy is maintained in an underground complex environment.

The invention discloses a reinforcement learning-based layout algorithm for thin-wall three-dimensional parts of multiple raw material plates. The method comprises the following steps: completing the generation of a two-dimensional expansion polygon by adopting three-dimensional projection, a minimum convex hull algorithm and a Minkowski vector sum algorithm; and encoding the polygons as images, selecting the images as actions, encoding the layout of all the current raw material plates as images as states, designing action return in combination with the compact degree and the layout conditions of a single raw material plate and multiple raw material plates, and finally obtaining the placement sequence, angle and position of each polygon and the placed raw material plate by using deep enhanced iterative learning. The device is suitable for the discharging problem of one or more raw material plates; a reinforcement learning method is used for fully exploring the placing state, the influence of the part placing sequence and the placed raw material plates on the final result is fully considered, and a better and even optimal discharging mode can be quickly given; in addition, the generalization ability is high by using deep learning fitting reinforcement learning value functions, and the parameters are still practical for new problems.

The present invention provides a method and system for designing a composite deflection structure of an elliptical hole applied to a groove blade tip, wherein the design variables of the method include: a relative chord length of a design origin, a radial deflection angle, an axial deflection angle and a self-deflection angle of the elliptical hole; firstly, the position of the design origin is determined according to the relative chord length, and then the composite deflection direction is determined by the radial and axial deflection angles, and the cross-section of the formed hole is determined by the self-deflection angle in the vertical plane of the composite deflection direction, and finally, the hole is opened according to the composite deflection direction to complete the construction of the cooling hole; the parameterized composite deflection directions are orthogonal to each other, and a wider range of composite inclined cooling hole structure designs is covered with fewer variables, thereby reducing the design variables for carrying out gas-thermal optimization work of the composite deflection structure of the cooling hole; the composite deflection direction of the cooling hole is determined by inverse three-dimensional projection modeling, and the obtained composite deflection structure has a one-to-one correspondence with the design parameters, and has the advantages of clear directional characteristics and flexible parameter transformation.

The utility model provides a hydrological change and ecological response simulation analyzer, which relates to the technical field of hydraulic engineering and comprises a main body, a groove is arranged at the top of the main body, a two-dimensional display screen is arranged in the groove, a three-dimensional projection is arranged on the inner side of the groove, loudspeakers are arranged on two sides of the groove, and a control button is arranged on one side of the groove. A clamping groove is formed in one side of the control button, a data display screen is arranged on the other side of the clamping groove, a soil analysis opening is formed in one side of the main body, a water quality analysis opening is formed in the other side of the main body, a two-dimensional display screen, a three-dimensional projection device and a loudspeaker are adopted, two-dimensional and three-dimensional visualization, animation demonstration, dubbing of the loudspeaker and the like are achieved, the visualization effect is improved, and the water quality is improved. The user interface design is optimized, the interaction function is added, and the user experience is improved.

The present invention relates to the field of medical image processing and intelligent diagnosis technology. It provides an image recognition method for urinary system stones, including obtaining a dynamic video stream of the stone area through an endoscopic image acquisition module and extracting the current frame image; performing light compensation processing on the image to eliminate blood vessel interference and reflection and enhance the boundary of the main body of the stone; based on multi-spectral feature fusion, separating the yellowish spectral features of uric acid stones and the grayish-white spectral features of calcium stones, and calculating the color distribution dispersion degree of the stone surface; using a direction-sensitive convolution kernel to perform multi-angle texture energy detection to generate a calcification crystal density coefficient; inputting the color distribution dispersion degree and the calcification crystal density coefficient into a decision tree model to output a stone type identifier; generating frequency-energy combination parameters of a laser lithotripter according to the stone type identifier and the three-dimensional projected area of the stone contour, and real-time controlling the laser pulse emission timing sequence.

The invention discloses an intelligent ship 360-degree horizontal panoramic image stitching method, which comprises the following steps: acquiring all sequence frame images corresponding to each camera video according to a camera array, and traversing each pixel point in a corresponding initial stitching panoramic image by constructing a panoramic image hash mapping function according to a set panoramic image width to obtain a panoramic image sequence; performing projection processing on each pixel point in the cylindrical coordinate system to obtain a three-dimensional projection coordinate point, projecting the camera internal reference to an image pixel coordinate system to obtain an image pixel point, and determining a pixel contribution weight of the camera in an image area in the corresponding panorama based on the image pixel point; according to the pixel contribution weight and the three-dimensional projection coordinate point, a hash key value pair is inserted in combination with a panorama hash mapping function so as to fill panorama pixels, and a horizontal panorama of the corresponding sequence frame is acquired; according to the invention, the problems of insufficient resolution, dynamic adaptability, real-time performance, maritime environment applicability, intelligent navigation information perception capability and the like of the existing panoramic splicing scheme are solved.

The application relates to a construction lofting method and system, a storage medium and an intelligent terminal, and relates to the field of building construction, which comprises the following steps: acquiring current construction progress information and modification adjustment information; judging whether the modification adjustment information exists; if yes, obtaining modification construction scheme information; obtaining a mapping relationship of three-dimensional projection information and projector coordinate information; obtaining constructed projection information and unconstructed projection information; acquiring projection result image information; judging whether the current construction progress information in the projection result image information and the constructed projection information coincide; if yes, only projecting the unconstructed projection information after removing the constructed projection information; if not, adjusting the constructed projection information into an alarm and projecting the alarm together with the unconstructed projection information; and if not, projecting according to the projection result image information. The application has the advantages that the user can continue construction according to the projection, and the intelligence and humanization of the projection are improved.

A method for encoding a 360-degree image, a method for decoding a 360-degree image, and a method for transmitting a bitstream generated by the method for encoding the 360-degree image are disclosed. The method for decoding a 360-degree image includes: receiving a bitstream in which the 360-degree image is encoded, the bitstream including data of an extended two-dimensional image, the extended two-dimensional image including a two-dimensional image and a predetermined extended region, and the two-dimensional image being projected from an image having a three-dimensional projection structure and including one or more surfaces; generating a prediction image by performing a prediction based on prediction information included in the bitstream; and reconstructing the extended two-dimensional image based on the prediction image and a residual image.

The application provides a positioning adjustment method, device and equipment of a track plate and a readable storage medium, relates to the technical field of measurement and control, and comprises the following steps: obtaining three-dimensional design coordinates of all measuring devices; establishing a plane equation based on the three-dimensional design coordinates; obtaining three-dimensional measurement coordinates of all measuring devices; determining elevation adjustment amounts of all measuring devices; calculating three-dimensional projection coordinates of all measuring devices; determining lateral adjustment amounts and longitudinal adjustment amounts of all measuring devices based on the three-dimensional projection coordinates and the three-dimensional design coordinates; and adjusting the position of a target track plate based on the elevation adjustment amounts, the lateral adjustment amounts and the longitudinal adjustment amounts of all measuring devices. The application can accurately obtain the position deviation of the current position relative to the plate plane by establishing the plate plane equation, calculating the deviation between the measurement position coordinates and the design coordinates to the directions parallel to the plate plane and perpendicular to the plate plane, and quickly and accurately adjusting the track plate to the design position by using the fine adjustment mechanism.

This invention discloses a method, apparatus, and device for simultaneous localization and mapping (SLAM) of a mobile robot. The method involves acquiring depth information, LiDAR scanning information, and odometry information of the robot's environment; performing 3D projection on sparse point cloud data to obtain 2D information of the robot's environment; performing spatiotemporal synchronization processing on the 2D information, LiDAR scanning information, and odometry information; establishing pose nodes using the spatiotemporally synchronized 2D information, LiDAR scanning information, and odometry information; performing point cloud registration on the spatiotemporally synchronized 2D information and LiDAR scanning information using an iterative nearest point method; optimizing the pose nodes in real time using a second iterative nearest point method; and drawing a map based on the optimized pose nodes and pose transformation matrix; and completing loop closure screening using a third iterative nearest point method, with the selected loops used for loop closure detection. This invention can simultaneously leverage the advantages of LiDAR and visual sensors in unknown and complex environments.

The invention discloses a three-dimensional scene fusion monitoring method and device, equipment and a storage medium. The method comprises the following steps: acquiring a real-time frame image, and matching feature points of the real-time frame image with feature points in a preset three-dimensional real scene to obtain an initial camera pose; generating a plurality of adjacent view angle images based on the initial camera pose, and performing similarity matching on the adjacent view angle images and the real-time frame image to obtain an accurate camera pose; determining a geometric intersection area according to the accurate camera pose, and mapping the real-time frame image to the geometric intersection area to obtain a live-action three-dimensional projection; splicing and fusing the live-action three-dimensional monitoring projection of each unmanned aerial vehicle to obtain live-action three-dimensional monitoring; according to the method, the pose of the unmanned aerial vehicle is determined according to the feature matching result of the real-time frame image and the high-precision preset three-dimensional real scene instead of a sensor of the unmanned aerial vehicle, and the pose of the adjacent view angle image with the highest similarity is used as the pose of the unmanned aerial vehicle for projection, so that high-precision superposition of positions is ensured, and a better three-dimensional real scene monitoring effect is obtained.

The invention relates to the technical field of power transmission line construction safety monitoring and computer vision digital twinning, in particular to a power transmission line construction personnel mistaken entry prevention visual early warning system which comprises a data acquisition and reference reconstruction step: generating a reference three-dimensional projection image and a reference depth map which are consistent in camera visual angle and free of personnel interference; a real difference extraction step: generating a real-time monitoring difference feature map containing unexpected changes; a theoretical simulation deduction step: generating a simulation intrusion feature map representing a human body intrusion form; a feature coupling judgment step: when the spatial coincidence degree is greater than a preset spatial consistency threshold value, judging that a real person mistaken entering behavior exists and triggering an alarm signal; if the spatial coincidence degree is smaller than or equal to a spatial consistency threshold value, determining that the noise is environmental noise and keeping a current monitoring state; the technical problem that traditional static background modeling cannot adapt to frequent change of a construction site scene is solved, false alarm caused by normal construction activities is avoided, and monitoring pertinence is guaranteed.

The application relates to the technical field of image processing, and provides a detection method and system for wrist arm positioning marks based on image processing, which solve the problems of high contour detection error rate caused by insufficient inhibition of environmental interference and false detection caused by parameter solidification. The method comprises the following steps: acquiring wrist arm operation parameters to generate a space constraint model; collecting visible light band and infrared band images of wrist arm positioning marks to generate multispectral enhanced images through fusion; based on the reflection characteristics of the positioning marks, combining weight distribution and feature aggregation of the space constraint model, acquiring an initial contour point set of the positioning marks and performing three-dimensional projection correction to generate a topological structure matched with the spatial posture of the wrist arm; and based on the verification result of the geometric distribution boundary of the topological structure and the space constraint model, generating the final detection coordinates of the positioning marks of the wrist arm. The application solves the problem of detection precision decline caused by complex environmental interference and mechanical deformation, and improves the robustness and accuracy of the positioning marks of the high-speed rail catenary wrist arm.

The invention provides a multi-modal data space alignment method and a roadside sensing system, and belongs to the technical field of data processing. Acquiring time-synchronized image data, initial point cloud data and at least one frame of candidate point cloud data adjacent to the initial point cloud data in time, wherein the point cloud data is marked with a three-dimensional data frame of at least one target object in advance; projecting the three-dimensional data frame to an imaging plane of a camera based on a pre-calibrated internal and external parameter matrix to obtain first three-dimensional projection frame data and a plurality of second three-dimensional projection frame data corresponding to each target object; and adjusting the first three-dimensional projection frame data according to a matching result of the first three-dimensional projection frame data and the image data and a matching result of each second three-dimensional projection frame data and the image data, and adjusting the initial point cloud data according to the adjusted first three-dimensional projection frame data. According to the method and the device, dual alignment of the multi-modal data in time and space can be achieved, so that the effect that the multi-modal data synchronously shows the same physical scene is achieved.