32 results about "4d imaging" patented technology

An apparatus comprises an interface and a processor. The interface may be configured to receive pixel data representing a first field of view of a camera and four-dimensional (4D) point cloud data representing a second field of view of a 4D imaging radar sensor. The first field of view of the camera and the second field of view of the 4D imaging radar sensor generally overlap. The processor may be configured to process the pixel data and the 4D point cloud data arranged as video frames and perform an extrinsic parameter calibration for the 4D imaging radar sensor and the camera based on adaptive projection error. The extrinsic parameter calibration may comprise applying a pose calibration process to the video frames. The pose calibration process may use (i) a respective translate vector and a respective rotation matrix for each of the 4D imaging radar sensor and the camera and (ii) a radar corner reflector to obtain configuration parameters for the first field of view of the camera and the second field of view of the 4D imaging radar sensor. The pose calibration process generally comprises capturing data for a plurality of positions of the radar corner reflector between a near-distance value and a long-distance value, and modifying a scale of a projection error of the radar corner reflector based on a size of the radar corner reflector in an image captured by the camera.

The invention relates to the technical field of intelligent traffic and road safety monitoring, and discloses a 4D imaging millimeter wave radar-based slope deformation monitoring and identification method, which comprises the following steps of: acquiring a continuous point cloud; carrying out voxel modeling on the point cloud in a three-dimensional space; selecting three continuous frames of point clouds, and identifying mutant voxels by calculating the point number variation of each voxel in adjacent frames; performing spatial clustering on the mutant voxels to obtain an obstacle region; performing feature extraction on the obstacle area, wherein the extracted features comprise the height difference, the average reflection intensity and the centroid drift of the obstacle area; carrying out linear weighted fusion on the extracted features, and constructing a landslide mutation index; and judging whether an obstacle target exists in an obstacle area or not according to a preset condition, and performing risk grading identification according to the landslide sudden change index. According to the invention, all-weather, structured and high-reliability perception of major traffic potential safety hazards such as landslide / rockfall is realized, and a new basic capability is provided for a traffic safety system.

The invention relates to the technical field of sensor calibration, in particular to a 4D imaging millimeter wave radar-camera external parameter calibration method and device. Obtaining and preprocessing a 4D imaging millimeter wave radar point cloud and a camera image, and initializing an initial external reference matrix and a camera internal reference matrix of a 4D imaging millimeter wave radar-camera; extracting point cloud features and image features under multiple scales by using an improved PointNet + + network and a plurality of residual network blocks, wherein the improved PointNet + + network performs synchronous coding on space, speed and intensity information of the point cloud; based on the point cloud features, the image features, the initial external reference matrix and the camera internal reference matrix, obtaining point cloud-image fusion features under multiple scales by using a Transform module; and estimating the external parameters of the 4D imaging millimeter wave radar-camera in a coarse-to-fine iterative refining mode. Compared with the prior art, the method has the advantages that on-line calibration of the external parameters of the 4D imaging millimeter-wave radar and the camera can be rapidly and accurately carried out in real time under the condition that the method is not influenced by the environment, and the like.

The invention discloses a liver cancer focus segmentation method and system based on dynamic feature fusion, and relates to the technical field of liver cancer diagnosis assistance, and the method comprises the steps of multi-source data collection, feature extraction, dynamic fusion, segmentation output and result verification. A 4D image, a multi-posture liver image and a synchronous physiological signal are obtained through the multi-source data acquisition module, features are extracted through the static and dynamic feature extraction module, weights are distributed through the dynamic fusion module, and then processing is conducted through the segmentation output and result verification module. Through cooperative processing of the multi-source data acquisition module, the feature extraction module and the like, a real focus boundary and a motion artifact can be accurately distinguished, and the missing detection condition of a tiny focus caused by fuzzy boundary is effectively reduced; meanwhile, the omission ratio caused by the atypical single posture feature is greatly reduced, the identification accuracy is improved by capturing the stability difference of benign and malignant lesions, finally precise segmentation of the liver cancer focus is achieved, and a reliable basis is provided for clinical diagnosis and treatment decision making.

The invention provides an ultrahigh-temperature infinite rotation 4D imaging system, and relates to a 4D imaging system, the ultrahigh-temperature infinite rotation 4D imaging system comprises a system body installed on a CT rotary table, the system body comprises a water slip ring unit, a driving and electric slip ring unit, a high-temperature bearing barrel unit and a water and electricity slip ring unit, and a sample is positioned in the high-temperature bearing barrel unit; the high-temperature bearing barrel unit is used for realizing ultrahigh-temperature heating and driving, the electric slip ring unit is used for applying a drawing force, a compressing force or a twisting force to a sample and can also perform n * 360-degree infinite rotation along with the water slip ring unit at the bottom, and the water slip ring unit is positioned at the top of the high-temperature bearing barrel unit; the water slip ring unit and the water slip ring unit are jointly used for providing cooling liquid for a system body rotating during a high-temperature test so as to prevent the system body from being damaged due to excessive heating, the water slip ring unit is used for stretching, compression and torsion tests of a material under a ray field at an ultrahigh temperature, and an n * 360-degree infinite rotation test system can be realized; and the winding problem of the cable and the water cooling pipe is effectively avoided.

The invention provides a system for image registration and volumetric imaging of a patient, the system comprising: a first interface adapted to receive 3D and / or 4D images of the patient; a second interface adapted to receive 2D images during a procedure carried out on the patient; and a processing unit wherein the processing unit is adapted to carry out a method comprising the steps of a method for image registration and volumetric imaging.

The invention belongs to the technical field of intelligent sensors, and particularly relates to a high-precision area array 4D imaging optical method and system based on coherent detection. The method specifically comprises the following steps of: generating a step frequency signal by using an arbitrary waveform generator, loading the step frequency signal on an electro-optical modulator, and modulating a light beam output by a laser; the modulated laser is divided into reflected light and reference light, and the reflected light is reflected by an object to be detected and then enters the area array optical imaging device together with the reference light; the area array optical imaging device comprises a space bridge and a CCD (Charge Coupled Device) photosensitive area, the space bridge splits incident light into four paths through beam splitting control, and the space bridge regulates and controls the polarization state of the incident light, so that a phase difference exists between reference light and reflected light in each path of light beam; coherent processing is carried out on multiple frames of voltage data in each pixel, and the linear frequency modulation rate is calculated; and calculating the speed and position of each pixel target based on the linear frequency modulation rate to realize 4D high-precision imaging of the target.

The application discloses a liver cancer lesion segmentation method based on dynamic feature fusion, relates to the technical field of liver cancer diagnosis assistance, and comprises the steps of multi-source data acquisition, feature extraction, dynamic fusion, segmentation output and result verification. 4D images, multi-posture liver images and synchronous physiological signals are acquired through a multi-source data acquisition module, features are extracted through static and dynamic feature extraction modules, weights are allocated by a dynamic fusion module, and then the segmentation output and result verification module is processed. Through the cooperative processing of the above-mentioned multi-source data acquisition, feature extraction and other modules, the application can accurately distinguish the real lesion boundary from the motion artifact, effectively reduces the missed detection situation caused by the fuzzy boundary of the micro lesion, greatly reduces the missed detection rate caused by the atypical single posture feature, improves the identification accuracy by capturing the difference in the morphological stability of benign and malignant lesions, and finally realizes the accurate segmentation of the liver cancer lesion, thereby providing a reliable basis for clinical diagnosis and treatment decision.

The invention relates to a tower crane operation environment sensing method based on multi-scale and multi-modal feature fusion decoding, belongs to the technical field of intelligent construction, and specifically comprises the following steps: mainly based on sparse point cloud data acquired by a 4D imaging radar and video image data acquired by a monitoring camera; fusion feature extraction of two modal data is realized through twice Transform architecture based on a deformable attention mechanism, and the feature extraction process is repeated after down-sampling is performed on the two modal data, so that fusion feature information of multi-modal data is perfected from different scales. And finally, multi-scale decoding is performed on the fusion feature information of different scales, so that a final tower crane environment sensing result is obtained, and the recognition efficiency and accuracy of the tower crane operation environment sensing problem are remarkably improved by performing multi-modal fusion analysis of different scales on the 4D sparse point cloud data and the video monitoring image data.

The ultrasound imaging apparatus according to an embodiment includes: a display configured to display an ultrasound image; an ultrasound probe configured to transmit an ultrasound signal to an object and receive an ultrasound echo signal; and a controller configured to obtain a 4D image of a heart at a first position of the object by processing the ultrasound echo signal, obtain a biplane image of the heart in a second position different from the first position, when an artifact is detected in the biplane image, extract a second cross-sectional image corresponding to a first cross-sectional image in which the artifact is detected among the biplane images from the 4D image and control the display to display the second cross-sectional image.

The application discloses a kind of 4D imaging millimeter wave radar stereo traffic dataset construction method and related equipment, comprising: obtaining the multi-source original data collected by data acquisition platform, which is equipped with 4D imaging millimeter wave radar, laser radar, high-definition camera and positioning system etc., and the multi-source original data contains the above-mentioned each sensor data and is collected in the target scene of preset scene library, each sensor data is aligned under unified space-time reference after time synchronization and space calibration;Multi-source original data is analyzed and processed, point cloud is obtained and quality verification is carried out;4D imaging millimeter wave radar point cloud and laser radar point cloud are fused, visual reference is provided according to image data, motion compensation is provided by positioning data, and multi-modal sensing data is formed;Multi-modal sensing data is labeled, and dataset is obtained.The application constructs multi-modal high-quality dataset with 4D imaging millimeter wave radar as core, cooperates multiple sensors, covers multiple stereo traffic scenes, and provides high-precision labeled information with time sequence continuity.

The application discloses a kind of based on fine system matrix adaptive PET real-time imaging method, its steps include: 1) simulating generation PET system fine system matrix;2) based on the coincidence data and the fine system matrix that the PET system acquisition, using ordered subset maximum expectation value method carries out image reconstruction;Wherein in the iteration process of image reconstruction, the coincidence data is subsetted and iteratively updated, according to the relaxation factor α (t) that changes with time or the relaxation factor α (n) that changes with activity adaptively controls each iteration update step, according to each subset after each iteration update respectively carries out image reconstruction.The application can observe the distribution of radiopharmaceutical in the scanned object in real time, directly obtain PET real-time imaging image, and generate 4D imaging image after scanning.

1. Name of the product under this design: Millimeter-wave radar (4D imaging CAR‑A300). 2. Purpose of this design product: This design product is used for a long-range millimeter-wave radar that uses millimeter waves to detect targets. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention discloses a 4D imaging millimeter wave radar pitch angle self-calibration processing method, system and platform based on ground and high-altitude targets. The simple and reliable vehicle-mounted 4D imaging millimeter wave radar pitch angle self-calibration method is realized by using common flat road surfaces and high-altitude markers in vehicle driving as references, the mounting angle deviation caused by vibration and jolt can be automatically compensated in the vehicle life cycle, the industrial problem of inaccurate radar height measurement is effectively solved, and the vehicle-mounted 4D imaging millimeter wave radar pitch angle self-calibration method is suitable for popularization and application. And the sensing precision and decision reliability of the advanced driving assistance system are obviously improved.

The invention relates to the technical field of cockpit images, and discloses a cockpit 4D image generation system based on end-cloud collaboration. The system comprises an end side data acquisition module, a cloud side processing module and an end side image generation module. The end-side data acquisition module is provided with a multi-sensor fusion unit, so that multi-source cabin data can be formed; after the cloud side processing module receives the data, an image prediction unit outputs an image prediction signal and a risk early warning signal, an image optimization unit processes the data and the prediction signal to obtain an optimal rendering signal, and a rendering control unit defines constraint conditions and outputs rendering parameters. In the end side image generation module, a self-adaptive rendering execution unit adjusts parameters according to the optimal rendering signal, a cabin equipment control unit adjusts equipment according to the parameters and multi-source data and receives a real-time state signal, and a user interaction module processes an early warning and prediction signal and outputs a feedback index. According to the system, by means of cloud cooperation and multi-source data fusion, the cockpit 4D image generation effect and intelligent experience are optimized.

The present invention discloses a method for calculating the time delay between a navigation and positioning device and a three-dimensional fluoroscopy device. The method comprises the following steps: controlling the target's motion and scanning its 4D image with the three-dimensional fluoroscopy device, while simultaneously acquiring a corresponding respiratory motion curve of the target's motion in real time through a sensor; identifying the target's position in the 4D image, thereby obtaining a target motion curve, and combining the obtained respiratory motion curve with the calculated time delay between the navigation and positioning device and the three-dimensional fluoroscopy device. This method can accurately determine the time delay between a surgical robot and the three-dimensional fluoroscopy device, enabling precise manipulation of lesions affected by respiration.

The present invention provides an ultra-high temperature infinite rotation 4D imaging system, which relates to a 4D imaging system comprising a system body mounted on a CT turntable. The system body comprises a water slip ring unit, a drive and electric slip ring unit, a high-temperature bearing barrel unit, and a water-electric slip ring unit. A sample is positioned in the high-temperature bearing barrel unit and ultra-high temperature heating is achieved by the high-temperature bearing barrel unit. The drive and electric slip ring unit is used to apply tensile, compressive, or torsional forces to the sample while also being able to perform n×360° infinite rotation along with the water slip ring unit at the bottom. The water-electric slip ring unit is located on top of the high-temperature bearing barrel unit and, together with the water slip ring unit, is used to provide coolant to the rotating system body during high-temperature testing to prevent damage to the system body due to excessive heating. The present invention is used for ultra-high temperature tensile, compression, and torsional testing of materials in a radiation field, and can realize an n×360-degree infinite rotation test system, effectively avoiding the entanglement of cables and water cooling pipes.

The invention relates to a rapid conversion configuration method and system for a vehicle-mounted 4D imaging millimeter wave radar, and the method comprises the steps: transmitting a waveform switching instruction to a radio frequency drive chip through an MSS core, and transmitting an algorithm updating instruction to a DSP through inter-core communication; the MSS core receives the updating algorithm from the DSP and updates algorithm configuration; the MSS core controls the radio frequency driving chip to update the waveform of the radio frequency front-end RF core based on the updated algorithm configuration; and the MSS core controls the RF core at the front end of the radio frequency to send waves according to the updated waveform. According to the invention, the MSS core directly controls the radio frequency driving module in the core, updates the waveform parameters of the radio frequency front end and closes / starts the wave transmission, the MCU core directly updates the algorithm configuration in the DSP core through the inter-core communication command, and the mode switching time is reduced to one percent of the original mode switching time, so that the radar data loss and the influence on the automatic driving function can be ignored.

The present disclosure provides systems and methods for fetal monitoring. The methods can include obtaining ultrasound data related to a fetus collected by an ultrasound imaging device; generating a 4D image of the fetus based on the ultrasound data; instructing a display component of an extended reality device to display the 4D image to an operator; detecting a motion of the fetus based on the ultrasound data; and instructing a haptic component of the extended reality device to provide haptic feedback to the operator regarding the motion.

The invention belongs to the technical field of medical image sequence registration, and provides a self-adaptive medical image sequence registration method and system based on space-time collaborative coding, and the method comprises the steps: obtaining 4D image sequence data, defining each element in the 4D image sequence data as a 3D image corresponding to a corresponding moment, registering the 4D image sequence data by using a pre-trained deep neural network model to obtain a registration result; the deep neural network model comprises a feed-forward encoder and a reconstruction decoder which both adopt a multi-stage hierarchical design, and the feed-forward encoder fuses time sequence dependence and space context information in an image sequence; the reconstruction decoder performs step-by-step up-sampling and accurate reconstruction on the features output by the encoder, and constructs a feature compensation path through jump connection between layers so as to fuse shallow spatial information and deep semantic features. According to the invention, the accuracy of registration is improved.

The application relates to the technical field of sensor calibration, in particular to a 4D imaging millimeter wave radar-camera external parameter calibration method and device. 4D imaging millimeter wave radar point cloud and camera images are acquired and preprocessed, an initial external parameter matrix of the 4D imaging millimeter wave radar-camera and a camera internal parameter matrix are initialized; point cloud features and image features under multiple scales are extracted by using an improved PointNet++ network and multiple residual network blocks, the improved PointNet++ network synchronously encodes spatial, velocity and intensity information of the point cloud; based on the point cloud features, the image features, the initial external parameter matrix and the camera internal parameter matrix, a point cloud-image fusion feature under multiple scales is acquired by using a Transformer module; the external parameter of the 4D imaging millimeter wave radar-camera is estimated by using a coarse-to-precise iterative refinement mode. Compared with the prior art, the application has the advantages that the 4D imaging millimeter wave radar and the camera external parameter online calibration can be quickly, timely and accurately performed without being affected by the environment.

The application discloses a 4D imaging probe and a 4D echo imaging system, and relates to the technical field of medical imaging, in particular to an anti-interference probe. The anti-interference probe comprises a shell, an opening is arranged at the front end of the shell, an acoustic window is arranged at the opening and is in sealing connection with the shell to form a cavity, an ultrasonic transducer is movably arranged in the cavity and faces the acoustic window and is connected with a power mechanism, and a nano-magnetic fluid with magnetic fluid nanoparticles is filled in the cavity. In a working state, the nano-magnetic fluid serves as a medium to absorb electromagnetic waves leaked from the acoustic window to the receiving and transmitting end. The anti-interference probe can protect the receiving and transmitting end of the ultrasonic transducer through the nano-magnetic fluid, avoid interference of external interference electromagnetic waves into the receiving and transmitting end to cause interference of a receiving wave band, and the fluid characteristics of the nano-magnetic fluid will not affect normal ultrasonic wave receiving and processing.

The present disclosure provides an ultrasonic transducer, an ICE probe and a four-dimensional imaging device for 4D imaging. The ultrasonic transducer for 4D imaging comprises a control assembly, a linear array and a reflection structure provided with a rotating reflection inclined surface connected with the control assembly and oppositely arranged; the linear array comprises a plurality of array element structures arranged in different preset directions and independently working; the control assembly is used to drive the rotating reflection inclined surface to rotate; the control assembly is also used to drive a target array element structure matched with a target azimuth of the rotating reflection inclined surface to emit and receive ultrasonic signals according to the target azimuth at different acquisition time instants, so as to generate a corresponding cross-sectional image at each acquisition time instant, and the cross-sectional images at different acquisition time instants are synthesized to obtain a four-dimensional dynamic ultrasonic image; wherein different array element structures correspond to different azimuth ranges of the rotating reflection inclined surface. The four-dimensional dynamic ultrasonic image generated by the present disclosure can meet the medical needs of accurate examination of heart cavities.

The invention provides a production line EOL calibration method of a vehicle-mounted millimeter wave radar, and belongs to the technical field of vehicle-mounted millimeter wave radar calibration. Comprising the steps that a rear radar calibration metal plate is installed on the rear side of a four-wheel positioning station, the width of the rear radar calibration metal plate is made to be larger than that of a calibration object, and the rear radar calibration metal plate serves as a rear side radar calibration target of the distributed millimeter wave radar; and the width of the front radar calibration metal plate is widened to be greater than the width of the calibration object, so that the front radar calibration metal plate is used as a front side radar calibration target of the distributed millimeter wave radar. By setting a calibration working mode and properly reducing the number of working array elements, the effective aperture of the radar is reduced, the existing production line station is reused to the maximum extent, the method is not only suitable for a traditional 3D radar, but also suitable for a 4D imaging radar, meanwhile, an OTA wireless communication scheme is used for replacing a wired communication scheme of a diagnostic instrument and an OBD interface, and the cost of calibration equipment is reduced.

The application relates to the technical field of intelligent traffic and road safety monitoring, and discloses a slope deformation monitoring and identification method based on 4D imaging millimeter wave radar, which comprises the following steps: acquiring continuous point clouds; modeling voxels of the point clouds in a three-dimensional space; selecting three continuous frames of point clouds, identifying mutant voxels by calculating the point number change of each voxel in adjacent frames; performing spatial clustering on the mutant voxels to obtain an obstacle region; extracting features of the obstacle region, wherein the extracted features include a height difference, an average reflection intensity and a centroid drift of the obstacle region; performing linear weighted fusion on the extracted features to construct a landslide mutation index; determining whether the obstacle region contains an obstacle target according to a preset condition, and performing risk classification identification according to the landslide mutation index. The application realizes all-weather, structured and high-reliability perception of landslide / rockfall traffic major safety hazards, and provides a new basic capability for a traffic safety system.

The present application relates to a tower crane operating environment perception method based on multi-scale multi-modal feature fusion decoding, belonging to the technical field of intelligent construction, specifically comprising that the method is mainly based on sparse point cloud data collected by 4D imaging radar and video image data collected by monitoring camera, through twice feature extraction of fusion of two modal data based on deformable attention mechanism Transformer architecture, while the two modal data are down-sampled, the above feature extraction process is repeated to realize the fusion feature information of multi-modal data from different scales, and finally the multi-scale decoding of the fusion feature information of different scales is carried out, so that the final tower crane environment perception result is obtained, the present application carries out multi-modal fusion analysis of 4D sparse point cloud data and video monitoring image data in different scales, and then the recognition efficiency and accuracy of tower crane operating environment perception problem are significantly improved.

The application discloses a 4D multi-frame spectral three-dimensional imaging method based on aperture coding and digital image correlation, adopts a 4D imaging system, and tightly couples and cooperatively images two different mechanisms of spectral imaging and three-dimensional imaging. In the system, a mask in an aperture coding spectral imaging module is removed, a target object is actively illuminated with an aperture coding pattern, and then an image after spatial light intensity modulation is obtained, so that the effect of the mask is achieved. The application combines active coded aperture snapshot spectral imaging with digital image correlation (DIC), creatively combines a digital speckle image used for 3D imaging and a random code required for spectral imaging, and can synchronously perform spectral reconstruction and three-dimensional reconstruction, so that the system speed is greatly improved. Since the active CASSI scheme is adopted to realize spectral imaging, and no mechanical motion structure and mask are contained, the device structure is stable and fast sampling can be achieved.

This application belongs to the field of computer vision and 3D reconstruction technology, and relates to a method, device, electronic device, and storage medium for single-image vehicle 4D reconstruction. The method includes: performing frequency domain decomposition processing on a single vehicle image to be processed using a wavelet basis to obtain image transformation components; processing the image transformation components using an image feature network to obtain a static 3D Gaussian ellipsoid set; performing temporal deformation processing based on the static 3D Gaussian ellipsoid set, time parameters, and the vehicle motion type corresponding to the time parameters, combined with an implicit deformation field network, to obtain a 4D Gaussian ellipsoid set; expanding the 4D Gaussian ellipsoid set with specified parameters to obtain an expanded 4D Gaussian ellipsoid set; and obtaining a single-image vehicle 4D image based on the expanded 4D Gaussian ellipsoid set, the spherical harmonic coefficient vector of the ambient illumination distribution, and the viewing angle direction. This achieves single-image vehicle 4D reconstruction under heavy illumination conditions.

The invention discloses a cleavage-stage embryo medical image quality detection method and system, and relates to the technical field of medical image detection.The cleavage-stage embryo medical image quality detection method comprises the following steps that S1, a cleavage-stage embryo is placed in a matched agarose culture dish, and the refractive index of the agarose culture dish is consistent with that of an embryo culture solution; s2, constructing a 4D imaging model, performing continuous dynamic imaging on the cleavage stage embryo, and collecting 4D original image data of the cleavage stage embryo within a preset time range; s3, constructing a preprocessing model, carrying out refraction correction on the 4D original image data, identifying an embryo contour and cell distribution, judging an embryo body position, and forming preprocessed image data; the agarose culture dish with the refractive index consistent with that of the embryo culture solution is adopted and matched with the exclusive refraction correction sub-module for light refraction deviation compensation, refraction deviation is eliminated from the source and post-processing two dimensions, the problems of image blurring and distortion are effectively solved, and the basic quality of images is improved.

This invention relates to the field of cockpit imaging technology and discloses a cockpit 4D image generation system based on edge-cloud collaboration. The system comprises three main modules: edge-side data acquisition, cloud-side processing, and edge-side image generation. The edge-side data acquisition module includes a multi-sensor fusion unit that can generate multi-source cockpit data. After receiving this data, the cloud-side processing module outputs image prediction signals and risk warning signals through an image prediction unit. An image optimization unit processes the data and prediction signals to obtain the optimal rendering signal, and a rendering control unit defines constraints and outputs rendering parameters. In the edge-side image generation module, an adaptive rendering execution unit adjusts parameters according to the optimal rendering signal, the cockpit equipment control unit adjusts equipment based on parameters and multi-source data, and receives real-time status signals. A user interaction module processes warning and prediction signals and outputs a feedback index. This system optimizes the cockpit 4D image generation effect and intelligent experience through edge-cloud collaboration and multi-source data fusion.