20 results about "Binocular distance" patented technology

The application discloses a binocular distance measuring method with three-layer filling of a parallax map, and is characterized in that the method comprises the following steps: 1) calibrating a binocular camera; 2) graying left and right pictures; 3) setting a parallax threshold t; 4) filling parallax values of E err ; 5) filling parallax values of B blo ; and 6) obtaining a depth map. The method processes different kinds of problems on the parallax map by using filling techniques respectively, and the processed parallax map retains details, the depth of each pixel point in the background exists, and conforms to a real image, and a target individual in the image is calculated to obtain a safe, effective and practical distance.

The application discloses a kind of parameter adaptive matching binocular ranging method and system based on scene feature, it relates to image matching technical field.The application realizes the comprehensive promotion of ranging accuracy and robustness by introducing scene characteristic evaluation and parameter adaptive mechanism.Under the driving of scene feature, the key parameters of BM algorithm are dynamically adjusted, which avoids the problem of easy mismatching of traditional fixed parameters in different scenes, thereby ensuring stable ranging effect in light change, low texture or dynamic environment, and getting rid of the dependence on manual parameter adjustment, significantly reducing engineering deployment and maintenance cost.Combining YOLO model for target detection, the class, position and depth map information are fused to realize automatic identification and ranging of specific target.

The application discloses a kind of deep water measurement method and system based on binocular ranging, method includes the following steps: S1, in air or ideal environment, the color calibration board image of known RGB value is collected by binocular camera, as color reference image;S2, color calibration board is placed at underwater target scene, and the first underwater image of color calibration board is collected by RGBW light supplement lamp cooperates binocular camera;S3, contrast first underwater image and color reference image, calculate the high intensity configuration parameter of RGBW light supplement lamp;S4, RGBW light supplement lamp is adjusted to high intensity configuration parameter, cooperates binocular camera and collects underwater target scene image and the second underwater image of color calibration board;S5, underwater target scene image is preprocessed, and underwater target scene actual image is obtained.The application solves the problem that the measurement accuracy is not enough in the application of existing measurement technology under deep water condition, and can realize the efficient operation of accurate identification and reliable analysis of underwater target.

The embodiment of the invention discloses a target distance measurement method and device based on a binocular image and a medium, and relates to the technical fields of target distance measurement, image matching and the like. The method comprises the following steps: taking a target frame of an object to be subjected to distance measurement in a reference image as a reference frame, and searching a first matching frame in a matching image by utilizing a template matching method; dividing the reference frame into a plurality of first sub-regions, searching a second sub-region which is most similar to each first sub-region in feature, and excluding the first sub-regions which are inconsistent in spatial distribution; determining a second matching frame of the reference frame according to the feature similarity of the remaining first sub-regions; selecting one of the first matching frame and the second matching frame, which has the maximum intersection-union ratio with the second target frame, as a final matching frame; and determining the parallax of the object in the binocular image according to the final coordinate offset of the matching frame and the reference frame, and determining the radial distance of the object according to the parallax. According to the embodiment, the accuracy and the stability of binocular distance measurement are improved.

Disclosed are a camera module device, a multi-camera camera module, a camera system, an electronic device, and an automatic zoom imaging method. The multi-camera camera module comprises a first camera unit having a zoom function, and a second camera unit having a preset relative positional relationship with the first camera unit, wherein a driving assembly of the first camera unit drives at least part of a lens in at least one lens group of the first camera unit based on an adjustment instruction to perform optical zoom, and the adjustment instruction is generated based on a distance between the multi-camera camera module and a target object, and the distance is obtained by the first camera module and the second camera module based on a binocular distance measurement principle. In this way, the structural configuration of the multi-camera camera module enables the multi-camera camera module to automatically perform optical zoom based on the distance between the multi-camera camera module and the target object, thereby providing a better shooting experience.

The invention relates to the technical field of unmanned aerial vehicle vision obstacle avoidance, in particular to an unmanned aerial vehicle binocular vision obstacle avoidance system and a distance measurement and obstacle avoidance method thereof, and solves the obstacle avoidance problem when light is weak or binocular vision is abnormal by adding a laser module in a double-unmanned aerial vehicle binocular vision obstacle avoidance system to emit customized patterns and combining with an optical filter. The laser module can supplement environment textures and light to enable binocular vision to work normally again, and can also project laser patterns to a reflecting surface of an obstacle by adopting a monocular distance measurement cooperation scheme because the closer the distance is, the smaller the projected patterns are, and the farther the distance is, the larger the projected patterns are. By utilizing the characteristic, monocular distance measurement and auxiliary binocular distance measurement are performed, the distance data of the front obstacle is more accurately provided, and the probability of obstacle avoidance failure is reduced. Flexible adaptation of binocular normal work and abnormal switching is achieved, and the obstacle avoidance stability and complex environment adaptability of the unmanned aerial vehicle are greatly improved.

The invention provides a visual following method and system for an agricultural unmanned vehicle, a medium and an electronic terminal.The method comprises the steps that binocular images are collected through a binocular camera of the agricultural unmanned vehicle, and a human body frame is detected on a left eye image; two operation methods are adopted to realize following: one is based on a binocular distance measurement method, stereo matching and triangulation screening to obtain a following frame according with a preset adjustable following distance, and the other is based on the maximum-area human body frame as the following frame for following; according to the two operation methods, the following speed is adjusted through the area ratio of the current following frame to the previous following frame; according to the invention, the computing power is greatly saved, the response speed is increased, the operation efficiency is improved, the technical problems that the existing agricultural unmanned vehicle depends on manual remote control and the human-vehicle following scheme is insufficient to adapt to the agricultural scene are solved, real-time manual intervention is not needed, and the complex agricultural operation environment is efficiently adapted.

The invention provides a registration method, device and system and electronic equipment. The registration method comprises the following steps: acquiring relative poses of the navigation camera and the projection equipment; a first distance between the first virtual camera and the second virtual camera and a corrected focal length are determined according to the relative pose, a target image is obtained, the target image is an image obtained by shooting a target projection image through the navigation camera, and the target projection image is an image formed on the target object after projection of the projection equipment; according to a first target pixel coordinate of the target projection point on the target projection image, a second target pixel coordinate of the target projection point on the target image, the first distance and the corrected focal length, determining a first coordinate of the target projection point in a navigation camera coordinate system by using a binocular distance measurement model; and establishing a registration relation between the navigation camera coordinate system and the image coordinate system according to a corresponding relation between the first coordinate and the point cloud of the target object in the image coordinate system. The method can improve the calculation precision and the calculation efficiency.

The application provides a power transmission line extraction method and device and a binocular distance measurement method. The power transmission line extraction method comprises the following steps: acquiring an original image; performing smoothing processing on the original image to obtain a noise reduction image; performing sharpening processing on the noise reduction image to obtain an enhanced image; performing edge detection on the enhanced image to obtain a contour image; and extracting a power transmission line image from the contour image by using a straight line detection algorithm. The power transmission line extraction method, device and binocular distance measurement method can consume less computing resources.

The invention provides a large amphibious vehicle overwater garage entering guiding system and method based on target recognition, and belongs to the optical guiding and image recognition technology, and the system is composed of a light source guiding system, a two-channel binocular distance measuring module and an image processing and calculating system. The light source guiding system comprises three square narrow-band red light sources which are mounted at specific positions of the cabin door; the two-channel binocular distance measurement module comprises a narrow-bandwidth red light binocular channel and a visible light binocular channel, is installed on a car roof and provides synchronous images. The image system is used for processing images and calculating warehousing parameters. The LED lamp has the capability of resisting severe environments such as water vapor, salt mist and surge, and is high in illumination adaptability; the structure is simple, the cost is low, and electromagnetic interference is resisted; a large number of environmental samples are not needed, and various vehicle models and garage doors are adapted; and through dual-channel image cross validation, the recognition accuracy and the system reliability are improved.

This invention relates to the field of power transmission line technology. To address the problem of object occlusion and blind spots affecting the perception of monitoring scenes, it provides a split-type binocular ranging method and system for power transmission lines. The method includes: predicting a corresponding dense depth map based on jointly calibrated original images; obtaining a true depth map from two original images and using it to calibrate the two dense depth maps to obtain a corresponding monocular depth map; identifying potential 3D objects from any original image and calculating a sparse 3D point cloud; selecting any original image as a projection surface image and extracting its semantic and texture features, then combining the sparse depth map with a global structural prior for depth completion to obtain a completed dense depth map of the 3D object region; and fusing the completed dense depth map of the 3D object region with the background region of its corresponding monocular depth map to generate a final dense depth map covering the entire monitoring scene. This enables dense depth perception across the entire scene.

The invention provides a binocular distance measurement method for intelligent driving of a vehicle, and the method comprises the steps: obtaining a first video image and a second video image which have the same starting and ending time, the first video image being an image shot by a first camera, and the second video image being an image shot by a second camera; determining a first distance between the first camera and the obstacle at the first time node according to the first video image; determining a second distance between the second camera and the obstacle at the first time node according to the second video image; obtaining a picture of the first time node in the first video image and the second video image; generating a first half body model of the obstacle based on the first video picture and the second video picture; and determining a first target distance between the vehicle and the obstacle based on the first half body model, the first distance and the second distance. The invention further provides a binocular ranging camera for intelligent driving of the vehicle.

The application discloses a target recognition and distance measurement method and system for a heterogeneous binocular manta ray robot, and belongs to the field of intelligent perception of underwater robots. The method comprises the following steps: encoding original event stream data of a dynamic vision sensor into images; calibrating camera parameters of multiple images generated by encoding of the dynamic vision sensor and multiple images of an industrial camera, so as to obtain the focal lengths of the two cameras and the positional relationship between the two cameras; performing target recognition on the images generated by event encoding of the dynamic vision sensor and the images of the industrial camera through a deep learning algorithm, marking the image area of the target, and obtaining the image coordinates of the target area center; and calculating the distance between the target manta ray robot and the heterogeneous binocular camera by using a binocular distance estimation algorithm according to the target feature center coordinates, the internal parameters and the external parameters of the two cameras. The application can obtain more effective data underwater, and improves the information transmission efficiency.

This invention discloses a method and apparatus for measuring the velocity of a debris flow faucet based on binocular ranging. The method involves locating the movement area of ​​the debris flow faucet through motion detection; extracting feature points from the binocular image using the SIFT algorithm at the faucet location and matching all feature points in the image; calculating the distance from all matched points to the binocular camera using binocular ranging and taking the average as the distance value at time t1; obtaining the distance value at time t2 and calculating the difference between it and the distance value at time t1 as the debris flow distance from time t1 to time t2, dividing by the time difference to obtain the average velocity of the debris flow during that period. The apparatus can run all the steps of the method for measuring the velocity of a debris flow faucet based on binocular ranging. This invention effectively improves the accuracy of debris flow faucet velocity measurement.

The invention discloses an array type iris face multi-mode acquisition and recognition system, which belongs to the technical field of biological feature recognition and comprises a main control board and a multi-core processor adopting an ARM framework. The main control board is connected with a binocular face enhancement camera, a binocular distance measurement camera, 16 groups of iris acquisition modules, 16 groups of near-infrared light supplement lamps, a three-color LED indicating lamp, a touch display screen and a real-time living body detection and anti-fraud module based on deep learning. According to the method, the iris features and the face features are deeply fused by adopting a multi-dimensional feature fusion and matching algorithm, so that comprehensive and accurate identity feature vectors are formed. The iris has extremely high uniqueness and stability, the face feature provides an additional identity information dimension, and the fusion of the iris and the face feature greatly improves the accuracy of identity recognition. Meanwhile, the real-time living body detection and anti-fraud module based on deep learning is trained by a large number of real samples and fraud samples, and has strong feature extraction and classification capabilities.

The application relates to a DH coordinate system-based holder binocular distance measuring method and system, which comprises the following steps: calibrating a holder camera to obtain an internal parameter matrix of the camera; constructing a DH coordinate system according to the position relationship of the camera relative to the holder base, and calculating the homogeneous transformation matrix of the camera relative to the holder base; using the homogeneous transformation matrix between the two holder bases and the homogeneous transformation matrix of the camera relative to the holder base, and through matrix multiplication, obtaining the homogeneous transformation matrix between the two cameras, and then obtaining the rotation matrix and the translation matrix between the two cameras; using the rotation matrix, the translation matrix and the internal parameter matrix of the two cameras to perform stereo correction on a target image; and then performing feature point matching and disparity calculation on the depth map corresponding to the target image. The application discards the fitting mode, obtains the initial position between the two cameras through initial calibration, establishes a kinematics equation according to the DH coordinate, and thus realizes real-time distance measurement of the binocular camera.

The application relates to a TOF sensing and binocular vision-based obstacle avoidance method, which comprises the following steps: mounting a TOF sensing module, a binocular camera and a photosensitive module; the TOF sensing module and the binocular camera are synchronous and correspondingly acquire the distance of the same obstacle, and the distances are respectively recorded as TOF distance and binocular distance; and the photosensitive module simultaneously acquires the light intensity of the current environment; corresponding obstacle distance determination strategies are executed according to the TOF distance, the binocular distance and the light intensity to obtain the final obstacle distance; and an obstacle avoidance strategy is executed according to the final obstacle distance. The application can value the TOF distance weight W1 and the binocular distance weight W2 based on different obstacle distance intervals and environmental light conditions, perform different fusion calculations, fully exert the ranging performance of the TOF sensing module and the binocular camera at different distances, and meet different task execution requirements.

The invention discloses a deepwater measurement method and system based on binocular distance measurement, and the method comprises the following steps: S1, collecting a color calibration plate image with known RGB values through a binocular camera in the air or an ideal environment, and taking the color calibration plate image as a color reference image; s2, placing the color calibration board at an underwater target scene, and collecting a first underwater image of the color calibration board through cooperation of an RGBW light supplement lamp and a binocular camera; s3, comparing the first underwater image with the color reference standard image, and calculating high-intensity configuration parameters of the RGBW light supplement lamp; s4, adjusting the RGBW light supplement lamp to a high-intensity configuration parameter, and cooperating with the binocular camera to collect an underwater target scene image and a second underwater image of the color calibration board; and S5, preprocessing the underwater target scene image to obtain an underwater target scene actual image. According to the invention, the problem that the measurement precision is not enough when the existing measurement technology is applied under the deepwater condition is solved, and the efficient operation of accurate identification and reliable analysis of an underwater target can be realized.

The application discloses a security inspection method and system based on a holder and binocular distance measurement, and the method comprises the following steps: collecting the three-dimensional data of each target monitoring personnel in a target area in real time by a binocular distance measurement holder robot, and determining the human body action detail features according to the three-dimensional data; determining the abnormal action existing in the target area according to the human body action detail features, and determining the abnormal action corresponding to the abnormal personnel; comparing the abnormal action with a preset abnormal motive database to determine the potential motive of the abnormal personnel, generating alarm information according to the position information of the abnormal personnel and the potential motive of the abnormal personnel, and moving the binocular distance measurement holder robot to the position where the abnormal personnel is located. Through the implementation of the application, the problem that the behavior and potential intention of the abnormal personnel cannot be accurately identified when the robot inspects in the robot security technology field can be solved, and the security reliability and safety of the robot are improved.

The invention belongs to the technical field of medical equipment, and particularly relates to an anterior mediastinal surgery three-dimensional imaging device based on a structured light binocular camera, the anterior mediastinal surgery three-dimensional imaging device comprises an operation handle, an extension rod is rotatably mounted on the operation handle, an imaging head is rotatably mounted at the end of the extension rod, and the end face of the extension rod and the end face of the imaging head are obliquely arranged; the imaging mechanism is arranged on the imaging head, the imaging mechanism comprises two cameras which are installed on the imaging head in a sliding mode, and the two cameras are symmetrically arranged; the anti-fog mechanism is arranged on the imaging head, the anti-fog mechanism comprises a circulating pipe fixedly connected to the imaging head, and the circulating pipe is located on the outer side of the camera and used for adjusting the temperature of the camera. According to the invention, the distance between two eyes can be adjusted through the sliding camera, and the rotation angle of imaging of the camera and the orientation direction of the camera can be adjusted through the rotating extension rod and the imaging head.