128 results about "Binocular vision" patented technology

The invention belongs to the application technical field of AR intelligent glasses, and discloses a local image recognition method and a system based on the AR intelligent glasses. The method comprises steps calibrating the consistency of an intelligent glasses imaging screen, a front camera picture of the intelligent glasses and a visual field picture of a real environment around the intelligentglasses; recognizing the human eye image and calculating the eye motion vector to obtain the eye motion coordinates; identifying whether the focal point of the extended line of human binocular visionis an imaging screen or a real three-dimensional space; obtaining the mapping relationship of human eyes in the real world around them; according to the embedded mapping algorithm, the coordinates ofthe human eye fixation point on the glasses imaging screen and the front camera image being obtained respectively. The invention obtains the eye image information of the human eye through the eye movement instrument, synchronously calibrates the eye image and the scene camera, obtains the fixation point area of the human eye in the real scene, and performs image recognition only on the fixation point area during processing, thereby greatly reducing the image processing pressure of the GPU and improving the image processing efficiency.

An autonomous obstacle-avoiding planning method of a tour detector based on a binocular stereo vision is characterized by: generating DEM data of a local topography; constructing a raster map of a field range of a binocular stereo vision system, carrying out DEM data statistics to each grid in the map and carrying out de-noising processing to the DEM; carrying out topography traversability analysis so as to generate a suitability map; using the suitability maps generated during back and forth two planning to carry out data fusion and obtaining the fused suitability map which is used in the obstacle-avoiding planning; placing several alternative path arcs on the suitability map; evaluating the each alternative path arc from two aspects of a distance from the alternative path arc to a target point and a safe obstacle-avoiding ability; selecting the alternative path arcs whose evaluation values are higher a setting threshold from all the alternative path arcs and selecting the path arc who has the highest evaluation value as a result of the obstacle-avoiding planning. The method of the invention is simple and complete. Security is high. Planning efficiency is high. Engineering realization is easy to be achieved. The method can be used to perform a tour detection task of a complex terrain.

The invention discloses a vehicle detection system based on binocular stereo vision and a method thereof. The system comprises binocular parallel cameras, a DSP processor, communication and other modules. The system is vertically installed above a lane in a top-down mode so as to carry out real-time detection on road vehicles. The method comprises the following steps of (1) carrying out main point difference calibration on left and right cameras in advance and acquiring an accurate main point difference parameter; (2) collecting left and right images in real time so as to carry out detection and extraction of a foreground moving object; (3) carrying out stereo matching on an extracted and acquired foreground object area and acquiring a current frame parallax image; (4) carrying out subsequent processing on the acquired parallax image and removing a false detection area, simultaneously acquiring a two-dimensional ground plane mapping image; (5) through calculation, acquiring correlation parameters of a speed, a vehicle height, a vehicle model and the like. In the invention, the binocular cameras are used; a stereo vision principle is used so as to acquire depth information of the object; problems that a monocular vision technology is sensitive to light changes and is easy to be disturbed by shadow are solved.

The invention provides a three-dimensional reconstruction method for binocular stereo vision. The method comprises the steps of performing image pair collection: obtaining images of a calibration plate and an object; performing camera calibration: performing calibration on a camera based on a Zhengyou Zhang calibration method to obtain initial internal and external parameters of the camera; performing stereo rectification: performing rectification on a distortion parameter through epipolar constraint to obtain a rectified image pair; performing image processing: obtaining a region of interest,and balancing brightness difference between left and right images, thereby searching for matching points; performing stereo matching: implementing a multi-grid intensive stereo matching algorithm toobtain a continuous smooth disparity map; and performing point cloud rebuilding and model rebuilding: obtaining a point cloud chart of the object, performing point cloud optimization, and obtaining acomplete object model through triangulation of a greedy algorithm. The smooth model with no obvious difference with the real object can be obtained; and the method can be used for three-dimensional reconstruction of multiple scenes.

The invention relates to a multipoint touch method based on binocular stereoscopic vision, which relates to the technical field of computer vision. The method comprises the following steps: firstly, the azimuth and the projection parameters of a camera relative to a three-dimensional scene are determined through camera calibration, and a binocular camera is utilized to acquire an image pair; secondly, two pictures on the same frame which are acquired on the first step are taken as input, and a scene depth map is calculated by the stereoscopic vision algorithm; thirdly, closest patches are obtained through Gaussian blur and determined thresholds, and central coordinates of the patches are calculated; and fourthly, a plurality of coordinates obtained in the third step are taken as input of a multipoint touch program, and interactive results are returned to a screen. The multipoint touch method based on binocular stereoscopic vision can realize completing the multipoint touch operation in space by a user without touching the screen, and coordinate information of input points acquired is three-dimensional, so that the multipoint touch method can realize more complex interaction such as push and pull of a virtual object and so on.

The invention provides a fundus OCT imaging method utilizing three-dimensional imaging of binocular stereo vision and a system thereof with the purpose of solving the problem that three-dimensional correction of phase positions, spatial positions and angles of OCT signals is not precise. The method comprises following steps of: synchronously collecting a binocular stereo vision imaging system and a fundus OCT system; utilizing a self-calibration result of the binocular stereo vision imaging system and acquiring a rotation matrix ROI and a translation vector TOI between an OCT coordinate system and an coordinate system for binocular stereo vision and re-establishing three-dimensional coordinates of bifurcation points of retina surface vessels; acquiring a rotation matrix RIE and a translation vector TIE from the coordinate system for binocular stereo vision to a coordinate system of human eyes; extracting a retina B scanning image; utilizing the rotation matrix ROI and the translation vector TOI in order to achieve conversion of the B scanning image from the OCT coordinate system to the coordinate system for binocular stereo vision; utilizing the rotation matrix RIE and the translation vector TIE in order to realize conversion of the B scanning image from the coordinate system for binocular stereo vision to the coordinate system of human eyes; obtaining a three-dimensional OCT image with uniform spatial distribution by interpolation of the converted B scanning image in the coordinate system of human eyes.

The invention discloses a distance measurement method and system based on binocular stereo vision. The method comprises the following steps: acquiring a position relationship between two fixed points; constructing a distance measurement model by using one fixed point as the original point according to the position relationship; and acquiring unknown parameters through easy calibration according to the model so as to realize the distance measurement of a target. The method can enlarge the information amount of infrared-visible images and provide position information of the target by using a heterogeneous source consisting of a thermal imager and a visible CCD (charge coupled device) camera to measure the distance.

The invention provides a logistics cargo volume non-contact measurement method based on a computer binocular stereo vision technology and a point laser range finding technology. According to the method, a point laser range finding supplementary means is introduced; a point laser rangefinder is used to acquire the correspondence among the depth of a measurement point on a cargo object, the distance from an initial point and the point coordinate on an image; the incidence relationship between geometric projections of images shot by left and right cameras is established; the geometric projection correlation area of corresponding feature points in left and right images is positioned and set; image stereo matching of left and right image feature points is carried out in the set geometric projection correlation area of the corresponding feature points; and full width feature point extraction is carried out on the left image, which greatly reduces the range of image matching search and the calculation cost. According to the invention, the problem of the uniqueness of the solution of a spatial point reduction problem is solved; the problems of mis-matching and leakage matching in the image matching process are avoided; and the validity and the accuracy of image stereo matching are greatly improved; and the accuracy and the speed of the measurement of a binocular stereo vision system are improved.

The invention belongs to the video and image processing field and provides a stereo image quality evaluation method which is in accord with related characteristics of a human visual system and is more effective. Through the method, quality of a stereo image can be more accurately and effectively evaluated, and development of the stereo imaging technology is further facilitated to a certain degree. The method comprises steps that step 1, a monocular perception model in accord with the human visual characteristics is constructed; and step 2, an image distortion degree QD of a perception image Xv acquired at the step 1 is calculated, 1), structure similarity SSIM of left and right view image subblocks is calculated; 2), the final image distortion degree QD is constructed, in combination with eye stereo visual binocular characteristics and visual center significance characteristics, weighted summation of structure similarity indexes of the image subblocks is carried out to calculate a final image distortion degree evaluation score QD. The method is mainly applied to video and image processing.

The invention discloses a two-dimensional laser galvanometer scanning system based on binocular stereo vision, comprising a laser galvanometer system and a calibration device. The calibration device is composed of a linear displacement system and a binocular stereo vision system. The invention further discloses a calibration method of the two-dimensional laser galvanometer scanning system based on binocular stereo vision. The laser galvanometer system is calibrated by building a mapping relationship between specific input digital signals and the direction and position vectors of laser beams corresponding to the signals under a binocular system coordinate system with the aid of an artificial neural network algorithm. The calibration method needs no complex galvanometer system physical parameter modeling process. The calibration result is highly precise and reliable. Moreover, the calibration method can be used in various practical applications based on a galvanometer system, such as laser positioning projection and object surface three-dimensional shape measurement.

The invention provides a face expression identification method based on parallel convolutional neural network characteristic graph fusion. The method comprises the steps of designing a convolutional neural network with a parallel structure through simulating vision channels of double eyes of a man, fusing the characteristic graph of the parallel channels after a convolutional pooled layer; on a full connecting layer structure, using sparse full-connection output to one channel, and using dense full-connection output to the other channel, and finally fusing the two outputs and performing classification. After the face expression data are used for performing model training and a relatively high identification rate is realized, a model identification effect is tested by means of a testing sample, and furthermore a relatively high identification accuracy is acquired. The face expression identification method is a new method for emotion analysis and face expression identification.

The invention discloses a structural modal parameter identification system based on binocular stereo vision. The method of the system comprises the following steps of building a binocular stereo vision system, calibrating two camera units, and acquiring internal and external parameters of the two camera units to carry out three-dimensional correction; establishing easily identifiable key points of a detected structure surface; loading impact force to enable the detected structure to move freely, obtaining a synchronic image sequence file, identifying the three-dimensional coordinates of all key points to each frame of image orderly, and obtaining the three-dimensional movement data of all key points in the whole test time finally; through the three-dimensional movement data of all key points, carrying out modal identification by using a characteristic system realization algorithm, obtaining the modal parameters of the detected structure, and outputting a result. Compared with the traditional technology, the structural modal parameter identification system can measure the modal parameters of the detected structure in a non-contact way or in a way that less impact is applied to the detected structure, and the system has the advantages of low cost, fast speed and high precision and is especially suitable for the modal parameter measurement of large lightweight structure with inconvenient layout of sensors.

The invention discloses a method for positioning a binocular non-calibrated space, which comprises the following steps of: acquiring position data of a center point of a moving target by a background differencing method; by a camera imaging principle, calculating angle and directional data of the moving target in a scene relative to a shooting optical axis of a current analysis picture so as to obtain coordinates of a moving point and a shooting point; establishing a virtual coordinate system in the shooting scene and obtaining values of an angle a and an angle c between optical axes of cameras and an edge parallel to the longitudinal axis of the virtual coordinate system according to imaging target surfaces and focal length parameters of the cameras; and according to a distance BC between two cameras and the values of the angle a and the angle c, solving a coordinate value of the moving point E relative to a coordinate origin O of the virtual coordinate system and then according to the coordinates of the shooting point, calculating angles and directions of the moving point E relative to the two cameras. According to the method, position data of the moving target can be accurately acquired and the focal length stretching shooting can be carried out in the shooting process.

The invention discloses a method and a system for locating a moving target in a mine based on binocular CCD vision. The system for implementing the method comprises surface equipment and an underground device. The surface equipment comprises a base station controller, a location server, an Ethernet switch and a monitoring terminal. The underground device comprises a mine intrinsically safe base station and a wireless radio frequency identification tag. The method for implementing the system comprises the following steps: (1) using an RSSI algorithm to estimate the location of a moving target; (2) carrying out matching feature extracting and training on the wireless radio frequency identification tag of the moving target; (3) carrying out feature matching on images after sampling through an ORB algorithm; (4) using a binocular CCD vision sensor to stereoscopically calibrate the left and right images of the moving target; (5) getting an internal and external parameter matrix of the binocular CCD vision sensor, and calibrating the world coordinates of the moving target; and (6) carrying out location correction on the world coordinate information of the moving target, and getting the accurate location information of the moving target in a mine. The problem on how to accurately locate a moving target in a mine NLOS environment is solved. The reliability and robustness of the system are improved.

A synchronous scanning intersection measurement fusion imaging system comprises a continuous laser (1), a pulse laser (2), a single reflector (3), a beam combination lens (4), a left reflector (5), a double-face reflector (6), a right reflector (7), a reception lens (8), a beam splitter lens (9), a linear array camera (10), a photoelectric detector (11), a Y-direction scanning servo motor (12), a left reflector gear (13), an X-direction scanning servo motor (14), a right reflector gear (15), a driving controller (16), a first transmission gear (17), a second transmission gear (18), a stepping motor (19), a left camera (20), a right camera (21), a data processing unit (22) and a bar-type reflector (24). The system fuses binocular vision, laser radar and triangular range measurement synchronous scanning intersection measurement, can obtain the highest measurement precision of triangular range measurement, and meanwhile, meets transverse and vertical measurement range and measurement precision requirement of a tested object.

The invention provides a greenhouse plant growth posture monitoring system based on a binocular stereo vision and a greenhouse plant growth posture monitoring method based on binocular stereo vision. The system comprises a remote control computer and a monitoring vehicle which is communicated with the remote control computer by virtue of a wireless communication part; a track of the monitoring vehicle is fixedly arranged at a track bracket on the upper part of a plant greenhouse by virtue of hanging posts; a lifting rod penetrating through the monitoring vehicle is connected with the monitoring vehicle by virtue of a height adjustment device; the tail end of the lifting rod is connected with an image collecting component; the remote control computer is used for performing wireless remote control on a stepping motor so as to drive the monitoring vehicle to move back and forth on the S-shaped track; meanwhile four colorful CCD (Charge Coupled Device) cameras are used for collecting stereo images and obtaining real-time stereo image information of all plants in the greenhouse, so as to perform comprehensive evaluation on the real-time growth postures of the plants; the whole collecting system is simple and practical and is high in automation level, and can be used for visually and rapidly monitoring the growth postures of the plants.

The invention discloses a three-dimensional image quality evaluation method based on gradient information guided binocular view fusion. According to the method, a Sobel operator and a LoG operator areutilized to construct a united statistical gradient map which serves as a weight map for binocular view fusion, and a corresponding intermediate reference image and a corresponding intermediate distortion image are obtained; then, image feature information extraction is performed on the intermediate images, wherein image feature information comprises edge information, texture information and contrast information, and depth information is extracted from a disparity map of a reference and distortion three-dimensional image pair; and last, a final image quality objective evaluation score is obtained through measurement of a feature similarity and SVR-based feature integration and quality mapping, and measurement of three-dimensional image quality loss is realized. Experiment results show that an algorithm proposed based on the method has good accuracy and robustness.

The invention discloses an automobile safety warning device and method based on binocular stereo vision and belongs to the safety equipment field. Binocular camera units are used for obtaining images of front vehicles and rear vehicles, a minimum distance is obtained according to calibration results and matching results of the images, comparisons between the minimum distance and a safety distance are performed, and a function of the warning of a buzzer inside the automobile and a function of LED (light-emitting diode) display warning on the tail portion of the automobile are achieved. According to the automobile safety warning device and method based on the binocular stereo vision, the binocular stereo vision distance-measuring devices have a great price advantage; the stereo vision distance-measuring method can obtain image information of an automobile and can obtain more information; besides, due to the fact that cameras, an automatic aperture technology and an automatic white balance technology are combined in usage, the automobile safety warning device and method based on the binocular stereo vision can be applied to poor visible conditions, such as at night and in tunnels. Therefore, the automobile safety warning device and method based on the binocular stereo vision has a broad prospect in field of automobile safety distance measurement.

The present invention relates to the identification method based on eyes iris. Specific steps are: first collecting iris images to the eyes at the same time, respectively positioning processing, and using the eyes symmetry, mutually correcting position parameters of the pupil and the iris in the process of positioning of the left and right images of the iris, optimizing the result of iris location; According to the position results, carrying out the division, the normalization and the feature extraction in order to obtain the characteristics template of their eyes iris; finally matching the features templates of the database and the left and right eyes iris respectively, and calculating the results of the ultimate recognition by the fusion algorithm of the data of matching tier. This invention makes use of the stability of repeated acquisition and the more rich texture information brought by the eyes iris, further improves the robustness and the accuracy of the iris identification.

The invention discloses an omni-directional stereo vision three-dimensional reconstruction method based on Taylor series models. The method comprises the following: a step of calibrating a camera, which is to utilize a Taylor series model to calibrate an omni-directional vision sensor so as to obtain internal parameters of the camera; a step of obtaining epipolar geometric relation, which comprises the steps of calculating an essential matrix between binocular omni-directional cameras and extracting the rotation and translation component of the cameras; a step of correcting an outer polar line, which is to correct the outer polar line of a shot omni-directional stereo image so as to allow a corrected polar quadratic curve to coincide with an image scan line; and a step of three-dimensional reconstruction, which is to carry out feature point matching to the corrected stereo image and calculate the three-dimensional coordinates of points according to matching results. The method can be applicable to various omni-directional vision sensors, has the characteristics of wide application range and high precision, and can carry out effective three-dimensional reconstruction under the condition that the parameters of the omni-directional vision sensors are unknown.

The invention discloses an on-orbit service relative navigation experiment platform and a work method. The on-orbit service relative navigation experiment platform comprises a three-axis electric turntable, a three-dimensional electric transversely-moving platform, a simulation control computer, a fault spacecraft equivalent device, a binocular stereo vision system and a navigation computer system. In the process of an experiment, the simulation control computer is utilized to generate an experiment scene, the three-axis electric turntable is controlled to simulate relative posture motion, and the three-dimensional electric transversely-moving platform is controlled to stimulate relative position motion; a pulse circuit triggers the binocular stereo vision system to collect images of the fault spacecraft equivalent device in a cycled mode, and a navigation computer processes the binocular images, conducts navigation and target parameter identification calculation through a relative navigation algorithm module to be verified, uploads the navigation and parameter identification result to the simulation control computer and conducts comparison and evaluation with the truth value set in the stimulation scene. The experiment platform is low in cost, high in simulation fidelity and capable of meeting the requirement of a relative navigation algorithm in quick validation of spacecraft on-orbit service.

The invention relates to a stereoscopic vision significance calculating method based on left and right monocular receptive field and binocular fusion and belongs to the technical field of computer vision. Through simulating the processing process of a human stereoscopic vision system, firstly, left and right monocular receptive field models are respectively built, corresponding characteristic patterns are obtained, then, left and right eye characteristic patterns with the same characteristics and result patterns with different characteristics are fused, in addition, the pixel significance is regulated on the basis of center preference and prospect preference, and finally, a significance distribution pattern most closely approaching to the human stereoscopic vision attention is obtained. The stereoscopic vision significance calculating method has the innovation points that the influence of two common phenomena of the center preference and the prospect preference on the human stereoscopic vision attention is added, so the whole method can perfectly conform to the processing process of the human vision system. The stereoscopic vision significance calculating method provided by the invention can perfectly simulate the processing process of the human stereoscopic vision system, and the interesting region in stereoscopic images can be more effectively extracted.

A virtual binocular three-dimensional reconstruction method based on structured light comprises the following steps: constructing a virtual binocular stereoscopic vision system, wherein the binocularstereoscopic vision system comprises a camera; calibrating the camera and obtaining the internal and external parameters of the camera; according to the internal and external parameters of the camera,obtaining the distortion mapping matrix; projecting regular structured light to the object to increase the surface texture of the reconstructed object; using the camera of binocular stereo vision system to capture the left and right images of the reconstructed object, and carrying out stereo correction on the images; extracting and matching the left image and the right image, and obtaining the parallax of the corresponding matching points on the left image and the right image with respect to the point P on the object; combining the internal and external parameters of the camera, and obtainingthe sparse three-dimensional coordinates of the object by using the parallax principle; according to the sparse three-dimensional coordinates of the object, generating the sparse point cloud image ofthe object, and completing the three-dimensional reconstruction of the object. The method is conducive to improving the accuracy and efficiency of three-dimensional reconstruction, and saves the cost.

The invention belongs to an automobile safety system, in particular to an automobile active safety control system based on binocular stereo vision and a control method thereof. The automobile active safety control system based on the binocular stereo vision comprises input equipment, output equipment and a processor, wherein the output equipment is a brake actuator. The automobile active safety control system is characterized in that the input equipment comprises a binocular camera, a speed sensor and a brake information sensor; the input equipment, the processor and the output equipment are electrically connected in sequence; the binocular camera is arranged in front windshield glass of an automobile, and the speed sensor is taken from the original automobile and is arranged in a gearbox generally. The invention has the advantages that the precision of binocular stereo vision distance measurement is higher than that of a monocular machine and a barrier is accurately positioned, therefore, the mounting requirement on the camera is low. The invention is simple and easy to implement; the processing speed reaches the real-time requirement, the distance measurement precision is high and the requirement in the automobile active safety aspect is satisfied.

The invention relates to a medical device, in particular to an orthopedic surgery navigation system which is used in a closed intramedullary nail for fracture recovery surgery. The orthopedic surgery navigation system includes a binocular stereo vision sensing device and markers, the binocular stereo vision sensing device includes: a computer with the main frequency of not less than 1G, a locator which is arranged on a locator support, two CCD cameras which are arranged in the locator and a dual-channel signal synchronizer which is connected with an image collection card, at least three active luminous diodes which are not positioned on a same straight line are arranged on the markers, wherein, an intramedullary nail is rigidly inserted and connected on one marker, and the other marker is rigidly inserted and connected with a special surgical electric drill. The invention aims at providing the orthopedic surgery navigation system and realizing the accurate positioning of the relative position relationship of a surgical tool and the lesion part of patients, so a surgeon can accurately and successfully drill a twist-locking hole of the intramedullary nail under the guidance of a screen of the computer.

The invention relates to a safe pre-warning device for anti-collision at the rear of a vehicle based on binocular stereo vision. The device consists of five parts, namely a vehicle speed sensor, a vehicle steering signal switch, an image acquisition module, a pre-warning module and a controller module, wherein the vehicle speed sensor is an electromagnetic vehicle speed sensor; the image acquisition module comprises a lens R, a lens L, a COMS (Complementary Metal Oxide Semiconductor) image acquisition sensor R, a COMS image acquisition sensor L and a bracket, and is arranged at the back of a vehicle roof in a vehicle compartment; the pre-warning module comprises a pre-warning signal lamp driving module, an anti-rear end collision pre-warning signal lamp and a road merging pre-warning signal lamp; the controller module comprises a real time digital signal processor, a data memory, a program memory, a power supply and a peripheral communication circuit; the vehicle speed sensor transmits detected signals Vf and T to the controller module; the image acquisition module transmits acquired signal images IR and IL to the controller module; and the controller module processes the signals Vf, T, IR and IL to generate a pre-warning lamp control signal I, and respectively transmits anti-collision pre-warning information to a driver of the vehicle and a driver of a following vehicle through the anti-rear end collision pre-warning signal lamp and the road merging pre-warning signal lamp.