90 results about "Camera orientation" patented technology

Methods and processors for rendering a 3D object are disclosed. The method includes acquiring multi-camera image input including first image frames of the 3D object generated by a first camera and second image frames of the 3D object generated by a second camera, acquiring an initial 3D Gaussian Splatting (3DGS) model having a plurality of initial parameters including an initial frame-wise GS parameter and an initial camera-wise GS parameter, generating an adjusted 3DGS model by adjusting, based on the multi-camera image input, at least one of: the initial frame-wise GS parameter, the initial camera-wise GS parameter, generating, by the adjusted 3DGS model, a 3DGS output and rendering a 2D image of the 3D object using the 3DGS output.

The invention discloses a robot hand-eye calibration method, control equipment and a robot system, and relates to the technical field of robots. The robot hand-eye calibration method comprises the following steps: uniformly correcting a plurality of pixel coordinates obtained by dynamic shooting to a reference pixel coordinate system which is consistent with a camera coordinate system at a reference position in direction; and meanwhile, the world coordinates of the end effector corresponding to each sampling position are localized relative to the world coordinates of the end effector at the reference position, so that interference caused by global coordinate offset and camera orientation difference is eliminated, and the application range of the hand-eye calibration method is expanded. Besides, a singular value decomposition algorithm is adopted to solve a mapping relation between pixel coordinates and local world coordinates under a reference pixel coordinate system, so that a solved rotation matrix can meet orthogonality constraints, the hand-eye transformation process strictly conforms to a robot motion model with translation and rotation motion, and the calibration precision is improved. The calibration process can be automatically calculated and completed, and the calibration efficiency is high.

The invention discloses an omnidirectional fisheye image feature tracking and extracting method based on a non-parallel virtual binocular, and the method comprises the steps: constructing a four-eye fisheye camera system, obtaining the relative pose transformation based on a pre-calibration external parameter, predicting the pose based on a uniform speed model or IMU pre-integration, and constructing a re-projection error function through common-view feature points. According to the invention, by constructing four groups of virtual binocular combinations, on the premise of not increasing the number of physical cameras, eight-view-angle equivalent coverage is realized, so that a high-overlapping common-view area is formed between adjacent cameras; on the basis of a pre-calibrated external parameter and an MEI fisheye model, a spherical epipolar line is directly generated for a distorted image to carry out matching search, and meanwhile, a time sequence-space two-dimensional fault-tolerant mechanism is put forward for challenges of shielding and environmental interference: according to a dynamic direction switching design, when a tracking feature number is lower than a threshold value due to shielding in a camera direction, the tracking feature number is smaller than the threshold value; the camera direction is actively switched to serve as a main tracking source, new feature points are supplemented at the same time, and system collapse caused by local view failure is avoided.

The invention provides a grassland fire point detection and positioning method based on an unmanned aerial vehicle. The method comprises the following steps: Step 1, constructing a scene three-dimensional model by using a multi-overlapping-degree image; 2, detecting a suspicious target by using an optimized grassland fire point detection and positioning YOLOv8s model deployed on the unmanned aerial vehicle, calculating the orientation of a target point in an unmanned aerial vehicle coordinate system, automatically adjusting the flight direction of the unmanned aerial vehicle and the camera direction, and continuously approaching the suspicious target point; 3, the scene three-dimensional model established in the step 1 is used for accurately positioning the suspicious target, and the position # imgabs1 # of the target under the world coordinate system is obtained from the image plane coordinate # imgabs0 # of the target. Based on the optimized YOLOv8s model, steppe smoke and fire points are detected and tracked, and efficient detection and accurate positioning of the steppe fire points are achieved in combination with the live-action three-dimensional model. The optimized YOLOv8s shows higher recognition capability than other models, has 90.82% high-precision positioning when RTK is used, and can effectively recognize early fire points and feed back positioning information to a management department in time.

To allow users to easily understand the direction of the imaging device that is taking their picture. [Solution] The imaging system of the present invention is an imaging system having an imaging device and a wearable device, characterized in that it has a determination means for determining the camera direction which is the direction from the wearable device toward the imaging device, and a notification means for notifying the user wearing the wearable device of the camera direction by vibration of the wearable device when the wearable device is within the imaging range of the imaging device.

The invention provides a three-dimensional effect rendering method and device and electronic equipment, and the method comprises the steps: carrying out the zooming processing of a target surface patch according to the model size of a target three-dimensional model and the camera orientation of a virtual camera, obtaining a zoomed target surface patch of which the size is matched with the model size, and keeping the zoomed target surface patch facing the virtual camera; stretching the scaled target surface patch according to the model shape of the target three-dimensional model to obtain a stretched target surface patch of which the shape is matched with the model shape; and moving the stretched target patch to the position of the target three-dimensional model in the virtual scene, deleting the target three-dimensional model in the virtual scene and rendering the stretched target patch to obtain a rendered target patch so as to simulate the three-dimensional effect of the target three-dimensional model through the rendered target patch. According to the method, the target surface patch is stretched in the camera space according to the visual angle, so that the surface patch fitting three-dimensional effect is realized, and a better three-dimensional effect is realized with extremely low rendering performance consumption.

Embodiments here observe the driver and determine an orientation of an articulating camera based on driver gaze tracking and external object detection. A fixed camera collects image data of the vehicle's surroundings, and an articulating camera collects image data of the driver. The gaze direction is used to identify what objects in the vehicle's surroundings the driver is looking at. Based on the position of the object, an orientation of the articulating camera may be determined.

This technology provides a way to effectively inform the subject of the direction of the imaging device. [Solution] The imaging system of the present invention is an imaging system having an imaging device and a wearable device, characterized by comprising: a first determination means for determining a camera direction which is the direction from the wearable device toward the imaging device; an acquisition means for acquiring information relating to the type of subject on which the wearable device is attached; a second determination means for determining a method for notifying the camera direction based on the information acquired by the acquisition means; and a notification means for notifying the subject of the camera direction determined by the first determination means from the wearable device using the notification method determined by the second determination means.

The invention relates to a method and device for detecting personnel in a vehicle cabin, electronic equipment, a medium and a vehicle, and particularly relates to the technical field of intelligent vehicle control. Comprising the steps that a plurality of image sets are acquired, and different image sets correspond to different camera azimuth information and / or camera type information; calculating a timestamp difference value between a target frame and an adjacent frame in the plurality of image sets; wherein the target frame and the adjacent frame are adjacent in time sequence and belong to different image sets; under the condition that the timestamp difference values are all within a preset threshold range, acquiring adjacent images of a preset frame number from the plurality of image sets; and inputting the preset frame number of adjacent images into the preset visual algorithm model to obtain the position of the personnel in the cabin output by the preset visual algorithm model, thereby improving the detection accuracy of the personnel in the vehicle cabin.

A method for inspecting an extreme ultraviolet (EUV) light source includes: removing a collector mirror of the EUV light source from a collector chamber; installing an inspection apparatus within the collector chamber, the apparatus including a selectively extendable and retractable member and a camera at one end of the member; operating a first actuator to extend the member along a path through the interior chamber of the EUV light source, thereby moving the camera to a given position within the interior chamber of the EUV light source; operating a second actuator to pan the camera about an axis of rotation, thereby establishing a given camera orientation within the interior of the EUV light source; and, capturing an image of the interior chamber of the EUV light source with the camera while the camera is at the given position and orientation established by the operation of the first and second actuators.

The embodiment of the application discloses a kind of based on indoor wireless signal control method, system first according to the installation position of wireless signal transmitter, transmission power, frequency parameter etc., signal coverage is calculated.According to signal coverage, shadow effect area is filtered out, and these areas are defined as target weak signal area needing optimization.System adjusts camera orientation, obtains the image of covering the weak signal area and its surrounding environment, generates target image data.System combines the coordinate position of wireless signal transmitter with the position of target weak signal area, analyzes and extracts the obstacle feature causing signal attenuation from target image.The system calculates the optimal reflection path of signal through reflection that can efficiently reach the target weak signal area according to the obstacle feature and camera position.System adjusts the transmission angle of wireless signal transmitter according to the optimal reflection path calculated, so that its signal propagates along the best path, thereby improving the communication quality of the area.

Techniques are described to estimate orientation of one or more cameras located on a vehicle. The orientation estimation technique can include obtaining an image from a camera located on a vehicle while the vehicle is being driven on a road, determining, from a terrain map, a location of a landmark located at a distance from a location of the vehicle on the road, determining, in the image, pixel locations of the landmark, selecting one pixel location from the determined pixel locations; and calculating values that describe an orientation of the camera using at least an intrinsic matrix and a previously known extrinsic matrix of the camera, where the intrinsic matrix is characterized based on at least the one pixel location and the location of the landmark. 2020257038 20 Oct 2020 the landmark. FI G . 1 10 6a 10 2 10 4 10 8 10 6c 10 6b 1 / 5 20 20 25 70 38 2 0 O ct 2 02 02020257038 20 Oct 2020 106c 106b 108 106a 104 FIG. 1

To reduce labor required for three-dimensional photo measurement of agricultural products.SOLUTION: An agricultural mulch film 100 covering a ground surface planted with plants comprises a sheet-shaped member and a plurality of identification markers 101-116 for image recognition used for three-dimensional photo measurement arranged on the surface of the sheet-like member. The agricultural mulch film 100 is arranged in a state of covering a ridge 200 in a field. Some of the identification markers 101-116 are positioned on the upper part of the ridge 200 and others are positioned on the slope of the ridge 200.SELECTED DRAWING: Figure 1

Methods and systems for camera direction control are provided. Example embodiments relate to taking images at certain predetermined angles so as to have consistent exposure between images. An example embodiment includes a method. The method includes determining, using a lidar device, light intensity information of a surrounding environment of the lidar device. The light intensity information includes a plurality of angles within an exposure threshold range. The method also includes determining a rotation time associated with each angle within the exposure threshold range. Further, the method includes determining a plurality of target image times based on the rotation time associated with each angle within the exposure threshold range. Moreover, the method includes capturing, by a camera system, a plurality of images at the plurality of target image times.

The invention relates to a tracking system (100) for illuminating a performer (12) at a tracked position (T) of a performance environment (10) with a light beam from a directable light beam generator, comprising: a camera input (120) for receiving a camera stream (125) from a camera arranged to observe the performance environment, where the camera stream represents a 2D view (127) of the performance environment presented by the camera; a display output (130) for outputting a display stream (125); and a controller (110) arranged to: acquire (210) a camera placement (30) of the camera relative to the performance environment; acquiring (215) a camera orientation ([theta]) of the camera relative to the performance environment; acquiring (255) an orientable beam generator placement (20, 20 ') of the orientable beam generator relative to the performance environment; acquiring (260) an orientable beam generator orientation ([theta]) of the orientable beam generator relative to the performance environment; receiving (230) a camera stream from a camera input; acquiring a tracked position; calculating (265) a 2D projection of the light beam at the tracked location based on the tracked location, the camera placement, the camera orientation, the orientable beam generator placement, and the orientable beam generator orientation; inserting (270) a beam indicator (190, 190 ', 191) for indicating the 2D projection of the beam in the camera stream to generate a display stream, and providing (250) the display stream to a display output.

According to the three-dimensional reconstruction method of the telecentric Sammer structured light based on the virtual plane, a traditional pinhole model is introduced for pre-calibration for the problem of uncertainty of external reference symbols in calibration of a telecentric camera, high-precision calibration is achieved, and the difference between an internal reference proportionality coefficient and a theoretical value is only one order of magnitude after a decimal point. Aiming at calibration of a Sammer projector, a Sammer pinhole imaging model is deduced, an equivalent internal and external parameter matrix is constructed by using a Zhang Zhengyou method to complete parameter initialization, coupling of a Sammer angle and a distortion parameter is reduced by using a multi-section optimization strategy, and a re-projection error is effectively reduced. In order to solve the problem that the Z direction of the telecentric camera is lack of translation parameters, a virtual plane concept is introduced, a space ray intersection mode is adopted to simplify the reconstruction complexity, and joint calibration and reconstruction of the system are achieved.

The application discloses a robot hand-eye calibration method, a control device and a robot system, and relates to the technical field of robots. The robot hand-eye calibration method unifies multiple pixel coordinates obtained through dynamic shooting to a reference pixel coordinate system consistent with the direction of the camera coordinate system at the reference position, simultaneously performs localization processing on the world coordinates of the end effector corresponding to each sampling position relative to the world coordinates of the end effector at the reference position, eliminates the interference caused by global coordinate offset and camera orientation difference, and expands the application range of the hand-eye calibration method. In addition, the singular value decomposition algorithm is used to solve the mapping relationship between the pixel coordinates in the reference pixel coordinate system and the local world coordinates, so that the rotation matrix obtained can satisfy the orthogonality constraint, the hand-eye transformation process strictly conforms to the robot motion model with translation and rotation motion, and the calibration accuracy is improved. The calibration process of the application can be automatically calculated, and the calibration efficiency is relatively high.

A scene modeling system accesses a set of input two-dimensional (2D) images of a three-dimensional (3D) environment, wherein the input 2D images captured from a plurality of camera orientations. The environment includes first content. The scene modeling system applies a scene generation model to the set of input 2D images to generate a 3D remix scene. Applying the scene generation model includes configuring the scene generation model using at least a 2D discriminator and a 3D discriminator. Applying the scene generation model includes transmitting, for display via a user interface, the 3D remix scene. The 3D remix scene includes second content that is different from the first content.

This invention provides a method, system, and device for controlling a character on a sphere's surface. A coordinate system dynamic correction module calculates the direction from the sphere's center to the character's current position in real time to determine a local ascent vector. Based on this local ascent vector, the character's rotational posture is corrected so that the character's feet always face the sphere's center, and a local coordinate system is constructed using the local ascent vector. A vector projection module acquires the camera's direction vector and performs orthogonal projection processing on it using the local coordinate system to generate a tangential movement vector parallel to the tangential plane of the ground surface. This tangential movement vector is then used to drive the character to perform displacement operations. A terrain adsorption module responds to the displacement operations by emitting a probe ray based on the local ascent vector direction determined by the local coordinate system to perform sampling processing on the ground grid, acquiring the intersection point between the probe ray and the ground grid, determining the character's target height based on the intersection point, and correcting the character's position using the target height so that the character adheres to the ground grid in real time during movement.

The application provides a scene voxelization method based on a GPU rasterizer, and relates to the technical field of real-time rendering. The method converts the spatial position of a mesh model object to a homogeneous clipping space, adopts a technology of flipping a primitive based on a maximum projection surface of the primitive to solve a voxel seam problem caused by a grazing angle formed by the primitive and a camera direction, then adopts a conservative rasterization technology of extending an edge of the primitive to solve a voxel seam problem caused by the fact that the primitive only covers a part of a voxel and does not cover a central position of the voxel, calculates an average value of all primitive information, regards all primitives covering the voxel as making equal contributions to the voxel, and introduces an access control and a data conversion operation. The improved voxelization method can meet the application scene of an electronic game and other real-time interaction rates.

Methods and processors for rendering a 3D object are disclosed. The method includes acquiring multi-camera image input including first image frames of the 3D object generated by a first camera and second image frames of the 3D object generated by a second camera, acquiring an initial 3D Gaussian Splatting (3DGS) model having a plurality of initial parameters including an initial frame-wise GS parameter and an initial camera-wise GS parameter, generating an adjusted 3DGS model by adjusting, based on the multi-camera image input, at least one of: the initial frame-wise GS parameter, the initial camera-wise GS parameter, generating, by the adjusted 3DGS model, a 3DGS output and rendering a 2D image of the 3D object using the 3DGS output.

The invention relates to the technical field of computer aided design, and discloses a rendering method, system and device and a storage medium, and the method comprises the steps: searching a target primitive located in a preset radius range in a to-be-rendered scene in the camera orientation from the camera position according to the camera position and the camera orientation when the to-be-rendered scene is observed; constructing an acceleration structural body composed of the target primitives; emitting simulation light rays penetrating through each pixel point of the display screen at the position of the camera, and tracking the simulation light rays to obtain intersection point primitives which have intersection points with the simulation light rays in the acceleration structural body; and carrying out light tracking coloring calculation on each pixel point based on the intersection point primitive, and carrying out screen space coloring calculation on each pixel point based on other primitives except the target primitive in the to-be-rendered scene so as to display an image of the to-be-rendered scene in the display screen. The storage consumption can be reduced.

The invention provides a three-dimensional Gaussian data display method and system, a medium, equipment and a program product. The three-dimensional Gaussian data display method comprises the steps of obtaining a three-dimensional Gaussian packaging file; analyzing projection matrix parameter information in the three-dimensional Gaussian packaging file, and determining initial view angle information corresponding to the three-dimensional Gaussian packaging file; the projection matrix parameter information comprises camera position information, camera orientation information, recommended viewing angle type information and recommended viewing angle sequence information; determining a target visual angle information sequence of three-dimensional Gaussian presentation according to the initial visual angle information and the projection matrix parameter information; the target view angle information sequence comprises initial view angle information; and analyzing the three-dimensional Gaussian packaging file based on the target visual angle information sequence, and loading initial three-dimensional Gaussian data corresponding to the initial visual angle information to present three-dimensional image information of a visual angle corresponding to the three-dimensional Gaussian packaging file. The processing speed of the three-dimensional Gaussian data is improved, memory occupation is reduced, and a user can select a visual angle scene in a self-adaptive mode conveniently.

A tracking system for illuminating with a light bundle from a directable light bundle generator a performer at a tracked location on a performance environment. A camera input is to receive a camera stream from a camera arranged for viewing on the performance environment, and a display output is to output a display stream. A controller is configured to: obtain a camera placement of the camera relative to the performance environment, obtain a camera orientation of the camera relative to the performance environment obtain a directable light bundle generator placement of the directable light bundle generator relative to the performance environment, obtain a directable light bundle generator orientation of the directable light bundle generator relative to the performance environment, receive the camera stream from the camera input, obtain the tracked location, calculate a 2D projection of the light bundle at the tracked location based on the tracked location, the camera placement, the camera orientation, the directable light bundle generator placement and the directable light bundle generator orientation, insert a light bundle indicator for indicating the 2D projection of the light bundle in the camera stream for generating the display stream, and provide the display stream to the display output.

A method may include, at a computing device: establishing a virtual camera at a first location relative to an avatar model of the virtual character, wherein the virtual camera has a camera orientation and the avatar model has a model orientation, wherein the virtual camera is configured to view the virtual environment from a first-person perspective and at a camera height, obtaining a posture of the avatar model, obtaining an angular displacement between the camera orientation and the model orientation, determining camera height of the virtual camera based on the posture and the angular displacement, positioning the virtual camera based on the camera height, rendering a video frame of the virtual environment by the virtual camera at the camera height; and providing for display the video frame on a display device.

This information processing device comprises a control unit. The control unit acquires camera orientation information for presenting 3D data representing the real space. The control unit also acquires annotation information of the 3D data corresponding to the camera orientation information. The control unit also acquires 2D data representing the real space and corresponding to the camera orientation information. The control unit also acquires 2D area division information by dividing the 2D data into a plurality of areas. The control unit also acquires integrated annotation information by integrating the annotation information and the 2D area division information.

To provide a remote operation terminal of a crane for automatically rotating video data from a suspended load camera and displaying it on the remote operation terminal in consideration of the direction of the remote operation terminal and the direction of the suspended load camera attached to a mobile crane.SOLUTION: A remote operation terminal 10 is composed of an azimuth acquisition part 14 for acquiring a terminal azimuth to which the remote operation terminal 10 is directed, a display part 18 for displaying a video acquired by a video acquisition part 16, a video rotation part 20 for rotating the video and providing it to the display part 18, and a control part 22 for controlling each part of the remote operation terminal 10. The controller 22 sends, to the image rotator 20, an image rotation angle signal S1 generated based on the camera orientation of the suspended load camera 124 acquired from the crane control device 107 and the device orientation acquired from the orientation acquirer 14, and the image rotator 20 provides the display 18 with an image rotated based on the image rotation angle signal S1.SELECTED DRAWING: Figure 4

The utility model relates to the technical field of license plate recognition barrier gates, in particular to a license plate recognition barrier gate all-in-one machine capable of recognizing in four directions, which comprises a machine shell, a display screen arranged on the surface of the machine shell, four groups of cameras and four groups of illuminating lamps arranged on the surface of the machine shell, four groups of loudspeakers and four groups of light sensors arranged on the periphery of the machine shell. A transverse rod is arranged on the outer surface of the machine shell. According to the utility model, the number of the camera directions can be configured according to on-site installation requirements, one machine has multiple purposes, one machine is enough to use, the labor cost of installation construction is greatly reduced, only one network cable and one 220V power line are directly arranged in the machine, the license plate recognition effect of the device is improved, the license plate recognition angle effect is improved, and the license plate recognition efficiency is improved. Traffic efficiency is greatly improved, and operation is simpler and more convenient.

A camera system providing automatic camera spatial positioning information is disclosed, together with related methods and computer-readable media. The disclosed systems may automatically generate spatial positioning information relative to a plurality of cameras based on analysis of images captured by the cameras, wherein the spatial positioning information includes one or more of a camera position and a camera orientation. Further, disclosed embodiments may generate, based on the spatial positioning information, a sequence of primary video streams derived from the plurality of video streams and output the sequence of primary video streams for display.