49 results about "Camera orientation" patented technology

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.

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.

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

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.

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.

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

This invention relates to the field of production testing equipment technology and discloses a linear laser automatic calibration system, including a base. A fixed frame, a first support frame, and a linear guide rail are fixedly mounted on the upper surface of the base. An external parameter calibration plate is disposed at the top inside the fixed frame. An internal parameter calibration plate is fixedly mounted on the side of the first support frame. A movable sub-base is movably connected to the side of the linear guide rail. A second support frame is fixedly mounted on the top of the movable sub-base. A mounting frame is fixedly mounted on the top of the second support frame. A placement seat is rotatably mounted on the inner side of the mounting frame. A camera module is disposed inside the placement seat. This invention integrates four independent checkerboard-shaped internal parameter calibration plates, allowing the camera to acquire multiple sets of data required for internal parameter calculation in a single shot, eliminating the cumbersome process of repeatedly moving the camera or calibration plate and taking 10-20 images required in traditional internal parameter calibration. Simultaneously, the linkage between the linear guide rail and the angle adjustment component allows for rapid switching of the camera orientation, achieving seamless integration of internal and external parameter calibration.

An information handling system peripheral camera analyzes captured visual images to detect a face and analyzes the face to determine an upright orientation. Based upon the face upright orientation, the camera defines a visual image orientation to communicate the visual image from the peripheral camera to an information handling system so that the face is communicated in an upright orientation for use in a video conference, such as with an indication of a landscape or portrait image orientation. In one embodiment, an information handling system can perform the face upright orientation analysis and command a camera orientation to the camera so that visual images of the camera are communicated in alignment with the face upright orientation.

Embodiments of the present application disclose a graphics rendering method and device, electronic equipment and computer readable storage medium; the embodiments of the present application can obtain the basic color of each pixel of the to-be-rendered wrinkled surface based on the color map of the to-be-rendered wrinkled surface; the normal map of the to-be-rendered wrinkled surface is used to obtain the normal of each pixel of the to-be-rendered wrinkled surface; the final rendering color of each pixel of the to-be-rendered wrinkled surface is obtained according to the normal of each pixel, the camera direction vector of the rendering camera of the to-be-rendered wrinkled surface and the basic color of each pixel; the to-be-rendered wrinkled surface is rendered according to the final rendering color of each pixel, and the final rendering effect of the to-be-rendered wrinkled surface is obtained, and the final rendering color of each pixel is used to improve the display effect of the to-be-rendered wrinkled surface. The embodiments of the present application can effectively improve the wrinkling effect of the wrinkled surface in the case of no light, and effectively improve the display effect of the wrinkled surface in the case of reducing the graphics rendering pressure.

The utility model relates to the technical field of automobile data recorders, in particular to a multi-angle adjustable automobile data recorder, which comprises a connecting plate, a camera, an adjusting mechanism capable of adjusting the orientation of the camera and an autorotation mechanism, the adjusting mechanism is rotatably connected with the connecting plate, the adjusting mechanism comprises a rotating plate, and one end of the top surface of the rotating plate is fixedly connected with a rotating rod. According to the utility model, by connecting the connecting plate with the vehicle body, when the vehicle passes through a muddy road section, the stepping motor is started to drive the rotating plate to rotate out of the lower part of the connecting plate, so that the rotating plate drives the camera to have a certain distance from the vehicle body, and meanwhile, the propping rod moves to the convex part of the cam along with the rotation of the rotating plate, so that the propping rod is propped away from the vehicle body by the convex part of the cam; therefore, the abutting rod drives the L-shaped toothed plate to rub the gear to drive the camera to rotate, the camera faces the vehicle body to photograph the license plate condition of the vehicle body, a user can conveniently observe the license plate condition of the vehicle, the camera can be back to the outside, and the condition that a lens is polluted by mud is reduced.

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.

Disclosed is a vehicle equipped with a rolling shutter image sensor, a gimbal, an inertial measurement unit (IMU), and a global navigation satellite system (GNSS) module. The processor in the system generates a warp mesh to correct rolling shutter artifacts using pose data, exposure time, and an estimated scene geometry. This correction approximates a global shutter capture, and both raw and corrected images are stored with embedded metadata, including timestamp, camera orientation, and geolocation. The system can handle gimbal orientation changes, optimize images for photogrammetry, and correct motion blur and scene motion. It also supports various operational modes such as base station, total station, and differential leveling, and can stream real-time digital twin models. The method involves capturing images, recording pose data, computing correction meshes, and saving images with metadata, enabling high-precision geolocation and image correction.

The invention relates to the technical field of computer vision and three-dimensional modeling, and discloses a random data enhancement method and device based on three-dimensional space structure modeling and a storage medium, and the method comprises the steps: carrying out the three-dimensional geometry and appearance modeling of a target object, building a scene space model, and defining an internal reference matrix of a virtual camera; generating a camera position and a camera orientation meeting a view cone constraint condition; projecting the target object and the scene space model to a two-dimensional image plane based on the internal reference matrix of the virtual camera and the constructed external reference matrix to generate a two-dimensional basic image; and on the basis of the two-dimensional basic image, generating a final training sample. According to the method, three-dimensional geometry and appearance modeling are performed on the target object, the target object is projected to the two-dimensional image plane based on the internal parameter matrix and the external parameter matrix, and the two-dimensional basic image is generated by combining illumination model rendering, so that the problem that a traditional two-dimensional data enhancement method cannot simulate view angle change and illumination interaction is solved.

The embodiment of the application relates to the technical field of unmanned planes, and particularly relates to a camera layout method of an unmanned plane, an unmanned plane, an electronic device and a storage medium, the method comprising: acquiring fuselage data of the unmanned plane; determining a camera position model according to the fuselage data, the camera position model comprising position information of a plurality of cameras on the unmanned plane, the plurality of cameras being distributed in pairs on a fuselage of the unmanned plane to form a plurality of camera groups; and determining orientation information of each camera in the camera position model according to a preset camera orientation rule, so that a plurality of mutually perpendicular base lines are formed between each camera in each of the camera groups. According to the method, the base lines between the plurality of camera groups are mutually perpendicular, so when binocular cameras formed by certain camera groups cause ambiguity and lead to depth measurement failure, ambiguity can be eliminated by another pair of groups perpendicular to the base lines of the groups, effectively avoiding the invalidity of stereo matching, and improving the applicability of the unmanned plane in various scenes.

The application discloses a kind of omnidirectional fish-eye image feature tracking and extraction method based on non-parallel virtual binoculars, including constructing four fish-eye camera systems, obtaining relative pose transformation based on pre-calibration external parameter, predicting pose based on uniform speed model or IMU pre-integration, and using co-observation feature points to construct re-projection error function etc.Steps, the present application realizes eight view angle equivalent coverage by constructing four virtual binoculars combinations, without increasing the number of physical cameras, so that high-overlapping co-observation area is formed between adjacent cameras;Based on the external parameter of pre-calibration and MEI fish-eye model, spherical polar line is directly generated for matching search on distorted image, and for the challenge of occlusion and environmental interference, a time-space two-dimensional fault-tolerant mechanism is proposed: dynamic direction switching design, when the number of tracked features is lower than the threshold due to occlusion, the camera direction is actively switched as the main tracking source, and new feature points are supplemented, to avoid system crash caused by local visual field failure.

The invention provides an image processing method and device, equipment and a storage medium, and the method comprises the steps: obtaining the texture information and light information of a current virtual scene, and determining at least one shadow region of the current virtual scene according to the position information of each entity object in the current virtual scene; furthermore, according to the camera direction information and the light source direction information of the current virtual scene, directional scattering information of the current virtual scene is determined, the directional scattering information is used for representing the scattering range in the current light direction, and according to the directional scattering information and the light length information, a target sampling level corresponding to the shadow area is determined; and sampling and rendering the shadow region in the texture information according to the target sampling hierarchy to obtain a rendering result of the shadow region. The problems of shadow area special effect physical distortion and visual inconsistency are solved.

The application provides a three-dimensional model rendering method, comprising the following steps: S1, controlling a virtual camera to emit a rendering light and determining a plurality of intersection point coordinates; S2, determining a direction vector of a rendering light emitted by the virtual camera corresponding to one of the intersection point coordinates based on parameters of the virtual camera and the one of the intersection point coordinates; S3, determining a camera direction vector group based on a coordinate of each RGB camera and the one of the intersection point coordinates; S4, determining a plurality of RGB cameras used for texture calculation based on an included angle relationship between the direction vector of the rendering light and the camera direction vector group; S5, determining a texture value corresponding to the one of the intersection point coordinates based on a plurality of images captured by the plurality of RGB cameras; S6, continuing to perform the steps of S2-S5 until a plurality of texture values are determined respectively; and S7, determining a viewpoint image corresponding to the virtual camera based on the plurality of texture values, so as to realize fast rendering of the three-dimensional model.

The surgical imaging system includes at least one camera device having a camera body containing an image sensor configured to capture image data within a field of view. The scope extends from the camera body along its longitudinal axis. A camera orientation sensor is connected to the camera device. The camera orientation sensor detects the camera orientation of the camera device. A scope orientation sensor detects the scope orientation of the scope relative to the camera body. A controller monitors the camera orientation and scope orientation. In response to changes in the scope orientation relative to the camera orientation, the controller updates the rotation of the field of view of the image data.

A camera monitoring system includes a first mirror replacement camera extending outward from a vehicle. The first mirror replacement camera defines a rearward facing field of view including at least one image feature during at least a first set of operating conditions. The at least one image feature has a fixed position within the field of view during the at least the first set of operating conditions. A camera monitoring system controller is configured to automatically calibrate an orientation of the first mirror replacement camera relative to the vehicle by comparing an expected position of the at least one image feature to an actual position of the at least one image feature while the vehicle is operating under the first set of operating conditions and identifying a shift of camera orientation based on the difference.