347 results about "Coordinate difference" patented technology

The invention provides a hot-line work robot control system based on dual mechanical arms and an auxiliary arm. The first mechanical arm, the second mechanical arm and the auxiliary mechanical arm each carry a binocular camera; the binocular cameras are used for acquiring operation scene images of the mechanical arms and sending the operation scene images to a data process and control system; the data process and control system plans a mechanical arm spatial path according to the operation scene images; according to a specific method, the tail end positions of the mechanical arms and an operation target position are converted into a same reference coordinate system, and the coordinate difference between the tail end positions of the mechanical arms and the operation target position under the same reference coordinate system is acquired; and according to the coordinate difference, the angle expected value of each joint of the mechanical arms is solved out through an inverse kinematic computing method. According to the hot-line work robot control system based on the dual mechanical arms and the auxiliary arm, based on a method in which binocular vision is combined with coordinate conversion, the mechanical arms are autonomously controlled to complete the hot-line work target of a distribution line, the labor intensity of operation personnel is relieved, and safety is improved.

The invention discloses a double-fisheye lens panorama camera calibration method and device, a storage medium and a terminal. The double-fisheye lens panorama camera calibration method comprises the following steps of: determining a to-be-calibrated inner parameter and a to-be-calibrated outer parameter; obtaining a first pair of fisheye images shot by a double-fisheye lens in allusion to a checkboard calibration plate and a random feature point calibration plate; adjusting the position of an optical center by utilizing differences between a first projection coordinate of an angular point in the checkboard calibration plate and coordinates of angular points in the first pair of fisheye images, so as to obtain an optimum optical center; updating the double-fisheye lens to be the optimum optical center, and obtaining a second pair of fisheye images shot by the double-fisheye lens; and adjusting a value of a distortion multinomial coefficient and a value of the outer parameter by utilizing coordinate differences, in a panorama image, of a plurality of random feature points of the random feature point calibration plate in the second pair of fisheye images, so as to obtain an optimum distortion multinomial coefficient and an optimum outer parameter. According to the method and device, the storage medium and the terminal, the correctness of calibrating fisheye lenses can be improved.

The present invention relates to a gamma data generation method of a display device. In the method, gamma data including red gamma data, green gamma data, and blue gamma data is determined. A target luminance and a target color coordinate of a first reference gray are determined. Then, an image is displayed on a display device based on red, green, and blue input image signals for a first reference gray, and a first luminance and a first color coordinate from the image are measured. Then, it is determined whether a coordinate difference between the first color coordinate and the target color coordinate and a luminance difference between the first luminance and the target luminance are in an allowable error range or not. The first luminance and the first color coordinate are converted to a first coordinate of a CIE XYZ coordinate system, and the target luminance and the target color coordinate are converted to a target coordinate of the CIE XYZ coordinate system if the coordinate difference and the luminance difference are not in the allowable error range. Finally, the red gamma data, the green gamma data, or the blue gamma data is corrected so that a red luminance, a green luminance, or a blue luminance of the image is changed according to a comparison of the first coordinate of the CIE XYZ coordinate system with the target coordinate of the CIE XYZ coordinate system.

The invention provides a touch screen double-click judgment method. That the action is double click or two times of single click is judged in a way that the coordinate difference and the time difference between the two times of touch points on the touch screen are calculated and then compared with the preset least coordinate difference and the preset least time difference to judge either double click or two times of click is exerted, and a computer system executes the judgment result. The method improves the double-click success ratio of the touch screen greatly, and does not affect the double-click success ratio when a disjunctive mouse is in operation.

The invention discloses an autonomous unmanned aerial vehicle landing method based on GPS and image recognition hybrid navigation and an autonomous unmanned aerial vehicle landing system based on theGPS and image recognition hybrid navigation. The autonomous unmanned aerial vehicle landing method comprises the following steps: 1), controlling an unmanned boat to stop motion according to a received landing instruction, and transmitting GPS navigation coordinates of a landing pad on the unmanned boat to an unmanned aerial vehicle in real time; 2), controlling the unmanned aerial vehicle to flyover an auxiliary landing platform, and waiting for the landing; 3), processing a shot image of a landing marker according to the unmanned aerial vehicle, and identifying the center coordinates of a landing marker picture; 4), according to the center coordinates of the shot picture, altitude data of the unmanned aerial vehicle and the coordinate position thereof, obtaining the position, the attitude angle and the coordinate difference of an image shooting center relative to the landing marker; and 5), according to the position and the attitude angle of the image shooting center of the unmannedaerial vehicle relative to the landing marker as well as the attitude angle of an airborne head camera relative to the unmanned aerial vehicle, controlling landing of the unmanned aerial vehicle. Theinvention provides the autonomous rotor-wing unmanned aerial vehicle landing method by which the precision is high, the reliability is high and the cost is low; the autonomous rotor-wing unmanned aerial vehicle landing method is especially applicable to landing of the unmanned aerial vehicle on the unmanned boat.

The invention is applicable to the technical field of computers and provides a blood pressure measurement method and device based on pulse waveforms and electrocardiogram signals. The method comprises the steps that pulse waveforms and electrocardiogram signals are obtained, feature points of the pulse waveforms are extracted, and R wave peaks of the electrocardiogram signals are identified; according to the pulse waveforms, kurtosis coefficients, skewness coefficients and pulse coefficients are calculated, and primary diagnosis results are obtained; signal sampling coordinate differences are calculated, regression detection is conducted on the feature points, and systolic pressure and diastolic pressure are respectively calculated. The feature points of the pulse waveforms, the kurtosis coefficients, the skewness coefficients and the pulse coefficients are obtained by acquiring the pulse waveforms and electrocardiogram signals of a user, signal sampling coordinate differences are calculated, an equation of linear regression is established, the systolic pressure and the diastolic pressure are respectively calculated, the influence of atypical pulse waveforms on follow-up blood pressure measurement is inhibited to the most degree, the shortcoming of inaccurate diastolic pressure measurement of an original method is overcome, and the measurement accuracy is improved.

The embodiment of the invention discloses a digital video surveillance method, a digital video surveillance system and a digital video surveillance platform for a moving object, wherein the method comprises the steps as follows: a video surveillance client side detects coordinates (x1, y1) of the moving object that is clicked on a monitoring picture of a main video camera by a user, and sends thecoordinates to the digital video surveillance platform; the digital video surveillance platform calculates coordinates difference value (x, y) between the coordinates (x1, y1) of the moving object and center coordinates (x2, y2) of the monitoring picture, wherein, x equals to x2 minus x1, and y equals to y2 minus y1; and the digital video surveillance platform controls a tripod head to rotate according to the coordinates difference value (x, y), so as to lead the moving object to be positioned in the center range of the monitoring picture. The embodiment of the invention can effectively trackthe moving object, and can achieve the video surveillance on the moving object.

The invention relates to a method, a device, a system for correcting offset of drop positions of ink droplets, a computer device and a computer readable storage medium. The method comprises the following steps that an ink jet print head is controlled to drop the ink droplets at set ideal position coordinates on a glass substrate; the actually-measured position coordinates of the dripping ink droplets on the glass substrate is detected; coordinate difference values between the measured position coordinates and the ideal position coordinates are obtained, and the offset of the drop positions ofthe ink droplets is obtained according to the coordinate difference values; and according to the offset, the drop positions of the ink droplets of the ink jet print head is compensated and corrected.According to the method, the offset of the drop positions of the ink droplets of the ink jet print head can be compensated and corrected, so that the situation that the offset of the drop positions ofthe ink droplets in the ink jet printing process causes the ink droplets fall outside pixel pits of the glass substrate is avoided, and the accuracy of the drop positions of the ink droplets of the ink jet print head is improved.

The invention discloses an automatic digital map correction method and device. The method comprises the steps of: acquiring position conversion information of electronic equipment; according to the position conversion information, searching a target object matched with the position conversion information from a digital map; calculating the coordinate difference between the coordinate of the current position of the electronic equipment in the digital map and the coordinate of the target object; and correcting the coordinate in the digital map according to the coordinate difference. By applying the embodiment of the invention, the coordinate in the digital map can be automatically corrected by comparing the position conversion information recorded by the electronic device with the coordinate of the target object in the digital map; and the correction of the digital map can be conducted in real time by adopting the embodiment of the invention, and the overall coordinate of the digital map can be corrected, so that the accuracy of the digital map can be improved, and relatively good positioning servers can be provided for the digital map.

The invention relates to a camera calibration method and a camera calibration device. The method comprises the following steps: making a camera move to above a graphic mark at a fixed position; acquiring an image of the graphic mark taken by the camera; acquiring the center point coordinates of the image and the graphic mark therein; calculating the coordinate differences between the center point coordinates of the image and the graphic mark therein on the X axis and on the Y axis respectively; multiplying the X-axis and Y-axis coordinate differences by preset X-axis and Y-axis unit distances to get the moving distances of the X and Y mechanical shafts respectively; making the X and Y mechanical shafts move to move the camera corresponding distances on the X axis and on the Y axis respectively; acquiring an image of the graphic mark taken by the camera again; detecting whether the absolute values of the coordinate differences between the center point coordinates of the image taken again and the center point coordinates of the graphic mark in the image are less than a preset threshold; and if the absolute values are less than the preset threshold, updating the X-axis and Y-axis unit distances, and going to the step of calculating the moving distances. Automatic camera calibration is realized, and the accuracy of calibration is improved.

A method for applying accuracy compensation to a computer numerically controlled (CNC) machine can compensate control program that controls the CNC machine. The method recognizes an actual outline of the product using an image of product produced by the CNC machine controlled by the control program, and further obtains an ideal outline of the product. The method obtains compensation values by computing coordinate differences between points of the actual outline and points on the ideal outline, and compensates the control program using the compensation values.

The invention relates to a testing method of PCBs, in particular to a computing method of the probe lifting heights of test probes of a flying-probe tester. Each probe independently and rapidly moves under driving of a motor installed on the X-Y axis and makes contact with a corresponding welding point on a PCB to be tested under driving of a stepping motor in the Z direction for necessary electrical measurement. The computing method comprises the following steps that height differences and coordinate differences among the four probes are obtained; a relation curve between a PCB testing area and the number of drive pulses generated when each probe is fed from the zero position until the probe makes contact with the PCB is obtained; the number of drive pulses of each measurement point is worked out by utilization of the obtained relation curves; the number of drive pulses corresponding to the probe lifting height of each probe is worked out according to the set probe lifting height. The computing method can reduce the board scraping probability of the probes in the testing process under the condition of ensuring the testing efficiency.

The invention discloses a splicing method and system for DR images. The method comprises selecting an image block of M*M pixels in an expected overlap area of one of the DR images as a reference block, selecting a block with a sliding window with the size of M*M pixels in the expected overlap area of another DR image, calculating the mutual information between each selected block and the reference block, finding out the selected block with the largest mutual information, conforming the splicing position of the two DR images by calculating the coordinate difference of the top left corner vertex of the selected block with the largest mutual information and the top left corner vertex of the reference block, and carrying out splicing processing according to the splicing position after the two DR images are aligned. According to the splicing method and system for the DR images, a multiresolution mode is adopted to carry out image registration, time consumption of image splicing is reduced, the image splicing position is accurately located through the calculation of the mutual information, the spliced image is made to have good vision uniformity by gray level adjustment and seam removing of the image, and medical diagnosis based on the DR images is facilitated.

An image registration method for registering a first image taken from a first viewpoint and a second image taken from a second viewpoint is disclosed. The method includes obtaining a first reference image by photographing a reference target from a first viewpoint; obtaining a second reference image by photographing the reference target from a second viewpoint; obtaining reference coordinate-difference values that indicate difference in coordinates of corresponding pixels between the first reference image and the second reference image; obtaining parallax registration-error values based on a distance of a photographing target from the first viewpoint and the second viewpoint; obtaining a registration result of a first image of the photographing target taken from the first viewpoint and the second image of the photographing target taken from the second viewpoint based on the reference coordinate-difference values; and correcting the registration result based on the parallax registration-error values.

The invention provides a fingerprint matching method and a device thereof. Through voting a coordinate difference between each detailed point in a field rotation fingerprint and the detailed point of each stamped fingerprint in a fingerprint database respectively, the coordinate difference between the field rotation fingerprint and the stamped fingerprint is determined. The field rotation fingerprint is subjected to coordinate translation, and the field rotation fingerprint which is subjected to coordinate translation is matched with the stamped fingerprint. The detailed point in the matched field rotation fingerprint and the detailed point in the corresponding stamped fingerprint are subjected to second matching vote. According to the matching degree between each stamped fingerprint and the field fingerprint, the stamped fingerprint which is in coarse matching with the field fingerprint is determined from a large number of fingerprint databases according to the matching degree of each stamped fingerprint and the field fingerprint. According to the method, the position information of each detailed point is used to carry out matching voting between detailed points, simple operation and voting methods are used to eliminate an unmatched stamped fingerprint in the large capacity fingerprint database, the accurate matching range of a fingerprint is reduced, and thus the total fingerprint matching time is greatly reduced.

A method, program and apparatus for generating partial differential equations for perspective corrected texture coordinates in a computer graphics display are provided. The present invention comprises calculating texture coordinates for four adjacent pixels and then determining the differences between the coordinates. A perspective correction factor is then calculated, which is multiplied by each coordinate difference.

The invention relates to an estimation method of an extra-long tunnel horizontal through error. Hole exterior and hole interior control measuring errors are not inevitable when a tunnel is excavated, and so that the tunnel opposite excavation has the through error. The estimation method provided by the invention comprises the following steps of: establishing a hole exterior horizontal control network, obtaining a breakthrough point coordinate form an inlet point, an outlet point and a directional point, estimating the horizontal through error caused by a hole exterior horizontal control measuring error according to a differential formula method; and then establishing a tunnel hole interior wire network, designing the wire network from the inlet and the outlet and a through surface in a simulating manner according to an equal side, and estimating a tunnel horizontal through error caused by the hole interior wire measuring error. The estimation method provided by the invention can be used for carry outing hole exterior GPS (Global Positioning System) network and hole interior wire net simulation and flat difference without measured data, the horizontal through error caused by the hole exterior GPS network measuring error and the horizontal through error caused by the hole exterior horizontal control measuring error of any length tunnel are estimated, and the problem of extra-long tunnel control measuring horizontal through error and control network optimization design is solved.

A design method of LED freeform surface illumination system based on XY-polynomial obtains a plurality of data points of a freeform surface, wherein each data point includes a coordinate value Q_i and a normal vector N_i. A sum of squares e₁(P) of coordinate differences in z direction between the coordinate value Q_i and the freeform surface is applied, and by a sum of squares e₂(P) between the normal vector N_i of the data points and normal vector n_i of the freeform surface a modulus of vector differences is acquired. An evaluation function ƒ(p)=e₁(P)+we₂(P) is proposed and a plurality of freeform surface shapes obtained by selecting different weightings. The freeform surface shape which has the best imaging quality is achieved as a final shape, and a freeform surface lens based on the final shape is constructed to establish an LED freeform surface illumination system.

The invention relates to the field of machine vision and image processing, in particular to a method for attaching a mobile phone cover lens to a liquid crystal display .The method comprises the steps of detecting and positioning the angular point of the cover lens through Canny edge detection and Hough transformation, detecting and positioning the angular point of the liquid crystal display through wavelet algorithm, Sobel edge detection and Hough transformation, calculating the actual three-dimensional coordinates of the cover lens and the liquid crystal display through coordinate system transformation based on the stereoscopic parallax principle, and then adjusting the cover lens and the liquid crystal display according to the three-dimensional coordinate difference value of the two to coincide in the X-Y plane, so that automatic attaching of the cover lens and the liquid crystal display is achieved under visual guidance .By the adoption of the method, automatic attaching of the cover lens and the liquid crystal display is achieved, attaching speed is high, efficiency and precision are high, processes are simple, no personnel limitation is set, manpower resource is saved a lot, cost is low, and adaptability is high.

The invention discloses a rail type inspection robot locating and position calibration method and system. The rail type inspection robot locating and position calibration method comprises the steps that before an inspection robot works formally, and coordinate information of a plurality of blocking pieces arranged on a rail at intervals is detected to serve as rail data to be recorded into a localdatabase of the inspection robot; during inspection of the inspection robot, inspection locating is conducted on the position of the inspection robot in real time, and locating is calibrated according to the rail data; and when locating of the inspection robot fails, inspection locating is conducted on the position of the inspection robot again. According to the rail type inspection robot locating and position calibration method and system, when the inspection robot is located unsuccessfully and travels again, the N blocking pieces are scanned, whether displacement differences corresponding to the N blocking pieces and coordinate differences of N adjacent blocking pieces in the local database are equal correspondingly is judged comparatively, when only one coordinate difference is equal to the corresponding displacement difference, the coordinate information of the last blocking piece in the N blocking pieces corresponding to the coordinate difference serves as the current coordinateinformation of the inspection robot, and thus autonomous locating is achieved again.