1387 results about "Diffuse reflection" patented technology

The invention discloses a welded pipe surface defect detection system, particularly relates to the technical field of metal pipe surface quality detection, and is used for solving the problem of defect misjudgment and missing detection caused by mixed reflection interference under single light source irradiation in the existing visual detection technology. An annular light source is adopted for time-sharing pulse triggering through a light source control module, reflected light images at different angles are synchronously collected, a feature extraction module constructs a diffuse reflection intensity ratio and mirror reflection angle distribution matrix to generate a three-dimensional reflection feature spectrum, and reflection anomaly characterization of a defect area is enhanced; the area positioning module screens candidate areas and inhibits interference by combining strength ratio circumferential deviation degree and reflection angle gradient change, and the distortion correction module compensates geometric distortion errors based on curvature radius and station movement parameters, filters pseudo defects of abnormal time sequence fluctuation, and improves the accuracy of the distortion correction. And the defect judgment module utilizes a gradient-gray scale space coupling classification model to distinguish the types of cracks, scratches and corrosion, and finally judges the defect authenticity in combination with reflection characteristic deviation vector superposition.

The invention provides a cloud collaborative three-dimensional building modeling rendering method and system based on WebGL (Web Graphics Library). The method comprises the following steps: acquiring design parameters of a target building, analyzing the design parameters into geometric topological data of a plurality of independent components on the basis of a functional attribute division rule, and generating a multi-stage detail geometric model; adding material physical attributes to the surface vertex data, calculating a diffuse reflection coefficient and specular reflection intensity through a ray tracing algorithm, and generating lightweight component data carrying physical rendering parameters; in response to a view angle switching instruction of a terminal user, according to a space block corresponding to a current view angle, a main GPU node is distributed from a distributed GPU cluster, the main GPU node is divided according to the space block, adjacent blocks of the space block are distributed to edge GPU nodes, parallel ray tracing calculation is executed based on a WebGL protocol, and the parallel ray tracing calculation is executed based on the WebGL protocol. And returning to the main GPU node synthesis terminal display image and displaying. According to the technical scheme provided by the invention, the response speed is remarkably improved while the physical-level rendering effect is kept.

The invention belongs to the technical field of industrial measurement, and discloses a pump machine metal shell size detection method based on image analysis, which comprises the following steps: synchronously acquiring image data of a pump machine metal shell in a visible light wave band and a near-infrared wave band; the contrast ratio of image data is optimized through a dynamic exposure control technology, and a high-dynamic-range multispectral image is obtained; three-dimensional geometric information of the pump machine metal shell is obtained, registration fusion is carried out on the three-dimensional geometric information and the high-dynamic-range multispectral image, a dense three-dimensional point cloud model with multispectral textures is constructed, and a multi-frequency heterodyne algorithm is adopted to process a high-reflection area in the dense three-dimensional point cloud model; the method comprises the following steps: collecting a multi-angle reflection image of a pump machine metal shell by rotating a linear polarizer, calculating a Stokes vector to extract a diffuse reflection component, carrying out diffuse reflection component constraint and brightness suppression on a high-reflection area based on a CIE-Lab color space, and outputting a dense three-dimensional point cloud model after texture enhancement; and the size detection precision of the pump machine metal shell is improved.

The invention relates to the technical field of tooth modeling, and discloses a three-dimensional tooth modeling system based on computer vision, computer equipment and a readable storage medium. According to the method, mirror reflection, diffuse reflection and subsurface scattering components in an original image are separated, mirror reflection intensity is normalized in combination with a dynamic truncation algorithm, pixel saturation is eliminated, groove and nest textures are reserved, a complete point cloud is obtained based on a two-dimensional texture image and cubic spline repair, and a multi-exposure point cloud sequence is obtained through bimodal calibration. The method comprises the following steps: solving the problem of data dislocation, carrying out weight assignment and data fusion on three-dimensional points in a plurality of exposure point cloud sequences to obtain three-dimensional fusion feature data, combining layered optical modeling and photon tracking compensation deviation, fusing clinical constraints, finally dynamically adjusting parameters, feeding back and optimizing, and outputting a micron-sized precision model. The modeling defect caused by difficulty in effectively coordinating feature contribution degrees under different exposure conditions is overcome, and high-precision modeling is realized.

A high-fidelity three-dimensional reconstruction method for a specular reflection plane comprises the steps of decomposing pixel colors into diffuse reflection and specular reflection components based on a 3D Gaussian sphere, introducing a dynamic reflection ratio parameter and a spherical harmonic function coefficient to respectively represent two reflection characteristics, and simulating light multi-reflection behaviors through weight fusion of cumulative projection and a reflection ratio map. Secondly, in combination with monocular inverse depth calibration, depth smoothing constraint of color gradient weighting and edge mutual exclusion loss, geometric consistency is enhanced, and artifacts are suppressed; a progressive multi-resolution training strategy is further adopted, low resolution is gradually optimized to complete resolution, reflection parameters are activated in stages, 3D Gaussian sphere overgrowth and floating artifacts are inhibited, and efficiency and precision are balanced. According to the method, the reconstruction fidelity of the specular reflection scene is remarkably improved while the real-time rendering advantage of the 3DGS is reserved, and the method is suitable for the high-precision modeling fields of virtual reality, augmented reality and the like.

The invention discloses an intelligent steel pipe surface defect recognition system based on deep learning, and particularly relates to the technical field of pipe surface defect analysis. An annular polarization light source array and a high-frame-rate CMOS sensor are adopted to synchronously collect visible light and near-infrared multi-polarization images; a surface normal is calculated based on Stokes parameters, mirror surface suppression and diffuse reflection enhancement are realized, a defect candidate area is generated by fusing multi-scale Laplacian pyramid residual error and Renyi entropy segmentation threshold positioning, multi-physical quantity registration is completed through white light interference and infrared thermal imaging, a six-channel feature cube is constructed, and a three-dimensional image is obtained. According to the method, space, spectrum and thermal characteristics are jointly extracted in the multi-head attention convolutional neural network, the confidence coefficient is evaluated in combination with Jensen-Shannon divergence, and the polarization angle and the focal length are dynamically adjusted according to the confidence coefficient, so that closed-loop parameter self-optimization is realized, and the micro-scale pitting corrosion and millimeter-scale crack detection precision is remarkably improved.

The invention discloses a weak light image enhancement method fusing noise adaptive diffusion and illumination perception, and the method comprises the steps: firstly designing a reflection-illumination decomposition module RID based on a Retinex theory, and extracting a reflectivity component and an illumination component of an input weak light image; then designing an ADRD (adaptive diffusion reflection denoising) module, performing denoising enhancement on the reflectivity component, and outputting an enhanced reflectivity image; introducing a noise estimation network, and dynamically adjusting the de-noising amplitude of the diffusion model according to the noise intensity of the region in the reflectivity graph; designing an illumination perception enhancement module IEM, fusing an attention mechanism and a local enhancement block, enhancing the illumination image, and outputting an enhanced illumination component; and building a complete neural network framework, carrying out joint training on the provided module, finally testing the stored neural network model, and outputting an enhanced image. According to the method, the problems of detail loss, noise residue and uneven illumination of the enhanced image in the prior art are solved.

The invention relates to the technical field of image compensation, in particular to a reflection compensation method based on image processing, and provides the following scheme: acquiring an environment panoramic image by using a panoramic camera to establish a scene global coordinate system, and acquiring a multi-view original image in combination with a camera array arranged in the circumferential direction of an object; determining a rotation symmetry axis according to the multi-view contour features, reconstructing a three-dimensional geometric body, and calculating normal distribution and curvature change; generating a prediction image based on diffuse reflection and specular reflection hypothesis in the surface expansion domain through virtual visual angle disturbance, identifying a reflection region according to color and gradient consistency, and generating a reflection mask; and performing texture reconstruction on the reflective area by using geometric registration and multi-view compensation, and finally performing splicing and fusion to obtain a non-reflective high-fidelity panoramic image. The method does not need to change the field illumination condition, and can achieve the precise recognition and compensation of the complex curved surface reflection in the cultural relic in-situ collection environment.

The invention discloses a metal processing detection system and method based on computer vision, and relates to the technical field of defect detection.Rotatable polarization filters are installed in front of a lens of a vision sensor, the polarization filters are arranged at four angles respectively, and four sets of polarization images are collected; calculating the polarization degree of each pixel point on the surface during metal processing by using the gray values of the four groups of polarization images, setting a polarization region interval, and dividing a metal surface reflection region into a specular reflection region and a diffuse reflection region; acquiring images of different wavebands by using a multispectral vision sensor, and constructing a multispectral image set; for the same wave band, the images of different exposure times are synthesized to obtain an HDR high dynamic range image; setting a weight for the HDR image of each wave band, and combining the weighting of the HDR image and the suppression of the polarization degree to carry out multispectral image fusion so as to obtain a final image; and a gray threshold value and an area threshold value are respectively calculated through the average value and the standard deviation, and the metal processing defects are judged by using the two threshold values.

The invention provides a high-reflection plane metal part defect detection method and system based on a composite polarized light source, and a medium. The method comprises the following steps: illuminating a high-reflection plane metal part based on the composite polarized light source, adjusting a light source polarization angle and an LED wave band combination to construct a shooting environment, and collecting an image sequence; calculating a polarization intensity distribution parameter for the image sequence based on the relationship between the polarization intensity and the Stokes parameter to obtain a polarization intensity distribution image; analyzing the polarization intensity distribution image based on a polarized light reflection model, and outputting a specular reflection component and a diffuse reflection component; fitting the specular reflection component and separating the diffuse reflection component to obtain a reflection-removed image; based on an image enhancement algorithm, edge enhancement is carried out on the reflection-removed image to obtain an enhanced image, and based on a defect identification algorithm, the enhanced image is analyzed to obtain defect information; by removing the diffuse reflection component and reconstructing the image, the mirror interference is effectively stripped, and the defect identification precision is improved.

The invention discloses a melamine paper surface defect detection system based on optical detection, and relates to the technical field of industrial optical detection, and the melamine paper surface defect detection system comprises a polarized light signal generation module which employs a high color rendering index white light source to irradiate the surface of melamine paper, obtains a surface reflection light beam array carrying different polarization states, and modulates the surface reflection light beam array into eight groups of independent polarized light signals; the multispectral imaging and registering module inputs eight groups of independent polarized light signals into a free-form surface prism group and performs light splitting to generate a diffuse reflection texture image, a mirror reflection image and a near-infrared perspective image, and constructs a three-channel space registering image matrix; and the light path calibration module is used for extracting defect coordinate data and confidence score based on the pixel-level defect thermodynamic image, and performing light path compensation by adopting a real-time feedback regulation mechanism to obtain a dynamically calibrated stable optical imaging signal.

The invention discloses a spectral polarization imaging three-dimensional reconstruction method and device based on a pixel array, and a medium, and relates to the technical field of image processing, and the method mainly comprises the steps: collecting original images, which are fixedly obtained by pixels, of corresponding spectral bands and polarization angles; extracting sub-image information under each spectral band and polarization angle according to pixel positions, and stacking to generate a four-dimensional data volume; constructing a polarization geometric model according to the four-dimensional data body, and constructing an actual expression of the linear polarization degree in combination with a Fresnel reflection theory; constructing a redundant dispersion constraint equation and a theoretical expression of the relation between the diffuse reflection spectrum polarization degree and the incident angle and the imaging target refractive index; substituting the redundant dispersion constraint equation into a combined residual function of the theoretical expression and the actual expression, and performing parameter inversion on the combined residual function; and carrying out three-dimensional shape recovery under imaging target surface normal reconstruction based on an inversion result. According to the method, time delay and space registration errors caused by time-sharing acquisition are eliminated.

The invention relates to the technical field of machine vision and optical detection, in particular to a tea color automatic evaluation method and system based on machine vision. The method comprises the following steps: constructing a stable and repeatable optical measurement environment and calculating radiation baseline parameters; performing multi-band polarization sequence imaging on the tea sample to obtain original data with spectrum and structural characteristics; separating mirror surface and diffuse reflection components on the surfaces of the tea leaves, and performing spectrum consistency correction by combining a radiation baseline; performing multiband spectrum reconstruction and normalization processing on the basis of the corrected diffuse reflection image, mapping to a CIE Lab color space, extracting pixel-level brightness, chromaticity and color distribution statistical indexes, and generating a color feature vector in combination with spatial weighting matrix optimization; a final score is calculated by constructing a quantitative evaluation and grade judgment model and integrating perception color separation, drying calibration color separation and a penalty term, and a grade result is output. According to the method, objective, accurate and automatic evaluation of the color of the tea leaves is realized.

The invention discloses a double-comb non-cooperative target ranging system based on single photon detection, which is characterized in that an optical pulse output by a first optical frequency comb is divided into two paths of light through a first beam splitter, the first path of light is combined with one of two paths of light divided by a second optical frequency comb through a second beam splitter, and the combined light is transmitted to a first nonlinear frequency up-conversion module; a sum frequency light pulse in the wave band of 780 nm is generated and detected by a base avalanche diode photoelectric detector, and then a time-dependent single photon counter is triggered to start counting; the second path of light is output to a beam expanding collimator through the circulator and irradiates a target to be measured through spatial propagation, the beam expanding collimator collects diffuse reflection light and returns the diffuse reflection light to a third port of the circulator along the original path, and the diffuse reflection light and the other path of light split by the second optical frequency comb through the second beam splitter are combined and transmitted to a second nonlinear frequency up-conversion module; the up-conversion light after sum frequency conversion passes through the optical filter group and then is recorded by a stop end of the single photon counting module, multi-cycle accumulative statistics is carried out by the time correlation single photon counter, and finally a photon counting waveform is reconstructed and the flight time difference of the to-be-measured target is calculated by the computer.

The invention relates to the technical field of laser transmission characteristic testing, in particular to a medium-wave infrared laser long-distance transmission attenuation characteristic external field testing method and device. The method is an indirect measurement method, a diffuse reflection plate is set up at a designated position of a transmission path, laser reaching the diffuse reflection plate is quantitatively measured through a detector, in combination with a bidirectional reflection distribution function of the diffuse reflection plate, the target reaching power of the laser transmitted through the long-distance atmosphere is obtained, and the target reaching power is calculated by comparing the target reaching power with the laser output power of a transmitting end. The laser long-distance transmission power attenuation characteristic can be obtained, and the problems that in current laser atmospheric transmission attenuation characteristic measurement, a laser radar does not have a medium-wave infrared measurement method, and the power of a specified position of a transmission path cannot be directly received and measured through a detector due to the fact that the size of a light spot is too large after long-distance transmission in direct measurement are solved. The measuring device is simple in structure and can support indirect measurement to obtain the long-distance transmission power attenuation characteristics of the medium-wave infrared laser.

The invention discloses an illumination adaptability rock crack identification and calibration method based on an image identification algorithm, and relates to the technical field of geotechnical engineering intelligent image identification, and the method comprises the following steps: collecting an illumination incident angle, a polarization state and an illumination gradient corresponding to an image frame, building an illumination time sequence observation layer, and obtaining an illumination time sequence observation layer; forming an illumination feature baseline for crack boundary tracking; and performing coherent phase decomposition on the image sequence based on the illumination feature baseline, stripping mirror reflection and enhancing diffuse reflection texture, and generating a crack drift suspicion image. Through construction of an illumination time sequence observation layer and coherent phase decomposition, illumination interference stripping in a crack image is realized, false drift is eliminated by combining anti-fact playback and time reconstruction, and a dynamic threshold control mechanism is constructed by introducing an anti-illumination mask and an anti-phase pattern and linking a polarized light diaphragm and a shading array. And high robustness of crack identification and closed-loop regulation and control of false early warning are realized.

The invention discloses an anti-skid and noise-reduction multifunctional road hot melt coating and a gradient forming process thereof, and relates to the technical field of hot melt coatings. Comprising the following components in percentage by mass: 25-28wt% of bio-based resin, 8-12wt% of a noise reduction material, 15-20wt% of nano composite rubber particles and 5-8wt% of internally mixed reflective glass beads. The bio-based resin is used as a base material of the hot melt coating, the superfine bamboo fibers and the polyurethane elastomer are combined to serve as noise reduction materials, and honeycomb-shaped pores with the diameter of 0.1-1 micron exist in the superfine bamboo fibers, so that a coating produced by construction of the hot melt coating has good noise reduction performance; meanwhile, coarse-grade glass beads and fine-grade glass beads are introduced into the material, the coarse-grade glass beads provide basic light reflection, gaps are filled with the fine-grade glass beads to form a compact reflection layer, the coarse-grade glass beads and the fine-grade glass beads synergistically act to enable incident light to generate a composite effect of diffuse reflection and specular reflection, the retroreflection coefficient of the coating is increased by utilizing the effect, the light reflection performance in rainy days is further improved, and the safety is improved; and the hot-melt coating mostly adopts an environment-friendly material, is easy to degrade and is beneficial to environment protection.

The invention discloses a shield construction muck quantity real-time monitoring system and method based on three-dimensional laser scanning, and relates to the technical field of construction monitoring, the shield construction muck quantity real-time monitoring system comprises a hardware module, a software algorithm module and a system integration module, the software algorithm module comprises a point cloud data processing module, a volume calculation module, a data analysis module and an early warning module, the point cloud data processing module adopts a hierarchical noise filtering algorithm and performs point cloud completion based on a generative adversarial network, and the volume calculation module adopts a slice integration method. Through a hierarchical noise filtering algorithm and a generative adversarial network point cloud complementation technology, noise points generated by interference of dust, diffuse reflection and the like are effectively eliminated, sparse point clouds and large-area holes in a low-reflectivity area are repaired, a complete and high-precision muck pile three-dimensional surface model is reconstructed, a reliable data basis is provided for volume calculation, and the method is suitable for mass production. And the point cloud quality and the model integrity in a complex construction environment are remarkably improved.

The invention discloses an efficient three-dimensional scene anti-rendering method and system based on a multi-view image and a storage medium, and the method comprises the steps: employing a neural symbol distance function network as a geometric model to represent a scene geometric structure of the multi-view image, decomposing a neural radiation field into a diffuse reflection field and a specular reflection field, in combination with the self-shielding probability of the mirror reflection field, the diffuse reflection field, the mirror reflection field and the self-shielding probability of the mirror reflection field, calculating color information of the spatial points and optimizing the geometric model; a material network is adopted to represent albedo and roughness and obtain material information, color information cached in a neural radiation field, an illumination visibility function and direct illumination are introduced, global illumination of each light ray is calculated, importance sampling and illumination Monte Carlo integral are combined to obtain a rendering result, and the material network and a direct illumination network are optimized; and on the basis of the geometric structure, the material information and the illumination information obtained by the decoupled geometric model, the material network and the direct illumination network, a high-quality image is generated by adopting rendering pipeline calculation.

The invention relates to the technical field of optical measurement, in particular to a complex reflective object surface reconstruction method and system based on multi-system point cloud fusion, and the method comprises the steps: carrying out the joint calibration of the spatial relation among a camera, a projector and an LCD screen; projecting to a target object based on a projection grating phase method and a phase deflection operation path, and collecting structured light patterns of the two through a camera; phase solving is carried out on the structured light pattern collected by the camera, and a three-dimensional reconstruction result is obtained in combination with the joint calibration information; and world coordinate system matching and point cloud fusion are carried out on the three-dimensional reconstruction result based on the joint calibration information, and the three-dimensional morphology of the target object is generated. According to the method, the problems that in diffuse reflection reconstruction, patterns projected by a projector cannot be comprehensively collected due to exposure and height and gradient ambiguity cannot be solved by a monocular phase deflection technology in high reflection can be solved complementarily, high reflection and diffuse reflection objects can be solved, a complete reconstructed object can be obtained, and the reconstruction precision is improved.

The invention is applicable to the technical field of concrete deformation measurement, and particularly relates to a non-contact concrete deformation testing system and method based on a laser ranging technology, and the system comprises a laser ranging unit which is provided with a double-frequency phase modulation laser, an optical transceiver antenna and a phase detection circuit; the environmental parameter acquisition unit comprises a temperature sensor, a humidity sensor and an air pressure sensor; and the data processing unit carries an atmospheric refractive index calculation module, a Kalman filtering algorithm and a three-level early warning module, and supports wired / wireless data transmission. The distance measurement precision is high, and the concrete micro-deformation monitoring requirement is met; non-contact characteristic: non-damage monitoring on the concrete surface is realized through a diffuse reflection target; intelligent data processing: structural deformation and environmental noise are effectively distinguished, and the early warning reliability is improved; automatic monitoring is achieved, and the manual inspection cost is greatly reduced.

The application discloses a scanning method of a scanning optical fiber displacement sensor and belongs to the technical field of optical fiber displacement sensors; S1: a scanning platform is established; S2: a scanning surface and the area of the scanning surface are determined; scanning light passes through a lens in a voice coil motor to output laser to irradiate on a to-be-scanned object; diffuse reflection occurs on the to-be-scanned object; after the scanning platform receives the reflected information light of the to-be-measured object, the voice coil motor is used to move the laser to a next position, and the scanning surface of the to-be-measured object is scanned; S3: in the scanning process, the displacement information d of the to-be-measured object is calculated and acquired by means of the reflected light power of the scanning surface and the light power emitted by the scanning platform. The present application improves the existing point type optical fiber displacement sensor into a scanning optical fiber displacement sensor, and the surface scanning is more accurate than single-point scanning, and the change of the object in the direction can be measured.

The invention belongs to the technical field of three-dimensional shape measurement, and discloses a three-dimensional measurement method for a non-Lambert metal surface, which comprises the following steps of: projecting polarization coding structured light on the non-Lambert metal surface, synchronously acquiring reflection images and ambient light noise data, and removing light noise from each reflection image to obtain a non-Lambert metal surface; extracting and calculating the light intensity value, the light polarization value and the light deflection angle of each pixel point in different polarization states, constructing a grayscale image to distinguish a high polarization point from a low polarization point, marking mirror reflection and diffuse reflection areas, resolving a phase field based on the processed reflection image, and correcting the phase jump; a continuous phase field and polarization reflectivity characteristics are combined to input a double-branch network model, the model is fused and optimized, a control point coordinate matrix and a weight matrix are output, an NURBS curved surface is constructed for defect detection, a high-precision three-dimensional surface shape is reconstructed, and the problems of reflection interference, dynamic efficiency and industrial adaptation in non-Lambert metal surface three-dimensional measurement are systematically solved. And a solution is provided for high-precision industrial detection.

The diffuse reflection uniform light-emitting car lamp optical system comprises a lamp body, a circuit board, a light source and an aluminized reflection bowl, the light source is arranged on the circuit board, the diffuse reflection car lamp optical system further comprises a diffuse reflection reflecting plate, and the aluminized reflection bowl comprises a first diffusion pattern face arranged corresponding to the light source and a second diffusion pattern face arranged corresponding to the diffuse reflection reflecting plate; light emitted by the light source irradiates the aluminized reflection bowl, is reflected and diffused through the first diffusion pattern surface, irradiates the second diffusion pattern surface for reflection and diffusion, and then irradiates the surface of the diffuse reflection reflector to be reflected. The diffuse reflection uniform light-emitting car lamp optical system is reasonable in design, a good lighting effect is achieved through mutual cooperation of the reflection bowl, the fogging inner cover and the diffuse reflection reflector, and the diffuse reflection uniform light-emitting car lamp optical system is novel in light-emitting form, uniform in light-emitting effect and rich in layering sense.

The present invention discloses a method and system for simulating and displaying interior decoration based on BIM, and relates to the field of interior decoration technology. The system uses the modeling information in the BIM technology to automatically calculate the optimal furniture placement through an algorithm. This algorithm not only takes into account the distance between furniture and collision detection, but also comprehensively considers the actual needs of the indoor space to ensure the rational use and functionality of the indoor space. The intelligent layout algorithm can avoid crowded or chaotic layouts, and ensure that the indoor space is both vibrant and not crowded by optimizing the placement of furniture and space utilization. This helps to improve the overall aesthetics and comfort of the space, so that residents can live and work more happily. The system uses ray tracing technology to simulate the reflection, refraction and diffuse reflection process of light on the surface of indoor decoration objects. The system conducts a detailed analysis of the lighting conditions in different areas.

The invention provides a video manuscript abnormal data detection method and system based on artificial intelligence, and the method comprises the steps: obtaining a video manuscript which comprises a text instruction and a video frame; generating an enhanced semantic tag based on the text instruction and the video frame; the mirror reflection light component and the diffuse reflection light component in the video frame are separated by adjusting the lens polarization angle in real time, and an anti-interference image is generated; aligning the enhanced semantic tag and the anti-interference image in a shared semantic space, and calculating the feature similarity between the aligned enhanced semantic tag and the aligned anti-interference image; and determining a target anomaly score according to the feature similarity. According to the invention, the accuracy and robustness of video anomaly detection in a dynamic illumination scene are improved.

A method and system for eliminating 2D features from planar surfaces in 2D images. Three digital images are taken, from a single camera at a fixed position, of a subject such as a pallet of boxes. One image (IA) is taken with ambient lighting, one image (I1) has ambient lighting plus a first added light source, and one image (I2) has ambient lighting plus a second added light source. An output image Q is then computed by Q=(I1−IA) / (I2−IA). Subtracting the ambient image removes ambient diffuse and specular reflections. Division eliminates all variations in the output image caused by color. The only variations that remain are those due to the angle between each surface point's normal direction and the direction from the light to that point. The output image Q, devoid of all colors and 2D features, is well suited for computing a robot grasp of an object in the image.

The invention discloses a material quality detection system, method, medium and equipment, the material quality detection system comprises a feeding module, a conveying module, a spectrum detection module, a visual detection module, a sorting module and an information management module, the spectrum detection module is arranged at the downstream of the conveying module; comprising a camera obscura, a visible near-infrared spectrometer, a plurality of optical fiber probes, a plurality of first light sources, a plurality of second light sources, a laser distance measuring sensor and an adjustable rack, and the adjustable rack is arranged on the inner wall of the camera obscura and located above a conveying module. The information management module controls the adjustable rack to move so as to drive the multiple optical fiber probes, the multiple first light sources and the laser distance measuring sensor on the adjustable rack to move, and the multiple second light sources are arranged in the camera obscura and located below the conveying module. By arranging the spectrum detection module with the adjustable rack, optical signals of materials can be received from multiple angles, and multi-mode detection such as diffuse reflection, slow transmission and transmission is achieved.

The invention provides a non-diffuse reflection three-dimensional noise point cloud elimination method based on improved LightGBM. The method comprises the following steps: step 1, quantifying a feature system for an independent point cloud cluster; step 2, calculating correlation between features to carry out feature dimension reduction, and constructing a feature histogram in an auxiliary manner through feature conversion; 3, constructing an optimal feature subset through bidirectional feature screening; and 4, detecting the non-diffuse reflection noise point cloud by using the optimal LightGBM model. According to the method, the noise point cloud is directly detected by adopting the improved LightGBM based on the basic features of the independent point cloud cluster, and the problems of heuristic threshold, prior hypothesis, multi-echo stability and the like are avoided.

The invention belongs to the technical field of robots, and particularly discloses a multi-mode dexterous hand fusing visual tactile sense and palmtop eye and application thereof.The multi-mode dexterous hand comprises a hand body, a visual tactile sensor, a palmtop eye module and a processor, the visual tactile sensor comprises a skeleton, an elastic body, RGB and an NIR camera, the skeleton is of a finger-shaped structure, and the skeleton and the hand body form a hand structure; the elastomer covers the outer side of the framework, and a diffuse reflection coating covers the surface of the elastomer; the RGB camera and the NIR camera are installed in the framework and used for obtaining an RGB image and an NIR image when the first object makes contact with the elastic body; the handheld eye module is installed in the middle of the hand body, comprises a second RGB camera and a TOF camera and is used for taking a second object RGB image and sparse depth; and the processor determines the first object surface three-dimensional point cloud and the second object depth map to realize pose alignment of the two. According to the invention, touch-vision-depth multi-mode perception can be realized, and the precision and robustness of the manipulator are improved.