1144 results about "Direction vector" patented technology

Embodiments include methods and apparatuses for sensing acoustic waves for a conferencing application. A conferencing apparatus includes a plurality of directional microphones oriented to cover a corresponding plurality of direction vectors and disposed in a housing. An orientation sensor is configured to generate an orientation signal indicative of an orientation of the housing. A processor is operably coupled to the plurality of directional microphones and the orientation sensor. The processor is configured to automatically adjust a signal processing characteristic of one or more directional microphones of the plurality of directional microphones responsive to the orientation signal.

The invention relates to a vector-relation-based method for calibrating single-line laser radar and a CCD camera. Point set information of the laser radar for scanning a V-shaped target is extracted in a laser coordinate system, and direction vectors and intersection coordinates of straight lines in two different planes of the target are obtained by means of straight line fitting; the CCD camera is used for capturing images in a camera coordinate system, target plane equations and an equation of a plane passing through an original point and laser radar scanning lines are obtained by processing image information, a straight-line equation of laser radar scanning is built, and furthermore, the direction vectors and the intersection coordinates of the straight lines are obtained; finally, calibration is finished according to the relations between direction vectors and the intersection coordinates of the straight lines corresponding to the different coordinate systems. According to the method, no object in a calibration scene needs to be moved, collection of all calibration data can be completed at a time, and calibration efficiency is improved greatly. According to the method, the direction vectors of the straight lines of the laser scanning target planes under the coordinate systems of sensors to be calibrated are obtained directly, calibration precision is guaranteed, and meanwhile the calibration algorithm is simplified.

A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.

The invention provides an unscented Kalman filter-based method for tracking an inertial pose according to acceleration compensation, which is used for an inertial measurement unit integrating a three-axis micro-gyroscope, a three-axis micro-accelerometer and a three-axis magnetoresistive sensor, and realizes pose tracking estimation on a device carrier by using rotary angular velocity vectors, acceleration vectors and magnetic field sensor vectors which are detected by the device by means of filter technology. The method comprises the following steps: 1) treating the acceleration vectors as combination of the acceleration vectors and gravity acceleration vectors of the device carrier self, and constructing observation equations respectively for amplitude and normalized direction vectors of the acceleration vectors and the gravity acceleration vectors; 2) describing quaternion, accumulated error vectors of the gyroscope and the acceleration vectors of the device carrier self by using the pose to construct a system state vector; and 3) realizing a filter estimating process of the system by using the unscented Kalman filter technology because of nonlinearity of the observation equations. Compared with the conventional method ignoring the acceleration of the carrier self, the method not only can provide a more accurate estimation result, but also widens the application range of the system.

High-precision normal information on the surface of a subject is generated by capturing an image of the subject. A normal information generating device captures the image of the subject and thereby passively generates normal information on the surface of the subject. The normal information generating device includes: a stereo polarization image capturing section for receiving a plurality of polarized light beams of different polarization directions at different viewpoint positions and obtaining a plurality of polarization images of different viewpoint positions; and a normal information generating section for estimating a normal direction vector of the subject based on the plurality of polarization images of different viewpoint positions.

The invention provides a contour vector feature-based embedded real-time image matching method. The method uses the linear feature based on X and Y direction vectors, and has strong capability of resisting image distortion, noise, shading, illumination changes, polarity inversion and so on. An image pyramid search strategy is used, templates are quickly matched in a high-layer low-resolution image to be tested, and then, a target position is found out accurately by stepwise downward search, so that matching time is reduced greatly. According to the template image specific information, the best pyramid hierarchy number and the best rotation angle step size for the pyramid template matching of each layer are calculated automatically. An image pyramid highest-layer three-level screening matching strategy is provided, treatment is carried out according to the specific content of the image to be tested, and the first level of screening and the second level of screening are carried out; the non-target position is eliminated just by the addition and subtraction and the conditional statements, which is more efficient in the embedded system than using the multiplication and division; and the third level only processes fewer positions meeting the requirements of the above two levels, so that the matching speed is improved greatly. The overall method can realize the work of matching and locating the target at any angle and any coordinate.

A T-shaped gauge and acetabular cup navigation system and acetabular cup aligning method using the T-shaped gauge, which can measure anantomical landmarks of the pelvis at the same time, calculate an anterior pelvic plane from the measured value, calculate a transformed anterior pelvic plane by converting the anterior pelvic plane in comparison with a pelvic reference frame, and set a direction vector of an acetabular cup on the transformed anterior pelvic plane, thereby exactly inserting the acetabular cup into the acetabulum without regard to movement of the pelvis.

An automated system and method of geometric 3D point location. The invention teaches a system design for translating a CAD model into real spatial locations at a construction site, interior environment, or other workspace. Specified points are materialized by intersecting two visible pencil light beams there, each beam under the control of its own robotic ray-steering beam source. Practicability requires each beam source to know its precise location and rotational orientation in the CAD-based coordinate system. As an enabling sub-invention, therefore, an automated system and method for self-location and self-orientation of a polar-angle-sensing device is specified, based on its observation of three (3) known reference points. Two such devices, under the control of a handheld unit downloaded with the CAD model or pointlist, are sufficient to orchestrate the arbitrary point location of the invention, by the following method: Three CAD-specified reference points are optically defined by emplacing a spot retroreflector at each. The user then situates the two beam source devices at unspecified locations and orientations. The user then trains each beam source on each reference point, enabling the beam source to compute its location and orientation, using the algorithm of the sub-invention. The user then may select a CAD-specified design point using the handheld controller, and in response, the handheld instructs the two beam sources to radiate toward the currently selected point P. Each beam source independently transforms P into a direction vector from self, applies a 3×3 matrix rotator that corrects for its arbitrary rotational orientation, and instructs its robotics to assume the resultant beam direction. In consummation of the inventive thread, the pair of light beams form an intersection at the specified point P, giving the worker visual cues to precisely position materials there. This design posits significant ease-of-use advantages over construction point location using a single-beam total station. The invention locates the point effortlessly and with dispatch compared to the total station method of iterative manual search maneuvering a prism into place. Speed enables building features on top of point location, such as metered plumb and edge traversal, and graphical point selection. The invention eliminates the need for a receiving device to occupy space at the specified point, leaving it free to be occupied by building materials. The invention's beam intersection creates a pattern of instantaneous visual feedback signifying correct emplacement of such building materials. Unlike surveying instruments, the invention's freedom to situate its two ray-steering devices at arbitrary locations and orientations, and its reliance instead on the staking of 3 reference points, eliminates the need for specialized surveying skill to set up and operate the system, widening access to builders, engineers, and craftspeople.

A radar receiver receives reflection wave signals which are a radar transmission signal reflected by a target with plural respective antenna system processors, and estimates an incoming direction of the reflection wave signals. A correlation vector power calculator calculates a correlation vector power based on a correlation vector including outputs of the plural respective antenna system processors. A direction vector correlation calculator calculates a direction vector correlation power on the basis of the correlation vector and a direction vector including information of amplitude and phase deviations that occur between the plural respective antenna system processors for each azimuth angle range of an incoming direction of the reflection wave signals. A distance / azimuth angle detector estimates an azimuth angle of an incoming direction of the refection wave signals based on the correlation vector power and the direction vector correlation power.

The invention provides a three-dimension image processing method comprising the following steps: obtaining current image acquisition device position coordinates from a world coordinate system, obtaining a first direction vector and a second direction vector, and using a view transformation algorithm to obtain a transparent matrix; obtaining preset near plane vertex coordinates a near plane distance and a far plane distance from an image acquisition device coordinate system, and using a projection transformation algorithm to obtain a projection matrix; multiplying the transparent matrix with the projection matrix so as to obtain a transformation matrix; multiplying the transformation matrix with texture initial vertex coordinates matched with added augmented reality elements so as to obtaintexture target vertex coordinates matched with the augmented reality elements; using the texture target vertex coordinates to render the augmented reality elements so as to form a three-dimension image. The mobile terminal can rotate to drive the image acquisition device to rotate, so the three-dimension image corresponding to the augmented reality elements can make corresponding rotations, thusincreasing the fusing level between the three-dimension image and a true background image, and improving the image authenticity; the invention also provides a three-dimension image processing device,a storage medium and computer equipment.

The invention discloses a method for performing target selection in a virtual reality space, which can flexibly and efficiently perform target selection in the virtual reality space. The method includes; receiving spatial position information and rotary posture information of a gesture input device, and mapping the gesture input device to an established three-dimensional virtual space according to the spatial position information and the rotary posture information of the gesture input device; acquiring a position coordinate origin in the three-dimensional virtual space of a virtual object of the gesture input device and a direction vector pointing to the right ahead of the virtual object; drawing a ray with the position coordinate origin as a starting point in the direction of the direction vector in the three-dimensional virtual space, wherein the ray serves as a prompt identification for target selection in the three-dimensional virtual space; and determining a three-dimensional virtual space image of a user view direction, and sending the three-dimensional virtual space image to a head-mounted display to be displayed. The invention also discloses a device and system for performing target selection in the virtual reality space.

The invention discloses a simple and feasible calibration method for the relative attitude of a binocular stereo camera and an inertial measurement unit on the basis of the absolute gravity direction. The method comprises the steps that a gravity direction vector serves as a reference vector, expressions of the gravity direction vector under a camera coordinate system and under an IMU coordinate system are solved respectively to obtain the expressions of the same vector under the two different coordinate systems, and then the attitude change relationship between the two coordinate systems can be solved; finally, precision verification is performed through reprojection errors, and application of the calibration method in a visual odometer is supplied. Experiments show that the relative attitude between the camera and the IMU can be accurately solved through the method. The method can be used for assisting in vision positioning of mobile robots and spherical robots.

The invention relates to a real-time multi-target human body 2D attitude detection system and method. The system comprises an image acquisition module used for acquiring image data, a real-time processing module used for inputting the image data to the neural network for learning and prediction and generating the human body attitude information according to a hot spot map of the acquired joint point position and a hot spot map of the direction vector field among joint points, and a visual display module used for presenting the predicted human body attitude information to users in a line connection mode. The system is advantaged in that the depth learning method is utilized to encode the joint position and the position and the direction of bones formed by joints through interconnection, accurate human body 2D attitude estimation of a single image is realized, for complex people gathering conditions, multiple human body attitudes of the scene can be accurately estimated, the users are facilitated to carry out further analysis processing and mining of the human body attitudes, and next behaviors are predicted.

The invention discloses a method for calculating lighting parameters and carrying out relighting rendering based on an image and a model, comprising the following steps: (1) using a 3D point cloud model of a scene to calculate the normal vector of each 3D point; (2) calculating the light source position and direction vector of an image according to the coordinates and the normal vector of each 3D point and the pixel value of the image; (3) by supposing that the lighting model of the image is a Phong model, calculating the parameters of an energy function in the model based on the light source information obtained in the previous step; (4) calculating the shadow and highlight areas of the image; and (5) giving a target RGB image to be rendered, fusing and rendering the scene and lighting information of the original image into the target image, and outputting a final rendering result. By using the method, the relighting process of special-effects production in film and television post-production is simplified, the relighting rendering result can be output quickly, and a user can preliminarily judge whether an input image is applicable to later virtual-real combination. The problem that rework is caused as the lens and post-production inconsistency cannot be found in the existing film and television production process is solved.

The invention discloses a finger gesture recognition method based on a field depth image. The finger gesture recognition method comprises the steps that a field depth camera is started, and field depth video data are obtained; a man hand length is deduced, and a palm position and hand length data are determined; a hand spherical zone image is subjected to segmenting and cutting, and preprocessing is carried out; and fingertip recognition is carried out, and gesture recognition is carried out according to geometrical relationship. According to the method, a hand zone is obtained by cutting quickly based on the features of the field depth image, analyzing and processing are only carried out on a target zone, operation complexity is lowered, adaptability on dynamic field changing is good, a contour maximum concave point scanning algorithm is used for fingertip recognition, the robustness of fingertip recognition is improved, after a fingertip is accurately recognized, fingers are recognized according to the direction vectors of the fingers and the geometrical relationship of the fingers, and accordingly recognition of various gestures is provided. The method is simple, flexible and easy to achieve.

The invention discloses a method for calibration of a workpiece coordinate system. The method for calibration of the workpiece coordinate system comprises the steps that (1) an original point of a tool coordinate system of an industrial robot moves to random three points, not collinear, in a workpiece coordinate system of the industrial robot to obtain workpiece coordinates, in the workpiece coordinate system, of the three points and base coordinates, in a base coordinate system of the industrial robot, of the three points, (2) direction vectors of the three workpiece coordinates and direction vectors of the three base coordinates are obtained according to the workpieces coordinates and the base coordinates of the three points respectively, and (3) a homogeneous transfer matrix of the workpiece coordinate system relative to the base coordinate system is obtained according to the direction vectors of the three workpiece coordinates and the direction vectors of the three base coordinates to accomplish calibration of the workpiece coordinate system. The invention further discloses a device for calibration of the workpiece coordinate system and a method and device for workpiece processing. According to the mode, the method and device for calibration of the workpiece coordinate system and the method and device for workpiece processing can simply and rapidly achieve calibration of the workpiece coordinate system, and is good in operability.

There are provided an image processing method and an image processor for detecting an object to be detected in a simple and accurate manner without detailed adjustment of illumination. Light sources provided in four directions around a camera are sequentially lighted, and a camera is driven every time the one of the light sources is lighted to generate four images of a work. Further, a normal vector of a group of pixels having the same coordinate among the generated images is calculated by use of brightness of each pixel that belongs to the group and a previously obtained illumination direction vector corresponding to each of the light sources. Moreover, the normal vector of each pixel is converted into one-dimensional information showing a relation of the vector with respect to a space coordinate system, and after generation of an image representing the calculation result, a prescribed characteristic extracting process is executed.

The invention discloses a self-adaptive intra prediction mode decision method for HEVC (High Efficiency Video Coding). The method comprises the following steps of: roughly selecting a prediction mode by using the amplitude and angle of a direction vector to obtain a tidy candidate prediction mode set; and performing RDO (Rate-Distortion Optimization) specific to the candidate prediction mode set to determine an optimal prediction mode.

The invention discloses a method for automatically identifying pavement diseases. The method comprises the following steps of 1, converting an input pavement grey image into a binary image; 2, using a digital filter template for performing expansion processing and corrosion processing on the binary image obtained in the step 1; performing eight-communication mark on the image obtained in the step 2, obtaining the height and width of each communication area, and setting the communication area with the maximum value of the height and width smaller than the first preset threshold value to be black; 4, performing linear fitting on each communication area of the image obtained in the step 3, obtaining the length and direction vectors of a fitting line segment, obtaining the communication areas where the fitting segments with the length larger than the second preset threshold value are located, and taking the communication areas as seed areas; 5, obtaining confidence coefficients of all extended seed areas, if the maximum confidence coefficient is smaller than the confidence coefficient threshold value, judging that the diseases are not found in the pavement grey image, and if the maximum confidence coefficient is larger than a confidence coefficient threshold value, judging that the diseases are found in the pavement grey image.

The invention provides a three dimensional earth pressure testing device based on general earth pressure cells and a rhombic dodecahedron. According to the device, six general earth pressure cells are fixed onto six surfaces, of which the normal vector quantities are uncorrelated, of the rhombic dodecahedron, so that the three dimensional earth pressure testing device is formed; grooves used for accommodating earth pressure cells are arranged on the surfaces of the rhombic dodecahedron with uncorrelated normal direction vector quantities; a conducting wire hole leading to the centroid of the rhombic dodecahedron is formed in the center of each groove; a conducting wire converging hole leading to the centroid is formed in each surface center of the rhombic dodecahedron except the grooves, so that six conducting wire holes and the converging holes converge at the centroid; meanwhile, a method for assembly and compute the three dimensional earth pressure testing device is provided. The invention has the effect that the three dimensional earth pressure testing device obtain, through testing, three principal stress of the earth pressure in the principal directions with measuring accuracy of 1.22 Rho, the measuring accuracy of three shearing stress is 0.71 Rho, the average measuring accuracy is 0.965 Rho, the safety storage of the engineering construction is improved, and the health condition of the engineering in later period can be effectively evaluated.

The invention discloses a characteristic space-based backward and forward adaptive wave beam forming method, and relates to the technical field of medical ultrasonic imaging. The method comprises the following steps of: performing focusing delay processing and backward and forward smoothing on a plurality of paths of sampled signals of a received array to obtain a sample covariance matrix estimate; performing diagonal loading on the sample covariance matrix estimate and then combining with a direction vector to calculate an adaptive wave beam forming weight; performing characteristic decomposition on the backward and forward covariance matrix estimate after the diagonal loading to construct a signal subspace; projecting the adaptive wave beam forming weight into the signal subspace to obtain a new adaptive wave beam forming weight; and finally, performing weighted summation on a plurality of paths of data subjected to the backward and forward smoothing by the new adaptive wave beam forming weight so as to obtain a path of adaptive wave beam signal. By using the method, the problems of improving the image resolution and contrast, being sensitive to the direction error and the like existing in the conventional adaptive wave beam forming algorithm are solved, and the overall quality of the ultrasonic imaging is comprehensively improved.

The present invention provides a floor structure for a fuselage comprising a plurality of cross beams to which respectively at least one first strut and at least one second strut are associated for connecting the respective cross beam to the fuselage. The at least one first strut is aligned in a corresponding first direction vector and the at least second strut is aligned corresponding to a second direction vector. The projections of the first direction vector and of the second direction vector onto the longitudinal direction of the fuselage are different for absorbing a force acting in the longitudinal direction of the fuselage on the floor structure, through the first and second struts.

The invention belongs to the technical field of measurement, and relates to an improvement to a calibration method of structured light parameters in 3D vision measurement of structured light. The invention provides a calibration method of the structured light parameters based on a one-dimensional target. After a sensor is arranged, a camera of the sensor takes a plurality of images of the one-dimensional target in free non-parallel motion; a vanishing point of a characteristic line on the target is obtained by one-dimensional projective transformation, and a direction vector of the characteristic line under a camera coordinate system is determined by the one-dimensional projective transformation and a camera projection center; camera ordinates of a reference point on the characteristic line is computed according to the length constraint among characteristic points and the direction constraint of the characteristic line to obtain an equation of the characteristic line under the camera coordinate system; the camera ordinates of a control point on a plurality of non-colinear optical strips are obtained by the projective transformation and the equation of the characteristic line, and then the control point is fitted to obtain parameters of the structured light. In the method, high-cost auxiliary adjustment equipment is unnecessary; the method has high calibration precision and simple process, and can meet the field calibration need for the 3D vision measurement of the large-sized structured light.

A radar apparatus is installed in a vehicle that moves along its direction of travel. A radar transmission unit transmits a high frequency radar transmission signal from a transmit antenna in each transmit period. In a radar reception unit, antenna system processing units each generate a correlation vector by computing the correlation between reflected wave signal from a stationary object or a moving object and the radar transmission signal. A Doppler frequency-azimuth conversion unit converts Doppler frequencies into the components of an azimuth in which the stationary object is present using an estimated vehicle speed vector for the vehicle. A stationary object azimuth estimation unit generates the power profile of the reflected wave signal using the correlation vector and a direction vector corresponding to the components of the azimuth in which the stationary object is present.

The invention relates to a target tracking method, device and system. The method comprises that a reference coordinate system is established according to position information of a shot target and an aircraft, and a first position vector from the shot target to the aircraft in the reference coordinate system is obtained; according to present attitude information of the aircraft, a direction vector from an antenna position of the aircraft to a holder position in the reference coordinate system is calculated; according to the first position vector and the direction vector, a second position vector from the shot target to the holder position in the reference coordinate system is calculated, and converted to target attitude information of the aircraft; and according to the present attitude information and target attitude information of the aircraft, a target control quantity is obtained, and the target control quantity is used indicate the adjustment amount for controlling movement of a holder. According to the invention, the tracking precision is high, and all-weather autonomous tracking can be realized.

This invention provides a vehicle cruise control system which, during recognition of a shape of a road extending in a frontward direction of host vehicle, can calculate the road shape rapidly and accurately from a positional relationship with respect to the host vehicle. The system includes at least: a position change detector that detects, from information on the road existing in the frontward direction of the vehicle, a horizontal distance from a line segment orthogonal to a traveling direction vector of the vehicle, to a centerline of the road, the detection being conducted at a plurality of measuring points in an extending direction of the traveling direction vector; a road shape recognizer that identifies the shape of the road from data relating to linearity of changes in each of the horizontal distances, the linearity data being obtained by the position change detector; and a cruise controller that controls traveling of the vehicle according to results of the identification by the road shape recognizer.