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12767 results about "Estimation methods" patented technology

There are different methods for estimation that are useful for different types of problems. The three most useful methods are the rounding, front-end and clustering methods.

Focal length estimation method and apparatus for construction of panoramic mosaic images

The focal length estimation method and apparatus claimed in this application aligns plural overlapping images with one another for constructing an image mosaic. This is accomplished by computing a planar perspective transformation between each overlapping pair of the images, computing from the planar perspective transformation a focal length of each image of the pair, computing from the focal length of each image a focal length transformation, computing a rotational transformation for each of the pair of images whereby a combination of the rotational transformation and the focal length transformation relates the respective image to a three-dimensional coordinate system. Registration errors between the pair of images are reduced by incrementally deforming the rotational transformation of one of the pair of images. The planar perspective transform is a matrix of warp elements, and the focal length is computed as a function of the warp elements, the function being derivable by constraining a first two rows or the first two columns of the matrix to have the same norm and to be orthogonal. The focal length of one image of a pair of images is found by applying the constraint on the matrix columns, while the focal length of the other image of the pair is found by applying the constraint on the matrix rows
Owner:MICROSOFT TECH LICENSING LLC

Machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method

The invention discloses a machine vision and inertial navigation fusion-based mobile robot motion attitude estimation method which comprises the following steps of: synchronously acquiring a mobile robot binocular camera image and triaxial inertial navigation data; distilling front/back frame image characteristics and matching estimation motion attitude; computing a pitch angle and a roll angle by inertial navigation; building a kalman filter model to estimate to fuse vision and inertial navigation attitude; adaptively adjusting a filter parameter according to estimation variance; and carrying out accumulated dead reckoning of attitude correction. According to the method, a real-time expanding kalman filter attitude estimation model is provided, the combination of inertial navigation and gravity acceleration direction is taken as supplement, three-direction attitude estimation of a visual speedometer is decoupled, and the accumulated error of the attitude estimation is corrected; and the filter parameter is adjusted by fuzzy logic according to motion state, the self-adaptive filtering estimation is realized, the influence of acceleration noise is reduced, and the positioning precision and robustness of the visual speedometer is effectively improved.
Owner:ZHEJIANG UNIV

Combined estimation method for lithium ion battery state of charge, state of health and state of function

The invention provides a combined estimation method for lithium ion battery state of charge, state of health and state of function. The combined estimation method comprises the steps that the state of he---alth of a battery is estimated online: open circuit voltage and internal resistance are identified online by adopting a recursive least square method with a forgetting factor, the state of charge is indirectly acquired according to a pre-established OCV-SOC corresponding relation, and then the size of battery capacity is estimated according to cumulative charge and discharge electric charge between two SOC points; the state of charge of the battery is estimated online: the state of charge of the battery is estimated by adopting the Kalman filter algorithm based on a two-order RC equivalent circuit model, and the battery capacity parameter in the Kalman filter algorithm is updated according to the estimation result of battery capacity; and the state of function of the battery is estimated online: the maximum chargeable and dischargeable current is calculated based on the voltage limit and the current limit of the battery according to internal resistance obtained by online identification, and then the maximum chargeable and dischargeable function can be obtained through further calculation.
Owner:TSINGHUA UNIV

Improved method of RGB-D-based SLAM algorithm

InactiveCN104851094AMatching result optimizationHigh speedImage enhancementImage analysisPoint cloudEstimation methods
Disclosed in the invention is an improved method of a RGB-D-based simultaneously localization and mapping (SLAM) algorithm. The method comprises two parts: a front-end part and a rear-end part. The front-end part is as follows: feature detection and descriptor extraction, feature matching, motion conversion estimation, and motion conversion optimization. And the rear-end part is as follows: a 6-D motion conversion relation initialization pose graph obtained by the front-end part is used for carrying out closed-loop detection to add a closed-loop constraint condition; a non-linear error function optimization method is used for carrying out pose graph optimization to obtain a global optimal camera pose and a camera motion track; and three-dimensional environment reconstruction is carried out. According to the invention, the feature detection and descriptor extraction are carried out by using an ORB method and feature points with illegal depth information are filtered; bidirectional feature matching is carried out by using a FLANN-based KNN method and a matching result is optimized by using homography matrix conversion; a precise inliners matching point pair is obtained by using an improved RANSAC motion conversion estimation method; and the speed and precision of point cloud registration are improved by using a GICP-based motion conversion optimization method.
Owner:XIDIAN UNIV

Transmitting apparatus, receiving apparatus, communication system, transmission method, reception method, and communication method

A transmitting apparatus, receiving apparatus, communication system, and a signal processing method of each applying a suitable modulation method and transmission path estimation method in accordance with characteristics of the transmission information for improving the transmission efficiency operate so that at the transmission side, the ratio of adding transmission path estimation pilot symbols is suitably controlled in accordance with an aspect of the dat transmitted, for example, the size of the packets transmitted and the state of the transmission path, wherein the transmission data is mapped by the selected modulation method, and the signal is processed in accordance with the method of estimation of the transmission path, and the transmission signal is produced by inverse fast Fourier transform processing and transmitted. At the reception side, the received signal is fast Fourier transformed, the transmission path is estimated by the transmission path estimation method selected at the transmission side, the received signal is correct in accordance with result, and the received data is reproduced in accordance with the modulation method. Therefore, it is possible to always adopt the optimum transmission method in accordance with the attribute of the transmission data etc. and possible to realize an improvement of a transmission efficiency and an enhancement of the quality of communication.
Owner:REDWOOD TECHNOLOGIES LLC

Full convolution neural network (FCN)-based monocular image depth estimation method

The invention discloses a full convolution neural network (FCN)-based monocular image depth estimation method. The method comprises the steps of acquiring training image data; inputting the training image data into a full convolution neural network (FCN), and sequentially outputting through pooling layers to obtain a characteristic image; subjecting each characteristic image outputted by a last pooling layer sequentially to amplification treatment to obtain a new characteristic image the same with the dimension of a characteristic image outputted by a previous pooling layer, and fusing the twocharacteristic images; sequentially fusing the outputted characteristic image of each pooling layer from back to front so as to obtain a final prediction depth image; training the parameters of the full convolution neural network (FCN) by utilizing a random gradient descent method (SGD) during training; acquiring an RGB image required for depth prediction, and inputting the RGB image into the well trained full convolution neural network (FCN) so as to obtain a corresponding prediction depth image. According to the method, the problem that the resolution of an output image is low in the convolution process can be solved. By adopting the form of the full convolution neural network, a full-connection layer is removed. The number of parameters in the network is effectively reduced.
Owner:NANJING UNIV OF POSTS & TELECOMM

Human body attitude calculation method based on quaternion and Kalman filtering

The invention discloses a human body attitude calculation method based on quaternion and Kalman filtering. The method comprises determining a vector coordinate system and a navigation coordinate system, determining an attitude matrix, respectively acquiring accelerated speed, angular velocity and magnetic induction intensity signals through an accelerometer, a gyroscope and a magnetometer, carrying out initial alignment on a human body attitude detection system, calculating initial attitude angles such as a pitching angle, a rolling angle and a heading angle, transforming the initial attitude angles into initial quaternion, carrying out system modeling according to a quaternion differential equation, inputting the initial quaternion as a measured value, carrying out data fusion on the attitude data through a Kalman filtering algorithm, outputting an estimated value which is updated quaternion, carrying out normalization processing on the updated quaternion to obtain final posture information, updating the attitude matrix and acquiring updated attitude angles. The human body attitude estimation method effectively improves the accuracy of human posture detection, has a fast response speed, has good stability and instantaneity and has a broad application prospect.
Owner:NANJING UNIV OF SCI & TECH

Transmitting apparatus, receiving apparatus, communication system, transmission method, reception method, and communication method

A transmitting apparatus, receiving apparatus, communication system, and a signal processing method for each apply a suitable modulation method and transmission path estimation method in accordance with the characteristics of the transmission information and capable of improving the transmission efficiency. At the transmission side, the method of estimation of the transmission path and the modulation method are selected in accordance with an attribute of the data to be transmitted, for example, the size of a packet to be transmitted, the transmission data is mapped by the selected modulation method, the signal is processed in accordance with the transmission path estimation method, and a transmission signal is created by increase fast Fourier transform processing and transmitted. At the reception side, the received signal is fast Fourier transformed, the transmission path is estimated by the transmission path estimation method selected at the transmission side, the received signal is corrected in accordance with the result, and the received data is reproduced in accordance with the modulation method. Therefore, it is possible to always adopt the optimum transmission method in accordance with the attribute of the transmission data etc. and possible to realize an improvement of a transmission efficiency and an enhancement of the quality of communication.
Owner:REDWOOD TECHNOLOGIES LLC

Gaze estimation method

The invention discloses a gaze estimation method. The gaze estimation method comprises the following steps: finding out calibration error by aligning; then estimating the distance between a face plane and a screen and establishing a three-dimensional model to obtain optical axis information of eyeballs by offset correction of the head and rotary correction of the head; and finally, obtaining the position of a fixation point. According to the gaze estimation method, only a camera is used and no auxiliary equipment is needed; the aim of furthering increasing the estimation precision is achieved by using a correction link by a user; in addition, due to the utilization of estimation of the distance between the face plane and the screen and the offset and rotation correction of the head, limiting conditions are reduced as much as possible, a comfortable use environment for a user is provided and the gaze estimation method has better precision and adaptability of the head motion; and on the basis of an eyeball of a human eye, the gaze estimation method based on a three-dimensional model is established so as to achieve the aim of increasing the estimation precision. According to the gaze estimation method, extra auxiliary equipment is reduced, the adaptability to the head motion is improved, and the better precision for sight light estimation is obtained.
Owner:BINHAI IND RES INST OF TIANJIN UNIV CO LTD
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