515 results about "Frame of reference" patented technology

A system, method, and autonomous vehicle (AV) that generates a row-based world model for perceptive navigation of an AV are described. The system includes a client device, a cloud component, and the AV. The client device receives a map image of a field having a plurality of rows, in which each row includes a plurality of plants. The cloud component then generates a row-based frame of reference, in which each row has an associated frame of reference that includes a distance. A location is determined based on a row number and the distance associated with the row number. The cloud component also associates a semantic instruction with the row-based world model, and the cloud component communicates the row-based world model to the AV.

A method of programming an industrial robot (100), with a robot manipulator (110) and robot controller (120), comprises: recording movements of the robot manipulator during a demonstration-based robot programming session, for thereby obtaining a robot trajectory; acquiring a video of the robot programming session; and generating, on the basis of the robot trajectory and the video, a robot program (C) executable by the robot controller, wherein the robot program includes at least one motion command which is expressed in a first reference frame (0 1). The method further comprises capturing operator input data indicating a first object (151) in an image in the video. The generated robot program includes a command to identify a position of an object resembling the first object in a work area (150) of a robot which executes the robot program; and the first reference frame is defined with respect to the identified position of the object resembling the first object.

In various examples, head pose prediction for automotive occupant sensing systems and applications is presented. The systems and methods described herein provide for a machine learning model trained using a dataset that comprises ground truth head pose data computed using a registered head model of a training subject. While operating a vehicle, one or more cameras and a depth sensor capture synchronized images of the training subject. To compute a ground truth 3D head pose, angular deviations between a 3D point cloud and the registered head model may be computed to obtain a 3D ground truth head pose measurement. Using an extrinsic calibration transform, the head pose measurement may be mapped into the sensor coordinate frame. Training samples may be produced for training the machine learning model that comprise an optical image frame and the head pose measurement transposed into the frame of reference for that optical image frame.

An interactive orbital trajectory prediction system including a processor arranged to simultaneously display: i) a surface of the first primary body including the relative predicted trajectory of the object, ii) a surface of the second primary body including the relative predicted trajectory of the object, and iii) the barycenter of the two primary bodies, and the trajectory of the object with respect to the barycentric reference frame. The system includes an input device arranged to receive a user selection of a first sensor module of a plurality of sensor modules used to predict the trajectory of the object orbiting the primary body. The processor, in response to the user selection of the first sensor module, predicts the flight path of the object based on the first sensor module.

Apparatus, systems, and methods are provided for localization of a region within a patient's body using markers implanted within the region. In an exemplary embodiment, a probe includes a distal end for placement against a surface of the region; one or more antennas for transmitting electromagnetic signals into and receiving reflected signals from the region; a light source for delivering light pulses into the region whereupon the markers modulate reflected signals. A processor of the probe processes the modulated reflected signals at one or more of the surface locations to determine marker locations within the region to obtain a reference frame, determine distance values corresponding to distances from the respective markers to the distal end at each of the surface locations, and determine coordinates of the surface locations relative to the reference frame to generate a three dimensional model of the body region.

A method (400) for generating a security metric for a target system is disclosed. The security metric provides a quantitative representation of the security of the target system, which representation is non-specific to any given component of the system or point of attack. The method involves generation of an analogical model of the target system (410), and mapping of the analogical model to a directed graph of the target system (430). A distance metric is then calculated (440) between the directed graph of the target system and directed graphs of a plurality of reference systems. The method further comprises inputting a tensor comprising the calculated distance metrics to a trained ML model (450), wherein the ML model has been trained using a training data set that is based on the same plurality of reference systems (450a) and wherein the ML model is operable to process the input tensor and to generate an output comprising a value of the security metric for the target system (450b). Also disclosed is a method (300) for training an ML model to generate a security metric.

The invention relates to the technical field of MicroLED array laser repair, and discloses a positioning method for rapid laser repair of a MicroLED array. Comprising the following steps: 1) constructing a coordinate reference system in an equipment imaging view field, setting coordinate axes according to horizontal and vertical directions by taking a fixed angle and a boundary of an array as reference original points, and adjusting the unit length and the coverage range of the coordinate system for Micro LED arrays with different sizes and specifications to ensure that the whole array area is covered; according to the positioning method for rapid laser repair of the Micro LED array, the actual physical position of a positioning system and the actual physical position of the Micro LED array can be better matched, positioning errors caused by an inaccurate coordinate system are reduced, the result of each time of positioning can be compared and corrected by positioning a defect area for multiple times, and the positioning accuracy is improved. Error accumulation possibly generated by single-time positioning is effectively reduced, especially when a complex Micro LED array is processed, multiple times of positioning can continuously optimize the positioning result, and the finally determined defect position is more accurate.

The invention discloses a flood risk map result data coupling and management method, and relates to the technical field of hydrological information processing and geographic information systems, and the method comprises the following steps: obtaining hydrological data and topographic data required by flood risk assessment, including water level time sequence data, submerging depth data and TIN topographic data, and carrying out standardized conversion on data in different formats, and carrying out unified alignment based on a coordinate reference system. According to the method, the coupling precision of the hydrological data and the topographic data is improved through the adaptive Delaunay triangulation algorithm, and simulation distortion caused by time-space mismatching is avoided; the storage is optimized by adopting a topological optimization GeoJSON data structure, so that the query and management efficiency is improved; gPU acceleration rendering and LOD layering technologies are combined, the real-time visualization capability of flood simulation is improved, and efficient and accurate data support is provided for flood prevention emergency management and water conservancy decision making.

The invention provides a projection coordinate direct conversion error correction method based on a neural network and related equipment, and relates to the technical field of coordinate conversion. The method comprises the following steps: acquiring projection coordinates under a first reference system to be converted; for the projection coordinates to be converted under the first reference system, obtaining the projection coordinates of the projection coordinates under the second reference system through polynomial fitting; inputting the projection coordinates in the first reference system and the projection coordinates, obtained by fitting, in the second reference system into a trained neural network model to judge whether a conversion error is within a preset error range; and if the conversion error is not in the preset error range, correcting the projection coordinate under the second reference system obtained by fitting according to the error statistic corresponding to the control point set. According to the method, the projection coordinate conversion precision under different reference systems can be improved on the premise of consuming less time resources and computing resources.

Method and device for celestial timekeeping that synchronizes independent object-relative cyclic time and displays each unique temporal interval on a single user display system. Multi-celestial cyclic time is displayed based on a user's frame of reference by aligning with recurrent and unique cyclic start / stop signals and the local reference frame timekeeping system. For example, using the Coordinated Universal time (UTC) for a user on Earth to equate the duration of independent cyclic time of Lunar18, Mars24, and so on. The method uses dimensional analysis and equates a single cyclic, non-cyclic (zero-time; start / stop non-dimensional instant of a cycle), and linear continuous time [T] from an observer frame of reference for displaying one or more temporal cycles on the user's device. Each independent cycle is consistent with temporal counts of a whole cycle (equated to SI units) displayed as either a discrete geometric shape (spatiotemporal units) and / or algebraic numbers on the device.

The invention relates to the technical field of robot control, in particular to a complex distribution network operation environment-oriented mechanical arm track obstacle avoidance control method, which comprises the following steps of: acquiring geometric information of an operation environment, a mechanical arm body posture and a grabbed target object through a multi-modal sensor; performing time synchronization and coordinate system calibration on the information to obtain environment data under a unified reference system; on the basis of the environment data, discretizing a work space into a three-dimensional voxel grid, calculating the occupancy probability of each voxel, and generating a probability occupancy model in combination with dynamic obstacle recognition and motion prediction; according to the method, through multi-modal sensing and unified reference system modeling, the problem that dynamic obstacle avoidance fails due to the fact that most of traditional mechanical arm track control methods adopt static environment hypothesis and cannot sense dynamic environment changes in real time and cannot unify multi-source information reference is solved.

A system may include a build plate aligned with a build plate plane and at least one build plate actuator operatively coupled to the build plate and configured to change a pose of the build plate plane. The build plate may be configured to receive a layer of material. One or more distance sensors may be configured to obtain build plate distance information including a relative distance between a reference frame of an optics assembly and the build plate and / or the build surface of the layer of material. At least one processor may be configured to receive the build plate and / or build surface distance information from the one or more distance sensors, and command the at least one build plate actuator to adjust the pose of the build plate plane based at least partly on the build plate and / or build surface distance information.

The present invention discloses a scene data fusion analysis management system and method based on multi-source heterogeneity, belonging to the field of data fusion technology. The present invention analyzes and extracts features from each collected data for classification, and obtains a multi-source data set in the scene; searches for the same information and different information in the multi-source data, and constructs a common information set and a different information set; analyzes the multi-source information in the common information set, and determines a unique time and space reference system; uses the time and space reference system to mark the time and space of the data information of each multi-source information in the common information set; aligns and fuses the multi-source information in the common information set according to the mark; uses the constructed common and different database to analyze the scene data, uses the different information in the common and different database to obtain different decisions, analyzes each decision, calculates the confidence of the decision, fuses multiple decisions, and obtains a comprehensive decision for the analysis scene.

According to various embodiments, a method for configuring a technical system to be configured is described, comprising acquiring reference observations, conditioning reference system models to the reference observations acquired for the reference system, and acquiring, for the technical system to be configured, observations of results of the technical system to be configured for different values ​​of the configuration parameters;Adapting an a priori model for the relationship between the values ​​of the configuration parameters and the results delivered by the technical system to be configured to the observations recorded for the technical system to be configured, wherein the a priori model is formed from a weighted combination of the conditioned reference system models; determining an a posteriori model for the relationship between the values ​​of the configuration parameters and the results delivered by the technical system to be configured by conditioning the adapted a priori model to the observations recorded for the technical system to be configured; and configuring the technical system to be configured using the determined a posteriori model.

A system includes three modules: a local odometry module, a map feature matching module, and a map-based positioning module, where the local odometry module is configured to receive data of a camera and an inertial measurement unit (IMU); the map feature matching module is configured to detect a similarity between a scene observed by the camera at a current moment and a pre-built map scene, and obtain a feature matching pair of an image feature at the current moment and a map feature; and the map-based positioning module is configured to receive an output amount of the local odometry and the feature matching pair. In the present invention, a maintained odometry-related variable and the relative transformation between a local odometry reference system and a pre-built map reference system are expressed in a Lie group, such that a new invariant Kalman filter (IKF) algorithm is obtained.

The invention discloses a space grid method for interconversion of geodetic height and barometric height, and belongs to the technical field of aviation navigation and geographic information systems. According to the method, the mutual conversion of geodetic height and barometric height is realized through establishing a global space-time grid reference system, establishing a space-time grid data base, converting barometric height to geodetic height, inversely converting the geodetic height to the barometric height, and carrying out reference conversion, data fusion and grid compression between the barometric heights. According to the method, the vertical availability of the height estimation value obtained through air pressure measurement within the height range within the stratosphere can be improved, the method is suitable for most weather conditions, the height estimation value with the precision reaching the ten-meter level can be achieved, and compared with an existing ISA-based method, the precision is higher, the application range is wider, and the application range is wider. The method can effectively improve the reliability of flight control systems of various aircrafts, and has wide application prospects in urban air traffic operation.

A method for determining a spatial position of an object using an image calibrated relative to a reference frame. The method comprises, after obtaining a candidate region associated with the object in the reference frame and projecting the candidate region into the calibrated image, adjusting the projected candidate region based on an image element associated with the object in the calibrated image, and determining a spatial position of the object using the adjusted projected candidate region.

The invention relates to a method of determining one or more conditions, of a geographical line, GL, or its surroundings. The method comprises: acquiring geo-referenced earth observation data representing one or more spatially overlapping imagery layers covering from an aerial or space perspective a specific region of interest, ROI, of the Earth's surface, the ROI comprising the GL; geometrically transforming the geo-referenced observation data, at least in parts, into a local internal frame of reference of the GL within the ROI to obtain a mapping of the geo-referenced observation data to respective corresponding coordinates within the local internal frame of reference of the GL; and evaluating the mapped earth observation data as represented in the local internal frame of reference of the GL according to a classification scheme to obtain therefrom evaluation data representing a classification of one or more properties of the GL or of its surroundings according to one or more conditions of the GL.

Devices, systems and methods for magnetic field coupling, as described herein, optimize magnetic coupling between transducers generating and detecting quasistatic magnetic fields by translating the generated and detected magnetic fields into a common frame of reference, such as the Earth's gravitational field. In general, a receiving device has knowledge of the strength and direction of a quasistatic magnetic field generated by a transmitting device, which allows the generated magnetic field to be measured and interpreted by the receiving device in the context of the common frame of reference. Such devices, systems, and methods may use magnetic coupling, for example, for proximity detection and / or for communication between devices. Magnetic coupling may be used for proximity detection, for example, by detecting a magnetic field having a defined magnetic field range and / or by measuring magnetic field strength and / or direction and determining distance and / or location.

The invention relates to the technical field of deep mineral exploration, and discloses a deep metal mine multi-source geophysical data real-time fusion system. The system comprises a data access module which divides detection dimensions according to physical field types so as to receive original data; the space-time registration module is used for establishing mapping between original data and a unified space-time reference system through timestamps and space coordinates; the feature extraction module is used for extracting key features from the registration data, determining weights according to physical meanings and constructing a feature association network; the fusion decision module identifies an abnormal value and adjusts a network topology structure based on the credibility of the network evaluation data; and the real-time updating module is used for optimizing the fusion priority and algorithm parameters and generating a real-time fusion result library. According to the system, real-time fusion of multi-source geophysical data is realized, and systematicness and timeliness of data processing are improved.

The present invention belongs to the field of high-precision measurement technology, and specifically relates to a non-contact auxiliary positioning laser interferometer measurement system, including a light source for generating monochromatic light of at least two different wavelengths, a measuring head based on the interferometric measurement surface, and a reference system component built based on the interferometric measurement. By using monochromatic light of at least two colors as interference light, and using a reference measuring head and a reference surface as a position reference for the measuring head, the measurement accuracy of the interferometric measurement system can reach the nanometer level, and it is also beneficial to the large-range movement of the measuring head. The present invention is suitable for the measurement of large-caliber and large-angle surfaces, and solves the defects of traditional contact or non-contact measurement systems that the measurement accuracy is restricted by mechanical movement and the white light interferometric measurement range is small.

A method for machine monitoring is disclosed. The method uses a fast time-domain cascading failure simulation approach based on implicit Backward Euler method (BEM) with stiff decay property. The method also exploits a predictor-corrector approach (PC-approach) to fully address the hyperstability issue in BEM, a dynamic model applying Trapezoidal method (TM) for numerical integration, and / or a center of inertia (COI) reference frame-based approach. Other aspects, embodiments, and features are also claimed and described.

The invention discloses a method for improving the performance of double-independent quantum key distribution of actual reference system measurement equipment, belongs to the technical field of quantum key distribution (QKD), and aims to improve the performance of the double-independent quantum key distribution when non-ideal factors such as a post-pulse effect of a detector and finite sample statistical fluctuation are considered. The invention relates to a method and a system for improving the performance of a reference system measurement device by introducing an advantage extraction technology into a double independent quantum key distribution (RFI-MDI-QKD) protocol of the reference system measurement device. Simulation results show that when the post-pulse effect and the statistical fluctuation effect are considered, the advantage extraction method can effectively improve the security key rate and the security transmission distance of the RFI-MDI-QKD protocol on the premise of not changing optical hardware. According to the invention, a valuable reference technology can be provided for practical research of the RFI-MDI-QKD system.

Methods and apparatus for providing self-contained guidance, navigation, and control (GN&C) functions for a vehicle moving through an environment on or near the ground, in the air or in space without externally provided information are disclosed. More particularly, one embodiment of the present invention includes a Heading Sensor (36), an Absolute Location Sensor (38), a timer (40), a Range Doppler Processor (42), a Navigation Reference Sensor (44), an Area Range and a Velocity Sensor (46) which provide enhanced navigation information about a universal reference frame (22) and one or more targets (20).

The invention relates to the technical field of intelligent visual inspection, and discloses an unmanned aerial vehicle target tracking method, which comprises the following steps: acquiring a reference image sequence in a specified time window, including multiple frames of reference images about a tracked object; performing target detection on each frame of reference image to obtain a reference state vector of the tracking object, and forming a state vector sequence by using the reference state vector corresponding to each frame of reference image; predicting a state vector of the tracking object at the prediction moment according to the state vector sequence to obtain a predicted state vector of the tracking object; and inputting the prediction state vector into a reinforcement learning strategy network, and generating a control instruction of the unmanned aerial vehicle at the current moment so as to control the unmanned aerial vehicle to track the tracked object, wherein the reward function of the reinforcement learning strategy network is determined according to the prediction state vector in the training process. The method has the beneficial effects that real-time fusion of target detection and unmanned aerial vehicle control is realized, and the accuracy and the reliability of the unmanned aerial vehicle when the unmanned aerial vehicle tracks a tiny target are improved.

The invention relates to the technical field of line defect identification, and discloses an overhead line defect intelligent identification and positioning system, which comprises a span reference system construction module for constructing a span reference system; the catenary fitting module is used for fitting a catenary curve; the wire temperature inversion module is used for obtaining the real temperature of the surface of the wire through inversion; the temperature-induced sag expectation calculation module is used for carrying out iterative solution to obtain temperature-induced sag expectation; the candidate position scanning module is used for scanning to obtain a candidate position set; and the defect positioning module is used for generating a positioning coordinate in the span reference system when the transverse and vertical displacement ratio of the candidate position is greater than or equal to the lead defect threshold value. According to the method, the real temperature of the surface of the wire is inversed, the temperature-caused sag expectation is constructed, the influence of the temperature on the sag is corrected, the normal sag change caused by the temperature is prevented from being misjudged as a defect or missed detection of a real defect is avoided, a noise reference is established by a tower cross arm and other rigid structures, the defect is judged in combination with physical noise, and the defect recognition accuracy is improved.

A method for controlling movement of a robot in an environment, wherein the robot has a plurality of sensors associated therewith. includes determining an initial scan frame of reference for the robot, wherein scan frame of reference is calculated based on an initial point of origin, calculating a new point of origin based on a reading from at least one of the sensors, and adjusting the initial scan frame of reference to determine a new scan frame of reference based on the new point of origin, wherein the adjusting step is based on the difference between the initial scan frame of reference and the new scan frame of reference

A vision-aided inertial navigation system (VINS) implements a square-root multi-state constraint Kalman filter (SR-MSCKF) for navigation. In one example, a processor of a VINS receives image data and motion data for a plurality of poses of a frame of reference along a trajectory. The processor executes an Extended Kalman Filter (EKF)-based estimator to compute estimates for a position and orientation for each of the plurality of poses of the frame of reference along the trajectory. For features observed from multiple poses along the trajectory, the estimator computes constraints that geometrically relate the multiple poses of the respective feature. Using the motion data and the computed constraints, the estimator computes state estimates for the position and orientation of the frame of reference. Further, the estimator determines uncertainty data for the state estimates and maintains the uncertainty data as a square root factor of a covariance matrix.

Methods and apparatus for providing self-contained guidance, navigation, and control (GN&C) functions for a vehicle moving through an environment on or near the ground, in the air or in space without externally provided information are disclosed. More particularly, one embodiment of the present invention includes a Heading Sensor (36), an Absolute Location Sensor (38), a timer (40), a Range Doppler Processor (42), a Navigation Reference Sensor (44), an Area Range and a Velocity Sensor (46) which provide enhanced navigation information about a universal reference frame (22) and one or more targets (20).

The invention provides a method and a device for determining detonation wave characteristics in a detonation tube, electronic equipment and a medium, and relates to the field of detonation wave characteristic research, and core flow field characteristics can be completely captured by accurately acquiring a detonation tube space propagation area and multi-layer real grid data and combining with a flow field control equation solution under an inertial reference system. The initial speed of the reference system is dynamically updated based on the wave speed of the detonation wave, it is ensured that the key area of the detonation wave is always located in the computational domain, and data distortion caused by core flow field deviation is avoided. Multiple times of iteration solving are carried out to obtain multiple detonation wave velocities, so that single calculation errors and wave surface fluctuation interference are effectively reduced, and the data reliability is improved. The propagation stability, the development stage and the energy characteristics can be comprehensively analyzed based on multiple groups of detonation wave velocities, the limitation of single data is broken through, accurate data support is provided for detonation wave mechanism research and structure optimization, and the scientificity of characteristic analysis is enhanced.