752 results about "Object point" patented technology

A system for storing, accessing and displaying HTML-encoded documents relating to an object being worked upon in a work environment by a human operator. The human operator wears a body-wearable http-enabled client system equipped with a code symbol reader programmed to read a URL-encoded symbol on the object pointing to a HTML-encoded document stored on one or more http-enabled information servers. The http-enabled client system is connected to the information network by a two-way wireless telecommunication link. The code symbol reader is programmed for reading the URL-encoded symbol affixed to the object and automatically produces symbol character data representative of the read code symbol and the URL encoded therewithin. The http-enabled client system also includes a network accessing mechanism and a display device. The network accessing mechanism is programmed for automatically accessing one or more of the HTML-encoded documents from one or more of the http-enabled information servers in response to symbol character data being produced by the code symbol reader. The display device is operably connected to the network accessing mechanism, for visually displaying HTML-encoded documents accessed from the http-enabled information servers in response to symbol character data being produced by the code symbol reader. As a result of the present invention, the human operator is enabled to freely review the HTML-encoded documents displayed on the display device while working with the object in diverse work environments involving, for example, inventory management, assembly-line and / or plant inspection, and craft or vehicle inspection and / or repair.

A process for obtaining an object image of at least one object (40) is described, wherein at least two partial images of the object (40) are taken under differing object conditions which are formed on the object with spatial patterns, wherein a non-linear dependence of the light detectable from the object point on the object conditions given at the object point exists and the partial images contain different contributions of various space frequency components of the object structure, and the desired object image is determined from the partial images by reconstruction of the space frequency components. Optical systems for implementing this type of process are also described.

A method for capturing a digital panoramic image includes projecting a panorama onto an image sensor by means of a panoramic objective lens. The panoramic objective lens has a distribution function of the image points that is not linear relative to the field angle of the object points of the panorama, such that at least one zone of the image obtained is expanded while at least another zone of the image is compressed. When a panoramic image obtained is then displayed, correcting the non-linearity of the initial image is required and is performed by means of a reciprocal function of the non-linear distribution function of the objective lens or by means of the non-linear distribution function.

Recorded images having an overlapping scene transformed into a Quantitative Cylispheric Stereo Pair (QCSP) of images. Pixels corresponding to a common scene object point are located in the same or nearly the same horizontal lines in the QCSP of images. The QCSP's produced can take a number of different formats, including traditional stereo pairs, radial stereo pairs, and general case cylispheric stereo pairs. The QCSP's can be used for various three-dimensional imaging processes, including passive volumetric surveying and the production of three-dimensional visualization models.

In the three-dimensional display, a two-dimensional display section generates a two-dimensional display image based on an image signal, and a lens array converts the wavefront of the display image light from the two-dimensional display section into a wavefront having a curvature which allows the display image light to focus upon a focal point where an optical path length from an observation point to the focal point is equal to an optical path length from the observation point to a virtual object point, so a viewer can obtain information about an appropriate focal length in addition to information about binocular parallax and a convergence angle. Therefore, consistency between the information about binocular parallax and a convergence angle and the information about an appropriate focal length can be ensured, and a desired stereoscopic image can be perceived without physiological discomfort.

A driving behavior prediction apparatus includes, for accurately predicting a driving behavior, a position calculation unit for a subject vehicle position calculation, a route setting unit for setting a navigation route, a distance calculation unit for calculating a distance to a nearest object point, a parameter storage unit for storing a template weighting factor that reflects a driving operation tendency of a driver, a driving behavior prediction unit for predicting a driver's behavior based on vehicle information and the template weighting factor, a driving behavior recognition unit for recognizing driver's behavior at the object point, and a driving behavior learning unit for updating the template weighting factor so as to study the driving operation tendency of the driver in a case that a prediction result by the driving behavior prediction unit agrees with a recognition result by the driving behavior recognition unit.

An interferometer scans the sample surface laterally with respect to the optical axis of the interferometric objective. The objective is tilted, so that the sample surface is placed at an angle with respect to the maximum coherence plane of the instrument. By moving the sample stage laterally, at an angle, through a point at a set distance from the objective on the objective's optical axis, rather than vertically along the optical axis, different parts of the object intersect the maximum coherence plane at different times as the surface passes through the coherence plane, the precise time depending on the profile of the surface. When the OPD of a point on the object's surface is greater than the coherence length of the light source, the intensity of light reflected from this point does not produce interference fringes. Therefore, the intensity registered by the detector is approximately constant. However, when the object point enters the zone of coherence, the interference effects modulate the intensity the same way as in a regular VSI procedure. As the object moves along the scanning direction, it also has a relative vertical speed with respect to the objective because of the tilt of the objective's optical axis with respect to the scanning plane; therefore, the lateral scanning motion produces an OPD variation as the vertical scan in a conventional system. As a result, light intensity data are acquired continuously as the test surface is scanned, thus elimination the need for stitching multiple sub-sets of data.

The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

A system and method are provided for autonomously navigating a vehicle. The method captures a sequence of image pairs using a stereo camera. A navigation application stores a vehicle pose (history of vehicle position). The application detects a plurality of matching feature points in a first matching image pair, and determines a plurality of corresponding object points in three-dimensional (3D) space from the first image pair. A plurality of feature points are tracked from the first image pair to a second image pair, and the plurality of corresponding object points in 3D space are determined from the second image pair. From this, a vehicle pose transformation is calculated using the object points from the first and second image pairs. The rotation angle and translation are determined from the vehicle pose transformation. If the rotation angle or translation exceed a minimum threshold, the stored vehicle pose is updated.

An extended depth of field is achieved by a computational imaging system that combines a multifocal imaging subsystem for producing a purposefully blurred intermediate image with a digital processing subsystem for producing a recovered image having an extended depth of field. The multifocal imaging system preferably exhibits spherical aberration as the dominant feature of the purposeful blur. A central obscuration of the multifocal imaging subsystem renders point-spread functions of object points more uniform over a range of object distances. An iterative digital deconvolution algorithm for converting the intermediate image into the recovered image contains a metric parameter that speeds convergence, avoids stagnations, and enhances image quality.

The invention discloses a regional depth edge detection and binocular stereo matching-based three-dimensional reconstruction method, which is implemented by the following steps: (1) shooting a calibration plate image with a mark point at two proper angles by using two black and white cameras; (2) keeping the shooting angles constant and shooting two images of a shooting target object at the same time by using the same camera; (3) performing the epipolar line rectification of the two images of the target objects according to the nominal data of the camera; (4) searching the neighbor regions of each pixel of the two rectified images for a closed region depth edge and building a supporting window; (5) in the built window, computing a normalized cross-correlation coefficient of supported pixels and acquiring the matching price of a central pixel; (6) acquiring a parallax by using a confidence transmission optimization method having an acceleration updating system; (7) estimating an accurate parallax by a subpixel; and (8) computing the three-dimensional coordinates of an actual object point according to the matching relationship between the nominal data of the camera and the pixel and consequently reconstructing the three-dimensional point cloud of the object and reducing the three-dimensional information of a target.

The invention relates to a color image three-dimensional reconstruction method based on three-dimensional matching, comprising the following steps of: (1) simultaneously and respectively taking an image from proper angles by using two color cameras; (2) respectively calibrating the internal parameter matrixes and the external parameter matrixes of the two cameras; (3) carrying out polar line correction and image transformation according to calibrated data; (4) working out matching cost for each pixel point in the two corrected images by applying a self-adaption weight window algorithm and acquiring an initial parallax image; (5) marking the reliability coefficient of the pixel initial matching result by adopting matching cost reliability detection and left and right consistency verification; (6) carrying out color segmentation on the images through a Mean-Shift algorithm; (7) carrying out global optimization by a selective confidence propagation algorithm on the basis of color segmentation and pixel reliability classification results to obtain a final parallax image; and (8) working out the three-dimensional coordinates of actual object points on the images according to the calibrated data and the matching relation, thereby reconstructing the three-dimensional point cloud of an object.

A hierarchy of 2D visual objects and 3D scene objects are integrated for seamless processing to render 2D images including a 2D view of a 3D scene on a 2D computer display. The processing of the 3D model objects and 2D visual objects in the visual hierarchy is integrated so that the processing is readily handed off between 3D and 2D operations. Further the number of transitions between processing visual 2D objects and 3D model objects when creating a display image has no architectural limit. A data structure integrates computer program objects for creating 3D images and 2D images in a visual tree object hierarchy having visual 2D objects or 3D scene objects pointing to 3D model objects. The data structure comprises an object tree hierarchy, one or more visual 2D objects, and one or more 3D reference or scene objects pointing to 3D model objects. The visual 2D objects define operations drawing a 2D image. The 3D reference or scene objects define references pointing to objects with operations that together draw a two-dimensional view of a three-dimensional scene made up of one or more 3D models. The 3D reference or scene objects point to 3D model objects and a camera object. The camera object defines a two-dimensional view of the 3D scene. The 3D model objects draw the 3D models and define mesh information used in drawing contours of a model and material information used in drawing surface texture of a model. The material information for the surface texture of a model may be defined by a visual 2D object, a 3D reference or scene object or a tree hierarchy of visual 2D objects and / or 3D reference scene objects.

The invention is suitable to the independent motion vehicles environment sensation monocular visual navigation method, first surveys the camera distortion parameter, puts the camera on the independent motion vehicles, determines transformation relation from image plane coordinate system to world coordinate system; then records current car body posture, gathers the picture in the current car body visible scope, feedback the picture to the picture operation contact surface in order to definite the walk mode of the car body and do distortion correction on the gathering picture, select the path and the path spot on the path, according to the coordinates transformation relations under the world coordinate system put the current position and choice path result to the car body and demonstrate on the graph operation contact surface by the car body width; the car body walks according to the independently evades bonds or the way track way till the current visible scope last way spot, and then circling start from the gather picture to the final object point. The invention applies the monocular measuring technique in the unknown environment the visual navigation.

The invention discloses a method for quickly measuring a blade of a large-sized water turbine, which is characterized by comprising the following steps: firstly, sticking a mark point to the surface of the blade, then shooting a group of photos from different angles as measured primary data, and inputting the data to a computer to carry out analytic processing; by carrying out image detection for the group of photos in a measurement software, identifying the mark point in each photo and positioning the center of the mark point, and matching the mark points with the same name; finally, reconstructing a three-dimensional coordinate of corresponding object points according to a plurality of two-dimensional coordinates of the mark points, fitting a sparse framework model of a target by the reconstructed three-dimensional mark points, then scanning the surface of the blade block by block by using a binocular grating scanning method to acquire a local dense point cloud, and aligning the dense point cloud to an overall coordinate system according to the local mark points to acquire a dense point model of the blade; and by comparing the dense point model with a CAD designed model after aligning, calculating a three-dimensional processing error of the surface of a workpiece.

A system and method of generating a two-dimensional (2D) image of an environment is provided. The system includes a housing having a body and a handle. A 2D scanner is disposed in the body and has a light source, an image sensor and a controller, the light source steers a beam of light within a first plane to illuminate object points in the environment. The image sensor is arranged to receive light reflected from the object points and the controller determines a distance value to at least one of the object points. An inertial measurement unit is provided having a 3D accelerometer and a 3D gyroscope. One or more processors are responsive to executable instructions for generating a 2D image of the environment in response to an activation signal from an operator and based at least in part on the distance values and the signal.

A system supports the use of information pointers. The information pointers provide audio and / or visual information about objects to which the cursors point. For instance, an information cursor may provide output specifying the name of an object to which the cursor points. In addition to information about the object pointed to by the cursor, information windows provide information about the user's interaction with the object. For example, “Deleting Source File.” Information windows may contain information pertaining to a pair of objects, such as the source and target object in a drag and drop operation, or to a collection of objects.

The present invention discloses a physical three-dimensional model automatic modeling method which comprises the following steps of (1) collecting a turntable point cloud and a modeling object point cloud, and carrying out real-time registration to obtain a mixed point cloud of an object and a turntable, (2) carrying out point cloud pretreatment to obtain the surface point cloud of a model object with a bottom surface point, (3) carrying out surface reconstruction to obtain the three-dimensional surface model of the object, (4) carrying out model simplification treatment on the three-dimensional surface model, and establishing the three-dimensional simplified surface model of the object, (5) carrying out texture mapping on the three-dimensional simplified surface model, and (6) carrying out model rendering on the three-dimensional model which is subjected to texture mapping to generate a two-dimensional image. The method has the advantages that the system operation is stable and reliable, the automation is realized in the operation process, a rebuilding effect is good, and the application needs of different simulation scenes can be satisfied by a built multi-granularity three-dimensional model.

A scanning system for confocal scanning of an object, comprising a light source (1), imaging optics (4) for focusing the light (5) radiated from the light source (1) onto the object (6) to be scanned, and further comprising an image detector (10) for detecting the light (7) from an object point (6′) backscattered from the object (6) and passing through the same imaging optics (4). Means (11) for varying the length of the optical path are disposed in the optical path between the aperture array (3) and the object (6), by which means the optical distance of the image plane can be modified in a specific manner, and means are provided to influence the light (5) radiated by the light source onto the object (6) and / or the light (7) reflected from the object (6) and impinging on the sensor (10), in at least one of its characteristics, during an exposure period (tB1) for acquiring an image, and, during said exposure period (tB1), a profile holds which states a specific relationship between the characteristic of the light (5, 7) and the optical distance of the image plane from the imaging optics (4), and means (10) are provided which provide a measured value dependent on the characteristics of the light of the trajectory of observation (7) over the exposure period (tB1), a height coordinate (Zs) of the object (6) being reconstructable from the measured value achieved during said exposure period (tB1) and a reference value.

The invention discloses an inspection robot path planning method combining map grids with potential field method obstacle avoidance; the inspection robot path planning method comprises the following steps: 1, global grid method path planning: using the grid method to obtain the global optimal path from a start point to an object point; 2, moving to the object point: determining whether obstacles are encountered or not, moving to the object point is no obstacle is detected, planning a local obstacle avoidance path if an obstacle is detected until reaching the object point; 3, planning the local obstacle avoidance path, using the artificial potential field method with changeable parameters to carry out obstacle avoidance path planning, determining whether the object point is reached or not, returning to step 2 if not, and finishing the tour if the object point is reached. The inspection robot path planning method can solve the problems that the robot inspection path planning in the prior art is poor in efficiency, thus enlarging the robot inspection time.

An articulated arm coordinate measurement machine (AACMM) that includes a noncontact 3D measurement device, position transducers, a camera, and a processor operable to project a spot of light to an object point, to measure first 3D coordinates of the object point based on readings of the noncontact 3D measurement device and the position transducers, to capture the spot of light with the camera in a camera image, and to attribute the first 3D coordinates to the spot of light in the camera image.

The invention relates to a method and device for obtaining volumes of target objects, terminal equipment and a computer readable storage medium. The method comprises the following steps of: receivingdepth image data, shot by a depth camera, of a target object on a planar platform; converting the depth image data into first point cloud data; segmenting a planar platform point cloud from the firstpoint cloud data so as to obtain a datum plane; clustering the residual point cloud data after the segmentation so as to select second point cloud data associated with a maximum clustering body from the residual point cloud data to serve as a target object point cloud; obtaining height data of a target object; obtaining a planar projection point cloud, on the datum plane, of the target object point cloud; obtaining length and width data of the target object through calculating a minimum area surrounding rectangle of the planar projection point cloud; and calculating a volume of the target object on the basis of the height data and the length and width data. When being used for measuring volumes of target objects, the method and device have the advantages of being rapid, correct, convenientto use and low in cost.

A stereo calibration method is proposed to calibrate an interface's shape and position when the measurement system is in one media and measures deformation and strain of an object that is submerged in a different media. After the interface's shape and position are modeled by parameters, an explicit model of object points as measurement is established taking account of refraction happening at the interface. Efficiency and convergence are assured by using measurement of object points to acquire initial estimates for refraction angles at the interface. Then, an optimization method is performed to get the optimized value of interface parameters. Last, based on the resulting interface parameters, 3-dimensional positions of object points in all the subsequent measurement could be reconstructed accurately. Therefore, the distortion induced by refraction in the measurement is corrected. Numerical simulations of the proposed calibration process confirm that it is both robust and accurate for a range of experimental conditions, even in the presence of Gaussian noise in the measurement.

A method for determining three-dimensional coordinates of an object point on a surface of an object, the method including steps of: providing a source, a projector, and a camera; in each of two instances: spatially modulating source light; sending a modulator pattern of light through the projector lens to form light spots; filtering the spots with a pinhole plate; propagating light from the light spots onto the object to produce a fringe pattern; imaging the object point with a camera lens onto an array point of the photosensitive array to obtain first and second electrical data values from the photosensitive array; and determining the three-dimensional coordinates of the first object point based at least in part on the first electrical data value, the second electrical data value, and a baseline length.

The invention discloses a stereoscopic vision-based real low-texture image reconstruction method, which is implemented by the following steps: (1) shooting images by two cameras at two proper angles at the same time, respectively, wherein one image is used as a reference image and the other image is used as a registered image; (2) calibrating the inside and outside parameter matrixes of the two cameras respectively; (3) performing epipolar line correction, image transformation and Gauss filtration according to the calibrated data; (4) calculating a self-adaptive polygonal prop window of each point in the two calibrated images, and calculating the matching of pixel points to obtain a parallax space diagram; (5) completing dense matching by executing a tree dynamic programming algorithm pixel by pixel in the whole diagram; (6) extracting error matching points according to a left and right consistency principle, and performing parallax correction to obtain a final parallax diagram; and (7) calculating the three-dimensional coordinates of actual object points according to the calibrated data and a matching relationship to construct the three-dimensional point cloud of an object.

The invention relates to a novel imaging method in agile satellite maneuvering, which is capable of realizing imaging of satellite during a posture adjustment process. The method comprises the following steps: according to geographic latitude and longitude of on-board orbit forecast data and imaging object point, a triaxial attitude angle directional target imaging start point of satellite is arranged; a roll angle and a pitch angle are obtained through a modeling algorithm for determining the satellite optical axis directional target imaging point; establishing a CCD image plane in a satellite model, performing calculation to obtain image motion velocity vector and a drift angle through projection calculating, and yaw angle of the satellite is controlled for correcting the drift angle, calculating the image motion velocity vector to obtain TDICCD integration time for image motion compensation, and satisfying the image processing requirement of imaging in maneuvering. The design method is capable of using in a triaxial attitude maneuvering process of the satellite for starting optical payload for a dynamic imaging technology for imaging, so that target directional requirement and image processing requirement during an imaging process can be realized.

The invention discloses a depth extraction method based on monocular vision. The method comprises: 1, demarcating the camera of a phone to obtain the inner parameters and image resolution of the camera; 2, establishing a depth extraction model described in the descripton; 3, acquiring the pixel value u, v of the target point through image acquisition of the target to be measured; 4, calculating the depth value of the object to be measured on the image by using the camera internal parameter and the pixel value of the object point obtained in the step 1 and combining with the camera depth extraction model. The depth extraction method based on monocular vision of the invention can be applied to cameras with different parameters such as field angle, focal length, image resolution, etc. to improve ranging accuracy and provide support for object measurement in machine vision and three-dimensional reconstruction of real scene.

A vehicle intelligent method for automatically identifying road speed-limit sign in the technical field of information processing includes the following steps: step one, two pinhole cameras are respectively installed at the edge of the inner side of the vehicle front far-sight lamp; step two, the two pinhole cameras collect road surface scene images in real time, and the collected images are respectively transported to a signal processor; step three, the images are processed by eliminating image distortion; step four, aiming at corner points that already found out, the mutual matching of corner points is automatically realized in left and right views under the instruction of epipolar constraint; step five, the three-dimensional coordinate figure of object point is ensured; step six, pit or obstruction is identified; step seven, the vehicle driving is controlled; step eight, a cyclic process is carried out by repeating step two to step seven. The invention can further improve automatization and intelligentialization level on the aspect of guaranteeing the safety of vehicle driving without vehicle damages or traffic accidents due to pit or obstruction appearing on the road.

The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.