12 results about "Omnidirectional camera" patented technology

The invention provides a method and a system for self-calibrating an omnidirectional radiation field. The method comprises the following steps: generating a 3D Gaussian as an initial representation of an omnidirectional radiation field based on an acquired 360-degree image; rasterizing the 3D gauss into a 2D omnidirectional image, the rasterizing comprising sputtering the 3D gauss onto a unit spherical surface and expanding the 3D gauss into an equirectangular projected 2D omnidirectional image; the 360-degree image is resampled based on an omnidirectional camera model, an undistorted image is obtained, and the omnidirectional camera model is constructed based on a fixed spherical grid structure and a trainable focal length coefficient and an angle distortion coefficient; the 3D Gaussian, camera pose, and the omnidirectional camera model are jointly optimized by minimizing the loss of luminosity between the 2D omnidirectional image and the undistorted image.

The invention discloses an omnidirectional structured light 3D sensor calibration method and system based on model-free learning, and the method comprises the steps: synchronously collecting image data of an omnidirectional camera and a measurement sensor, carrying out the multi-camera coordinate alignment of the measurement sensor, and building a unified reference coordinate system; in a unified reference coordinate system, light plane calibration is carried out, and a light plane equation in a measurement sensor coordinate system is obtained; based on the light plane equation, a 2D-3D corresponding data set between the omnidirectional camera and the measurement sensor is constructed, and the data set comprises a sample pair composed of two-dimensional pixel points in an omnidirectional camera image and three-dimensional coordinate points corresponding to the two-dimensional pixel points in a measurement sensor coordinate system; and based on the 2D-3D corresponding data set, training an end-to-end deep learning model, and learning a direct mapping relation from the image coordinates of the omnidirectional camera to the 3D coordinates of the measurement sensor to complete calibration. According to the invention, a general calibration framework without an explicit physical model is realized.

A method includes: pairing a head-mounted virtual reality device with an omnidirectional camera; displaying the converted media file associated with media content corresponding to the external environment relative to the vehicle to the user; generating one or more augmented reality images; and superimposing one or more augmented reality images onto the displayed converted media file.

One of a left side bin and a right side bin is provided with a driving sliding table, the other one of the left side bin and the right side bin is provided with a follow-up sliding table, a first moving block of the driving sliding table and a second moving block of the follow-up sliding table are fixedly connected to the two sides of a middle bin respectively, and the driving sliding table drives the first moving block to move up and down; the first moving block drives the middle bin and a second moving block of the follow-up sliding table to move up and down. A pitching rotation driving structure is arranged in the middle bin, the two sides of the lens bin are rotatably connected to the inner sides of the two sides of the middle bin respectively, and the pitching rotation driving structure drives the lens bin to rotate in a pitching mode; the left side bin and the right side bin are fixedly connected with the rotating base; and a horizontal rotation driving structure is arranged on the fixed base, is connected with the rotating base and is used for driving the rotating base to rotate horizontally. According to the invention, active compensation can be carried out on the large longitudinal amplitude generated by the holder in the vehicle movement process, and dead-corner-free stable acquisition of videos is realized.

The invention discloses a calibration object-free space-time calibration method for a multi-sensor system, and relates to the technical field of sensor calibration, and the method comprises the steps: obtaining the external parameters and motion tracks of an inertial unit, a camera and a laser radar, and determining the dynamic constraint of the motion; projecting the three-dimensional laser radar edge points and the two-dimensional camera image edge points onto the same unit spherical surface in a unified manner, and further establishing static geometric constraints; and constructing a least square optimization problem according to the dynamic constraint and the static geometric constraint of the motion, and solving the least square optimization problem to obtain calibration values of all the to-be-calibrated parameters. According to the method, calibration objects are not needed, the omnidirectional camera is supported, efficient and accurate unified joint calibration can be carried out on the vision-inertia-laser radar, and an accurate sensing basis can be provided for the omnidirectional camera in a visual odometer and a mapping task.

The invention discloses a ship camera attitude correction method based on multi-camera cooperation, and relates to the technical field of ship navigation perception, and the method comprises the steps: carrying a plurality of cameras facing a bow, a stern, a port and a starboard in the front, rear, left and right directions of a compass deck; acquiring environment image sequences in front of the ship, behind the ship, in the left side direction and in the right side direction of the ship by using each carried camera; using a sea-sky-line identification method to obtain sea-sky-line characteristics of each frame of environment image; acquiring an inertial navigation data sequence by using a carried inertial measurement unit, and fusing the inertial navigation data sequence with the attitude correction sequence of the camera to obtain a camera attitude sequence at the current moment; and adjusting the camera attitude according to the camera attitude sequence. According to the method, dynamic, high-precision and omnidirectional camera attitude correction is realized based on a multi-camera cooperation mechanism, and the robustness of a ship sensing system is effectively improved.

The application discloses a kind of camera and vehicle extrinsic parameter online calibration optimization method and related equipment.Method includes: obtaining target image, extracting vanishing point in the target image, the target image is the image that omnidirectional camera is photographed when target vehicle walks in straight line;Obtain the first vanishing point and the second vanishing point satisfying the first condition, respectively join to first constraint set and second constraint set;Re-execute the step of obtaining target image until the number of vanishing points in the first constraint set and the second constraint set reaches the preset threshold, obtain target first constraint set and target second constraint set;According to the target first constraint set and the target second constraint set, the rotation extrinsic parameter of the target vehicle is optimized.The camera and vehicle extrinsic parameter online calibration optimization method provided by the application can make the sensor data obtained by the user when using the target vehicle more accurate, and drive more safely.

A virtual object display device (1) comprises a video generation unit (14) that: uses, as a virtual object, a physical body object representing a physical body and a spherical object representing an omnidirectional camera; is connected via a network to a server (5) that stores an omnidirectional video obtained by capturing the real space by the omnidirectional camera and the position information of the virtual object; and on the basis of the position information of the virtual object, generates and displays as a display video an MR video obtained by mixing the omnidirectional video with a video obtained by capturing the virtual object by a virtual camera disposed at the center of the omnidirectional camera, or a virtual video obtained by capturing the virtual object by the virtual camera disposed at an arbitrary position, and a video switching unit (130) that switches the display video between the MR video and the virtual video on the basis of an operation instruction.

A method includes the pairing of a head-mounted virtual reality device with an omnidirectional camera, the display of a converted media field to a user associated with media content corresponding to an external environment relative to a vehicle, the generation of one or more augmented-reality images, and the superimposition of the one or more augmented-reality images onto the displayed converted media file.

A method includes the pairing of a head-mounted virtual reality device with an omnidirectional camera, the display of a converted media field to a user associated with media content corresponding to an external environment relative to a vehicle, the generation of one or more augmented-reality images, and the superimposition of the one or more augmented-reality images onto the displayed converted media file.