921 results about "Panorama" patented technology

The invention discloses an integrated Beidou monitoring machine system integrating panoramic photographing and machine vision deformation monitoring, and relates to the technical field of safety monitoring. The system comprises a hardware structure unit and a software function unit, the hardware structure unit comprises a Beidou positioning module, an inertial navigation compensation module, a panoramic vision acquisition module, a machine vision processing module, a multi-mode communication transmission module and a power management module; the software function unit comprises a multi-source data fusion engine, a panoramic three-dimensional modeling sub-module, an intelligent early warning decision module and a cloud collaborative resolving interface. According to the invention, through real-time fusion of Beidou positioning data and panoramic vision imaging, an improved dense optical flow method is adopted to track local crack propagation, and global displacement monitoring of Beidou is combined, so that cross-scale synchronous sensing from macroscopic displacement to microscopic deformation is realized, and the comprehensive monitoring precision is improved.

The invention discloses a cross-source data three-dimensional reconstruction method and system based on improved Gaussian sputtering, and the method comprises the steps: collecting an unmanned plane inclined image and a ground panoramic image of a target region, and constructing a time-space correlation data set; based on multi-view geometric constraints, space-time coding matching point pairs are established through an adaptive feature pyramid, intelligent incremental cross-source data sparse reconstruction is carried out, and point cloud and camera parameters are output; adopting improved Gaussian sputtering, compressing a three-dimensional Gaussian kernel into a two-dimensional Gaussian primitive through double tangent vector constraint, and fitting surface geometry to realize multi-scale reconstruction; and optimizing primitive parameters by using a differentiatable renderer, completing multi-scale fine reconstruction through gradient back propagation, and generating a high-precision three-dimensional model. According to the method, multi-scale accurate geometric prior input and accurate camera poses are provided for three-dimensional reconstruction, the dependence on professional manual operation in a traditional three-dimensional reconstruction method is greatly reduced, and meanwhile, the geometric accuracy and visual fidelity of a reconstruction result are remarkably improved.

The invention discloses a single-view large-scale outdoor scene three-dimensional reconstruction method based on three-dimensional Gaussian splashing, and the method comprises the steps: collecting a pseudo aerial image, and constructing a panoramic multi-mode supervision end-to-end single-view three-dimensional reconstruction model; meanwhile, panoramic consistency supervision, semantic constraint depth regularization and a radial weighted luminosity loss and Gaussian cutting mechanism are introduced, so that the defect of insufficient geometric constraint of traditional single-view three-dimensional reconstruction is effectively overcome, and high-efficiency and high-fidelity three-dimensional modeling of a large-scale outdoor scene under single image input is realized; the method is suitable for various actual scenes such as smart city construction, automatic driving simulation, virtual reality / augmented reality, digital twinning and the like.

The invention relates to the technical field of image compensation, in particular to a reflection compensation method based on image processing, and provides the following scheme: acquiring an environment panoramic image by using a panoramic camera to establish a scene global coordinate system, and acquiring a multi-view original image in combination with a camera array arranged in the circumferential direction of an object; determining a rotation symmetry axis according to the multi-view contour features, reconstructing a three-dimensional geometric body, and calculating normal distribution and curvature change; generating a prediction image based on diffuse reflection and specular reflection hypothesis in the surface expansion domain through virtual visual angle disturbance, identifying a reflection region according to color and gradient consistency, and generating a reflection mask; and performing texture reconstruction on the reflective area by using geometric registration and multi-view compensation, and finally performing splicing and fusion to obtain a non-reflective high-fidelity panoramic image. The method does not need to change the field illumination condition, and can achieve the precise recognition and compensation of the complex curved surface reflection in the cultural relic in-situ collection environment.

The invention relates to the technical field of computer vision and artificial intelligence, and discloses a computer vision-based hundred-million-pixel panoramic situation awareness method and system, and the method comprises the steps: synchronously collecting original local field-of-view images through multiple cameras; independently executing target detection and semantic segmentation in an original image domain; constructing local-to-global coordinate mapping based on the calibration parameters; projecting the target features to a global coordinate system and detecting a cross-view-field target; extracting multi-view-field texture, edge and color features, and performing weighted fusion according to a visible area; according to the method, through identification preposition and semantic level feature fusion, geometric splicing distortion is avoided, the cross-boundary identification precision is improved, the calculation load is reduced, target continuous tracking and situation real-time output in a high-density scene are realized, and the method has high engineering suitability and industrial popularization value.

The invention discloses a virtual fire extinguishing training system and method based on deep learning flame recognition. The virtual fire extinguishing training system comprises a flame image acquisition module, a deep learning flame recognition module, a fire scene generation module, a fire extinguishing equipment simulation module and a scene customization module. And the flame image acquisition module is used for acquiring flame images and video data in different environments in real time through a high-definition camera, an infrared thermal imager, a panoramic camera and a sensor network. According to the invention, feature extraction and model training are carried out on mass flame images by using a deep learning flame recognition algorithm, accurate recognition of multi-dimensional information such as flame form, color, dynamic features and the like is realized, the flame detection capability in a complex environment is remarkably improved, and meanwhile, the system combines a physical engine and a scene generation module, so that the system is more accurate and reliable. The three-dimensional fire scene can be dynamically generated according to the real-time recognition result, the effects of fire spreading, smoke diffusion and the like are achieved, the constraint of a preset scene is eliminated, and training is more flexible and authentic.

A method and an apparatus for predicting a road traffic carbon emission based on panoramic images, a device and a medium are provided, relating to the technical field of data prediction. In the method, a historical street view image of an observation area is acquired from the Internet, feature analysis is performed on the historical street view image to obtain a historical feature vector, and a road traffic carbon emission predicted value is obtained based on the historical feature vector and a carbon emission prediction model. With the method or the apparatus, auxiliary explanations for carbon emission sources in cities can be provided based on features of street views.

The invention discloses a shielding complementing method based on a continuous streetscape panoramic image, and aims to solve the problem of information loss caused by shielding of dynamic objects (such as vehicles and pedestrians) in the existing streetscape image, and the method comprises the following steps: S1, recognizing and positioning a dynamic shielding object area in a continuous streetscape panoramic image sequence; s2, providing a continuous panoramic image-oriented feature extraction and matching algorithm (FDMPano), realizing robust feature retrieval and matching in a cross-view angle, and accurately positioning a reference image region which can be complemented; and S3, carrying out feature alignment and content mapping on the sheltered area based on a matching result, and generating an unsheltered panoramic image with consistent vision. According to the method, the internal relevance of continuous streetscape data is fully utilized, the occlusion area can be automatically completed with high quality, the integrity and availability of streetscape images are remarkably improved, and the method has wide application value in the fields of automatic driving, digital cities, virtual reality and the like.

The invention discloses a full-appearance detection method and system for welding flux of an internal wire of an automobile brake hose joint. The method comprises a multi-angle collaborative imaging step, a geometric defect detection step, a texture defect detection step, a dynamic fusion decision-making step and a fault-tolerant adjustment step. Images are collected through the cameras which are asymmetrically arranged in a surrounding mode and synthesized into a panoramic image, and detection blind areas are eliminated. The welding flux area can be fully covered, the defect detection precision and efficiency are improved, the adaptability to supplied material deviation is enhanced, and the method is suitable for full-appearance quality detection of the automobile brake hose connector internal wire welding flux.

A camera system has at least a first and a second camera each with an image sensor. Active areas of the image sensors of the first and second camera are determined and define an extended image space of a real-time panoramic video. A bounding box captures a fixed position in space or an object is set. The bounding box moves through extended image space. Image data determined only by the bounding box is harvested from camera image sensors and displayed within a window on a screen in real-time. Scan-line control of images sensors based on the bounding box is updated in real-time to form an e-gimbal. Steps of the e-gimbal are performed by a machine learning inference phase on a processor.

The invention discloses a method and system for positioning a panoramic camera in a point cloud map, and the method comprises the steps: carrying out the preprocessing of a panoramic image and three-dimensional point cloud map data, and obtaining two-dimensional line segment features and three-dimensional line segment features; based on the two-dimensional and three-dimensional line segment features, calculating two-dimensional and three-dimensional line segment main directions and comparing to obtain candidate rotation estimation; designing a two-dimensional distance function and a three-dimensional distance function based on candidate rotation estimation to evaluate the rough pose, designing a two-dimensional / three-dimensional line segment loss function to score the candidate pose, and screening out # imgabs0 candidate poses meeting requirements according to scores; and carrying out two-dimensional and three-dimensional key point extraction on the # imgabs1 # candidate pose, matching the two-dimensional key points with the three-dimensional key points, and carrying out further pose estimation on the candidate pose with the maximum matching quantity by adopting a PnP-RANSAC algorithm, so as to obtain final fine pose estimation. The method overcomes the defects that in the prior art, point feature detection is unstable and depends too much on an ideal static environment.

The invention discloses an iron tower operation safety early warning system and method, and relates to the technical field related to intelligent safety early warning, and the system comprises a data obtaining unit which is used for obtaining Beidou three-dimensional coordinate data and an operation site panoramic image in real time; the operation scene model establishing unit is used for establishing a dynamic three-dimensional operation scene model; the prediction model building unit is used for tracking the motion trail of each operation target based on the coordinate data and building a prediction model fusing kinematics rules and machine learning; and the risk level judgment unit is used for carrying out risk level judgment according to the spatial position and the attribute characteristics of the intersection area and generating operation early warning information. The technical problems of insufficient safety early warning accuracy and timeliness caused by insufficient high-altitude operation target dynamic track monitoring precision and risk early warning lagging in the prior art are solved, and the purposes of accurately identifying the movement track intersection risk in real time, dynamically evaluating the safety level and improving the safety early warning efficiency are achieved. And the early warning accuracy and timeliness of the operation safety of the iron tower are improved.

The invention discloses a water area dynamic monitoring method and system based on an unmanned aerial vehicle remote sensing technology, and the method comprises the steps: adjusting the shooting angle of each camera according to the flight attitude of an unmanned aerial vehicle, and shooting a target water area photo after stabilization; performing water surface reflection compensation on the target water area picture based on the shooting angle; the compensated photos are sequenced according to the shooting time, and the photos of different shooting angles at the same shooting time are registered and spliced to obtain a panoramic image sequence; dividing the target water area into intervals, extracting an interval image sequence corresponding to each water area interval from the panoramic image sequence, extracting convolution features of each interval image in the interval image sequence, and splicing the convolution features with the shooting time of the panoramic image where the interval image is located and the central position of the corresponding water area interval to obtain a panoramic image sequence; obtaining a multi-dimensional feature vector; and constructing a water quality inversion model based on the multi-dimensional feature vector. The water quality inversion model constructed by the invention can realize dynamic monitoring of a water area and release early warning information more efficiently and accurately.

The invention discloses an automatic cattle checking method and system based on two-dimensional panoramic vision, and belongs to the technical field of computer vision and intelligent breeding, and the method comprises the following steps: reasonably arranging a plurality of fixed cameras in a cattle farm area, obtaining the internal reference and distortion coefficient of each camera through employing a camera calibration technology, and obtaining the internal reference and distortion coefficient of each camera; performing real-time distortion correction on the collected video frames; on the basis of side-by-side splicing or homography matrix perspective transformation, all paths of corrected images are fused into a complete two-dimensional panoramic image, and a view blind area of a single camera is eliminated; calling a lightweight target detection model on the panorama, and extracting bounding boxes and confidence coefficients of all cattle at one time; sorting according to the confidence from high to low, performing IOU non-maximum suppression de-duplication on the detection frame, and ensuring that the same cattle only counts once in an overlapping region; and the whole process is completed through the edge computing node. According to the invention, efficient, real-time and accurate on-site cattle checking of a large-scale cattle farm can be realized.

The invention belongs to the technical field of visual angle follow-up vehicle panoramic look-around, and particularly relates to a visual angle follow-up vehicle panoramic look-around system based on dynamic prediction, which is characterized in that monocular vision and laser radar time sequence data are fused, and a dense and stable dynamic target depth sequence is generated through dynamic target initial perception, cross-modal time sequence alignment and inter-frame depth correlation modeling; through environment interaction modeling and target behavior intention prediction double-branch parallel processing, a dynamic self-adaptive accurate track is output in combination with a weighted fusion strategy, and the prediction weight dynamic adjustment requirement of a complex motion scene is adapted; after a virtual view angle image is preliminarily synthesized based on the predicted trajectory, deviation detection and coordinate dynamic correction are realized through inter-frame target consistency verification, and artifact area positioning and pixel-level restoration are synchronously completed; multi-modal preprocessing and algorithm tasks are deployed according to hardware, and a model lightweight optimization and inter-frame prediction result multiplexing strategy is combined, so that low-delay operation of the system in a high-resolution panoramic image output scene is ensured.

The invention discloses a road culvert inner wall damage image detection and traffic capacity evaluation method and system, and relates to the technical field of road engineering detection and computer vision, and the method comprises the steps: collecting multi-source data through an annular camera, a laser section scanner and a mileage encoder carried by a detection robot, and carrying out the panoramic expansion and time-space registration; using a multi-scale attention panoramic segmentation network to identify damages such as lining cracks, joint slab staggering, damage and chipping, steel bar exposure and water leakage; calculating the clearance size and the deposition thickness of the culvert by adopting an ellipse fitting method; according to the method, the culvert detection speed reaches 50 m / h, and the damage detection accuracy reaches 89% or above.

A quadrotor is proposed than can both fly and roll. The proposed robot employs passively reconfigurable structures to enable the rolling, tightly coupling the attitude of the robot to the rolling cage. The benefits are precise rolling and turning control as well as improved rolling efficiency. The passively reconfigurable structures are enabled by pre-stretched elastic springs to generate a nonlinear restoring torque. The robot leveraged the superior maneuverability in the rolling mode to take photos of the surroundings at different tilting and panning angles to construct a panoramic image. Besides, the results of the power measurements show a significant reduction in the cost of transport brought by at low speed, equating to a 15-fold extension in the operational range.

The utility model discloses a high-precision digital slice Z-axis light path system based on rotary imaging, which comprises a vertical plate, and a camera, a barrel lens, a fluorescent mechanism, a panorama camera, a lifting lens and a whole set of light source are sequentially arranged on the same side of the vertical plate in the vertical axis direction to form a Z-axis light path; the barrel lens is arranged on the side wall of the upper part of the vertical plate, and the upper end part of the barrel lens is connected with a camera; the fluorescent mechanism is arranged on the side wall of the middle part of the vertical plate, the fluorescent mechanism directly faces the lower end part of the barrel lens, and the panoramic camera is arranged on the side part of the fluorescent mechanism; the lifting lens and the whole set of light source are sequentially arranged on the side wall of the lower part of the vertical plate; wherein the fluorescent mechanism comprises a rotatable rotating disc, a plurality of fluorescent assemblies are arranged on the rotating disc, and the rotating path of the rotating disc sequentially passes through the lower end portion of the barrel lens.

The invention discloses a target coordinate positioning system and method based on a multi-view panorama camera, and relates to the technical field of target coordinate positioning, and the method comprises the steps: evaluating the spatial geometrical relationship between different camera units; performing target object detection on the image to obtain an undetermined target object in the image, and screening the undetermined target object in the image in combination with a historical image; evaluating the comprehensive cost between the target object of the image and candidate matching objects in other images, constructing a target cost matrix between the image and other images, and solving the target cost matrix; and according to the target object matching data among the images, performing image feature fusion on the images to obtain a fused image, obtaining and collecting the three-dimensional coordinates of the target object in the fused image to obtain target coordinate data in the fused image, so that more target objects can be detected, and the detection accuracy is improved. And accurate positioning of the target object can be realized.

The invention relates to the technical field of image processing, in particular to a panoramic image splicing method for a curtain wall building facade. The method comprises the following steps: performing three-dimensional scanning on a curtain wall building facade to obtain entity point cloud data of the facade, and selecting a plurality of discrete points from the entity point cloud data as reference anchor points; shooting a plurality of local images of the curtain wall building facade, and in the shooting process of each local image, recording the spatial correspondence between the image viewing range and the reference anchor point; and according to the spatial correspondence, aligning the image area corresponding to the reference anchor point in each local image to the position of the reference anchor point in the entity point cloud data to form a preliminary spliced image. According to the invention, through an image processing technology, zero-offset binding of the panorama and the BIM is completed through one-time shooting, so that the millimeter-level positioning precision and the inspection efficiency of the curtain wall facade are improved.

The utility model provides a high-pixel small-size panoramic fisheye optical system and a camera module applying the same, the high-pixel small-size panoramic fisheye optical system is mainly composed of eight lenses, through reasonable matching of lens shapes and focal power, the design requirements of an ultra-wide angle and high resolution of the optical system are effectively met, and the high-pixel small-size panoramic fisheye optical system has the advantages of high pixel, large target surface, ultra-wide angle and small size, and is compact in structure and convenient to use. Processing and installation are facilitated, and the imaging effect of equipment matched with the system is further improved.

The invention relates to the technical field of three-dimensional Gaussian scene watermarking, in particular to a panoramic watermark processing method and device for a three-dimensional Gaussian scene, equipment and a medium. Determining the parameter sensitivity of each first Gaussian unit; screening a second Gaussian unit of which the corresponding parameter sensitivity is greater than a preset parameter sensitivity threshold from all the first Gaussian units; and embedding the copyright message in the second Gaussian unit in the three-dimensional Gaussian scene, thereby completing the embedding operation of the panoramic watermark. According to the embodiment of the invention, the parameter sensitivity of the first Gaussian unit is estimated through the two-dimensional original image and the first rendered image of different visual angles, so that the geometric structure characteristics of the three-dimensional scene are considered when the watermark is embedded, and the watermark information distortion is avoided.

The invention discloses an indoor and outdoor fine three-dimensional modeling method based on multi-modal data fusion. The method comprises the steps that unmanned aerial vehicle close-range photography, airborne laser scanning and ground supplementary photography are carried out on a building in a low-altitude area, and a first outdoor photo data set, a first laser point cloud data set and a POS data set of the building are obtained; continuously collecting at an indoor entrance through a laser SLAM mobile scanning system and a panorama camera according to a pre-planned route to obtain a second indoor photo data set and a second laser point cloud data set of the building; aerial triangulation adjustment calculation of a multi-source data set is carried out under the assistance of a POS data set, and an indoor and outdoor integrated fine surface three-dimensional model is automatically constructed. According to the method, the indoor and outdoor integrated surface three-dimensional model of the large building can be duplicated, the element cosmic space base scene is realized, and data application is provided for the industries of element cosmic scenes, indoor navigation, surveying and mapping and the like.

The invention is suitable for the technical field of automobile auxiliary driving, and provides a quick panoramic image splicing method based on a star flash wireless communication technology, which comprises the following steps of: S1, calibrating internal parameters and distortion coefficients of a camera by adopting a Zhang Zhengyou calibration method, calibrating external parameters by combining perspective transformation, and mapping each view angle image to a unified overlook coordinate system; s2, acquiring an image through a camera supporting a star flash protocol, and transmitting the image to a vehicle body domain controller by using a star flash technology; and S3, after distortion removal and perspective transformation are performed on the received image, a local pyramid fusion strategy is adopted: binary mask marking and multi-band fusion are performed on an overlapping region, original data are reserved in a non-overlapping region, and a panoramic image is finally output. Through combination of high-precision calibration, local pyramid fusion and a star flash communication technology, high-quality and low-delay splicing of vehicle-mounted panoramic images is realized, and the stability and practicability of the system in a complex environment are improved.

The invention discloses a camera-based human body three-dimensional reconstruction method and system, and the method comprises the steps: collecting the multi-source data of an operation scene, generating a time-space correlation data set, carrying out the processing, and outputting a spliced panoramic image and six virtual visual angle plane images; processing the six virtual view angle plane images, the space-time association data set and internal and external parameters of the double-fisheye camera, and outputting an optimal view angle combination and an optimal view angle image corresponding to the optimal view angle combination; and finally, a continuous and complete human body three-dimensional point cloud model is generated and processed, a cooperative control instruction is output, and the point cloud is continuously updated. The method has the advantages of data collaborative elimination of blind areas, accurate reconstruction and good control effect.

The invention discloses a method for realizing intelligent sag measurement of a power transmission line by using a binocular depth camera, which comprises the following steps of: firstly, fixing the binocular camera on a rotary holder at the central position of two towers to complete camera calibration and epipolar correction; then, controlling the holder to rotate according to a fixed stepping angle, collecting a binocular image sequence covering the whole section of lead, and preprocessing the binocular image sequence; performing feature matching and image splicing by using an SIFT algorithm based on the left eye image sequence to generate a panorama and establish a panorama-local mapping relationship; thirdly, detecting an insulator and a spacer target in the panorama based on a Mask-RCNN model, accurately positioning key point coordinates of the insulator and the spacer target, and mapping the key point coordinates to an original local image; in the corresponding left and right local images, a semi-global matching (SGM) algorithm is adopted to calculate parallax and generate depth information, and then three-dimensional coordinates of a target point are obtained through conversion; and finally, performing catenary fitting according to the ordered three-dimensional point set, introducing a temperature and windage yaw dynamic correction model, and accurately calculating a sag value. According to the invention, non-contact, automatic and high-precision sag measurement is realized, the method is suitable for routing inspection of complex terrains and large-span power transmission lines, and the operation safety and efficiency are remarkably improved. The invention also provides a system, equipment and a medium for realizing the method.

The invention provides a panoramic image generation method and device, equipment and a storage medium, and the method comprises the steps: carrying out the single-lens calibration of a wide-angle camera according to a checkerboard calibration method, and obtaining a distortion correction matrix; controlling the wide-angle camera and the array camera to perform time-space synchronous acquisition to obtain an initial panoramic image and a sub-image set; performing nonlinear distortion correction on the initial panoramic image according to the distortion correction matrix to generate a distortionless standardized panoramic image; acquiring sub-image feature information of each sub-image in the sub-image set, and acquiring a projection position, a perspective transformation matrix and a scale transformation matrix corresponding to each sub-image in the standardized panoramic image according to the sub-image feature information; and establishing a panoramic canvas coordinate system according to the standardized panoramic image, projecting each sub-image into the panoramic canvas coordinate system according to the corresponding perspective transformation matrix and the projection position, adjusting the size corresponding to the sub-image in the panoramic canvas coordinate system according to the scale transformation matrix, and generating a panoramic image according to the adjusted panoramic canvas coordinate system.

The invention discloses a panoramic view generation method, a medium, equipment and a vehicle. The panoramic view generation method comprises the following steps: acquiring image data of a camera around a vehicle and point cloud data of a laser radar; extracting ground points from the point cloud data, and projecting the ground points to a preset aerial view grid map to construct a three-dimensional grid map; projecting each grid in the three-dimensional grid map into a coordinate system of each camera to obtain a color value corresponding to each grid in the image data of the camera so as to obtain a panoramic view of each camera; and according to a preset camera priority, fusing the panoramic all-around views corresponding to the cameras to generate a final panoramic all-around view.

The invention relates to an active traffic sign identification method and device based on fusion of multiple cameras. Comprising the steps that in the vehicle driving process, a vehicle-mounted panorama camera collects and recognizes a plurality of marks in a panorama image, tracking is conducted, the confidence degree of the marks is judged, the marks with the confidence degree lower than a preset threshold value are input into a sorting module to be sorted according to importance indexes, and the marks are sequentially set as current target marks according to the sorting of the importance indexes; and adjusting the target angle of the long-focus camera according to the changed relative position of the current target sign in the vehicle driving process, collecting a high-definition image for high-definition identification, and performing data fusion on a high-definition identification result and a preliminary identification result to generate a traffic sign identification result. According to the embodiment of the invention, the method achieves the efficient combination of a panoramic camera and a long-focus camera in a traffic sign recognition process, greatly improves the recognition performance, and effectively expands the detection and recognition range of traffic signs.

The invention discloses a panoramic image determination method and device, equipment, a medium and a product. The method comprises the following steps: acquiring a current scene image, shot by at least one camera device, of an environment to which a vehicle belongs, and kinematics data and attitude data of the vehicle from a current shooting moment to a previous shooting moment; determining a scene image transformation matrix based on the kinematics data and the attitude data; acquiring a historical scene image shot by the camera device at a previous shooting moment, and performing stereo matching on the current scene image and the historical scene image based on the scene image transformation matrix and shooting parameters of the camera device to obtain a scene stereo image corresponding to the camera device; and determining and displaying a panoramic image based on the scene stereo image of each camera device. The authenticity, accuracy and reliability of panoramic image determination are improved, and the driving safety is improved.