145 results about "Photometric stereo" patented technology

The invention provides a machine vision-based heavy-load large holding tool driving wheel multi-mode damage detection method, and relates to the technical field of automatic detection, and the method comprises the steps: collecting the image, vibration and temperature data of a driving wheel, extracting the visual features of the image through a multi-scale pyramid network, and obtaining the multi-mode damage of the driving wheel; inputting a cross-modal feature fusion network in combination with eccentricity and runout features of the vibration signals and stress concentration features of the temperature data to obtain fusion features; inputting the fusion features into a multi-task detection module to identify the damage, and measuring the damage area, depth, crack growth rate and stress concentration degree based on image segmentation, a photometric stereo method, vibration signal analysis and temperature gradient analysis; and finally, in combination with the equipment operation condition and the damage evolution law, an improved evidence theory is adopted to fuse the evaluation indexes, and an evaluation report including the damage state, the development trend and the maintenance suggestion is generated.

The invention discloses an image recognition system for industrial part defect detection, and particularly relates to the field of part defect detection, which comprises a multi-axis controllable light source array module, a high-speed polarization camera module, an edge computing node module, a double-branch semantic segmentation network module and a physical constraint post-processing module, according to the invention, through combination of time-sharing stroboscopic illumination and polarization image sequence acquisition, multi-dimensional perception of surface topography and material differences is realized; generating an elevation map and a normal map by using photometric stereo solution, constructing a differential rendering layer reverse matching CAD model, and extracting flash sensitive features; a double-branch U-Net network is adopted to fuse geometric and polarization characteristics, the characterization capability is enhanced through a trans-attention mechanism, and a pixel-level mask is output; and finally, mapping a two-dimensional result to a three-dimensional coordinate system by means of calibration parameters, carrying out geometric verification in combination with a tolerance zone and a height threshold value, and automatically generating a structured defect report containing position, size, grade and visual information.

Disclosed in the present invention is a photometric stereo-based device for rapidly detecting surface features of an object, capable of rapidly acquiring a plurality of images meeting the requirements of a photometric stereo algorithm. The device comprises a light emitting assembly, an acquisition assembly located above the light emitting assembly, and a data processing module; the acquisition assembly comprises a light path system and a camera group; the light path system comprises: a beam splitting prism group used for splitting reflected light from the surface of an object into a plurality of beams of light and respectively outputting the plurality of beams of light in different preset directions to form images to be processed, and a plurality of bandpass filters correspondingly arranged on the output sides of the plurality of beams of light used for forming said images, wherein the central wavelengths of the bandpass filters are respectively configured to be different wavebands of the reflected light from the surface of the object; the camera group comprises a plurality of cameras which are arranged behind the bandpass filters in a one-to-one correspondence mode and acquire filtered light beams; and the data processing module receives image information sent by the cameras, and performs compensation and photometric stereo reconstruction on the image information, so as to obtain surface features of the object. Further disclosed is a method implemented on the basis of the device.

Photometric stereo techniques enable using a single camera to perform an enrollment process for creating a user-specific anatomical model of an eye for gaze tracking. The user-specific anatomical model includes information about a user's center of vision at multiple dilation states of the eye, which can be used to enhance the accuracy of gaze tracking techniques. Accurate gaze tracking techniques enable the use of gaze tracking at close range, for example, gaze tracking within a head-mounted display device.

The invention provides an inflatable flexible visual tactile device and method for measuring the surface topography of an object. The device comprises an inflatable flexible visual tactile sensor, a clamp and a support, and the inflatable flexible visual tactile sensor comprises a tactile sensing unit and a visual imaging unit; when the surface of an object is in contact with the sensor, the flexible thin film and the external reflecting layer in the tactile sensing unit deform and are attached to the surface of the object under the action of internal air pressure of the inflatable flexible visual tactile sensor, and the deformed flexible thin film is subjected to three-dimensional reconstruction by using a photometric stereo technology; therefore, reconstruction of all shapes of the surface of the object and real-time measurement of the size are realized. According to the device, a sealed inflatable structural design is adopted, skeleton support is omitted to expand the effective measurement range of the flexible film, and meanwhile, the flexible film is tightly attached to the surface of a measured object under the action of air pressure, so that accurate concave-convex feature information of the surface of the object is collected, and the reconstruction precision and the measurement precision of the complex surface morphology of the object are remarkably improved.

The invention discloses an electronic screen film surface dust detection method based on photometric stereo. The method comprises the following steps: image acquisition: acquiring 4-8 grayscale images in different incident directions; image preprocessing: carrying out edge-preserving noise reduction processing on the original image by adopting a bilateral filter, improving the smoothness by combining a Gaussian filter, and converting the filtered image into a floating point type; normal reconstruction: calculating a surface normal vector corresponding to each pixel point through a least square method or robust estimation according to a photometric stereo principle by utilizing a multi-light source matrix form, and generating a normal distribution diagram; curvature calculation: estimating a local curved surface of each pixel neighborhood based on the reconstructed normal graph; and dust identification: through setting a dynamic threshold and a region growing algorithm, extracting a continuous and significant normal disturbance region, and carrying out classification, marking and visual output in combination with characteristics such as area, length, boundary curvature and the like.

The invention discloses a hub defect detection method based on a 2.5 D photometric stereo image. The method comprises the following steps: sending an acquired preprocessed hub image into a pre-trained deep learning model for identifying and positioning coating hub defects so as to output a detection result; wherein the preprocessing of the hub image comprises the following steps: acquiring images of a coated hub under various exposures through a camera, and fusing the images under the various exposures by adopting an exposure fusion algorithm to obtain the preprocessed hub image. The 2.5 D photometric stereo image technology is utilized, and supervised learning and unsupervised learning methods are combined, so that the detection of the defects of the high-reflective coating hubs with different colors is realized.

The present invention relates to a mobile, portable, automated and modular device (1) which uses Reflectance Transformation Imaging (RTI) method that is a digital photography method for bringing out the micro-topography of an object's surface by using the reflectance values synthesized from the image data obtained upon an object's surface is illuminated from different angles and which is based on photometric stereo (triangulation) technology, and an imaging method (100) thereof.

An appearance determination device includes at least one processor. The at least one processor carries out a determination step of determining whether an object of determination is conforming or nonconforming, in accordance with a color image and a shape image, the color image being generated by photometric stereo and representing a color optical image of the object of determination, the shape image being generated by the photometric stereo and representing a shape of the object of determination.

A hole site information detection method, comprising: acquiring first scanning data and second scanning data of a detected structure during the process of scanning the detected structure by using a three-dimensional scanner, wherein the first scanning data is photometric-stereo scanning data of a positioning hole in the detected structure, and the second scanning data comprises non-photometric-stereo scanning data of the positioning hole, or, the second scanning data is non-photometric-stereo scanning data of other feature points except the positioning hole (S110); and determining hole site information of the positioning hole on the basis of the first scanning data and the second scanning data (S120). The photometric-stereo scanning data is detected in a photometric-stereo scanning mode, can comprise tiny changes in the surface of an object, and has the effects of enhancing the contrast between different feature points and reducing noise, such that hole site information with higher precision can be determined on the basis of photometric-stereo scanning data and non-photometric-stereo scanning data, thereby satisfying high-precision industrial automatic detection requirements. Further provided are a hole site information detection apparatus (500), and an electronic device and a computer-readable storage medium.

The invention provides a device for identifying tire sidewall characters and an identification method. The device comprises a conveying unit used for conveying a tire to a to-be-detected area, a lifting platform used for jacking the tire to an identification position, a light source assembly used for illuminating the tire, and a camera used for shooting a top view image of the tire. The data processing module is used for controlling the camera to shoot the top view image of the tire, determining gradient information in the image of the tire according to the top view image of the tire and a photometric stereo algorithm, and identifying characters of the tire according to the gradient information in the image of the tire. According to the technical scheme, the camera and the light source assembly are matched to photograph the tire, and the gradient information in the image of the tire is confirmed through a three-dimensional algorithm, so that more accurate character information on the tire can be obtained. The characters of the tire are recognized through the gradient information in the image of the tire, the character recognition accuracy is improved, the whole recognition process is automatically achieved, and the recognition accuracy and recognition efficiency are improved.

The invention discloses a PVC plastic wall / floor surface quality detection method, and belongs to the field of quality detection.The method comprises the steps that diffuse reflection model calibration is conducted on the surface of an object to be detected, and a line scanning camera is used for collecting a first collection image and a second collection image when a first line light source and a second line light source are sequentially lightened; reconstructing the first acquisition image and the second acquisition image by using a photometric stereo method to obtain a two-dimensional gradient map and a three-dimensional gradient map of the to-be-detected object; performing pseudo-color conversion on the two-dimensional gradient map and the three-dimensional gradient map, performing RGB channel separation on the converted pseudo-color two-dimensional gradient map and pseudo-color three-dimensional gradient map, fusing the pseudo-color two-dimensional gradient map and pseudo-color three-dimensional gradient map of different channels, and performing three-channel merging to obtain a color fusion image. And performing defect identification by using the color fusion image. Manual detection can be replaced, the appearance quality detection efficiency of the PVC plastic wall / floor is greatly improved, and production data management is facilitated.

The invention relates to a multispectral luminosity three-dimensional reconstruction method based on a Gaussian process model. The method comprises the following steps: constructing a multispectral luminosity three-dimensional imaging system; the light field camera shoots a picture; after channel separation is carried out on the picture, the picture is used as input for depth estimation, and a reconstructed normal vector and a multispectral luminosity three-dimensional reconstruction depth map are obtained; performing three-dimensional reconstruction on the light field camera to obtain a light field camera depth map; and fusing the depth maps obtained in the two modes through a Gaussian process model mode to obtain a final depth map. Compared with a photometric stereo method, a light field camera comprising a micro-lens array has a higher utilization rate of light field information, the method combines light field camera reconstruction with the photometric stereo method based on the idea of Gaussian model hybrid reconstruction, gives full play to the respective advantages of the light field camera reconstruction and the photometric stereo method, improves the utilization rate of the light field information through the light field camera with the micro-lens array, and improves the reconstruction efficiency of the light field camera. And then an algorithm is designed to process the shot picture, so that a good low-frequency reconstruction effect is obtained, and higher precision is achieved.

The invention relates to the technical field of image processing, and discloses a phase deflection and photometric stereo fused surface reconstruction method and system, a computer readable storage medium and a computer program product. The method comprises the following steps: respectively acquiring a plurality of fringe patterns with different phases in a first direction and a second direction of an object to be imaged; a reflection image of the object needing to be imaged after the binary images of the object needing to be imaged are projected in the multiple different directions is captured; a phase deflection method is used for solving a shape graph of the object, a captured reflection graph is used as photometric stereo input, an intensity matrix is constructed, and an average curvature graph of the object is calculated; and fusing the shape graph and the average curvature graph to obtain a final result graph. According to the method, the respective advantages of PMD and photometric stereo are comprehensively utilized, the adaptability to a complex surface is enhanced by dynamic weight, a finer effect can be achieved, and the multi-scene application capability of the prior art can also be improved.

The invention discloses a small-size visual tactile sensor based on a UV mark, and relates to the field of sensors. The visual tactile sensor solves the problem that the existing visual tactile sensor cannot realize high-precision force and texture perception on the same sensor at the same time, independently or in a time-sharing manner. A UV fluorescence labeling layer which is transparent under visible light and develops under ultraviolet light is arranged on the contact surface of the elastomer; the composite light source module comprises a UV light source unit and an RGB light source unit which can be independently controlled; the UV light source or the RGB light source is turned on through time-sharing switching, so that the image acquisition module can acquire mark point displacement images used for calculating contact force distribution or photometric stereo images used for reconstructing contact surface textures in a time-sharing manner. According to the invention, the problem that a traditional sensor cannot realize lossless switching of force and texture sensing functions on a single device is fundamentally solved by using the invisibility characteristic of the UV mark and a dual-light-source time-sharing working mode. The method is used for robot touch sensing.

The invention provides a three-dimensional two-dimensional code surface information reconstruction method, device and equipment and a storage medium, and belongs to the technical field of image processing and three-dimensional reconstruction, and the method comprises the steps: carrying out the contrast enhancement of an initial image set of a three-dimensional two-dimensional code based on an exposure fusion contrast enhancement algorithm, and obtaining a contrast-enhanced image set, the initial image set comprises three-dimensional two-dimensional code images obtained by lighting and shooting the three-dimensional two-dimensional code at four different space angles; normal vector field reconstruction is carried out on the surface of the stereo two-dimensional code based on a four-light-source photometric stereo method and a contrast enhancement image set; converting the established normal vector field into a depth image based on a Poisson solution; and obtaining a reconstructed two-dimensional code image based on the depth image. According to the invention, the technical problem that the error of the surface information of the low-contrast stereo two-dimensional code extracted in a complex environment in the prior art is large is effectively solved.

A topographical inspection device that employs one or both of a photometric stereo system for determining surface normal for individual pixel locations in an image space and / or dot pattern projection. A device body supports light elements at spaced apart locations to illuminate an inspection region and a dot pattern projector for projecting a dot pattern onto the inspection region. A camera captures images of the surface when illuminated by the light elements and / or dot pattern projector. Controlling the light elements and camera, a first topographical measurement of the inspection region is made based on light intensity in images taken by the camera. A second topographical measurement may be made based on dot pattern projection.

The application belongs to the technical field of three-dimensional measurement, and particularly discloses a metal surface measurement method and system based on photometric stereo and binocular structured light. The method comprises the following steps: acquiring original depth point cloud of a mirror surface region of a surface to be measured by using a binocular camera; acquiring complete normal vector data of the surface to be measured by using a photometric stereo method; and fusing the original depth point cloud and the normal vector data to calculate surface point cloud of the surface to be measured. The measurement data of the binocular structured light and the near-field photometric stereo are combined, the missing measurement data of the metal surface caused by the mirror reflection is complemented, the mutual fusion of the height data and the normal vector data is utilized, and the accuracy of surface reconstruction is improved.

A multispectral luminosity three-dimensional imaging system based on a nanocrystalline color conversion light source comprises a nanocrystalline light source module, an illumination control module, an image acquisition module and a three-dimensional reconstruction calculation module. The nanocrystalline light source module realizes multi-band accurate illumination; the illumination control module realizes independent lighting of a light source channel by channel based on a shift register and a single chip microcomputer, and outputs a synchronous trigger signal to a camera, so that each image corresponds to the unique light source direction; the image acquisition module acquires a multi-wavelength and multi-direction reflection image sequence, and uses a mask to limit an effective area; and the three-dimensional reconstruction calculation module estimates the light source direction, performs photometric stereo solution on each spectral channel, reconstructs a complete three-dimensional surface topography through cross-channel normal fusion and Poisson depth recovery, and generates a multispectral albedo graph and a pseudo-color normal graph. According to the invention, the stability and precision of normal estimation and depth recovery under a complex material surface are improved, and miniaturized, high-fidelity and multiband photometric three-dimensional imaging is realized.

This application proposes a method, controller, system, medium, and product for constructing a large-scale 3D reconstruction model. The method includes: acquiring training images; rendering the training images based on mesh rasterization to obtain a photometric stereo image; inputting the photometric stereo image into a preset explicit network to obtain a three-dimensional representation of the photometric stereo image; rendering the three-dimensional representation to obtain various rendered images, and predicting the albedo of the three-dimensional representation to obtain an albedo map; calculating the loss based on various rendered images, the albedo map, and the photometric stereo image using a preset loss function to obtain a loss value; and optimizing the explicit network based on the loss value to obtain a constructed large-scale 3D reconstruction model. Therefore, this application calculates the loss using various rendered images, the albedo map, and the photometric stereo image, and then optimizes the explicit network based on the loss value to obtain a constructed large-scale 3D reconstruction model, thereby improving the accuracy and quality of the 3D reconstruction model construction.

The invention discloses an intelligent material scanning device and method based on multi-angle polarized illumination, and the device comprises a box body, and a camera assembly, a polarization filter, an illumination assembly and a rotating table which are sequentially distributed in the box body from top to bottom, and the polarization filter is rotatably connected to the front end of an objective lens of the camera assembly. The lighting assembly is provided with a plurality of light sources distributed on the hemispherical surface in a longitude and latitude mode. The camera assembly obtains image data on the rotating table through the polarization filter. The objective of the invention is to design an intelligent material scanning device which is low in cost, high in precision and ecologically open, and based on the combination of a physical polarization means and a photometric stereo method, the generated material is real and uniform under different environment illumination.

A method includes capturing a first image of a surface illuminated from a first direction along an axis by a first light at a first elevation angle with other lights of the illumination system off, and capturing a second image of the surface illuminated from a second direction along the axis by a second light at a second elevation angle with the other lights off, the second direction being opposite the first direction, the second elevation angle being substantially identical to the first elevation angle. The images are processed by taking a derivative of a reflected light intensity at each of a plurality of pixel locations in the images, respectively. The respective derivatives are employed to identify a set of invalid pixels where a photometric stereo condition is not satisfied. A photometric stereo reconstruction is generated based on a set of images and the identified set of invalid pixels.

The invention discloses an insulator surface defect detection method and system based on photometric stereo vision. The method comprises the following steps: S1, obtaining a plurality of insulator surface images obtained by a photometric stereo method; s2, restoring a 2.5 D depth map of the surface of the insulator from the surface image of the insulator; s3, denoising the 2.5 D depth map on the surface of the insulator; s4, performing key point extraction and curved surface fitting on the denoised depth map to obtain key control points and corresponding curved surfaces as a sample set A; constructing a random control point coordinate combination and a corresponding curved surface as a sample set B; training the feature extraction network through the sample set A and the sample set B to obtain a control point extractor to obtain control points of the curved surface, and obtaining an insulator surface curved surface model; and S5, based on the insulator surface curved surface model, calculating parameter information of the insulator surface, and performing defect detection according to the parameter information. The method has the advantages of high detection precision and the like.

The present invention relates to an industrial appearance defect detection method based on photometric stereo and diffusion model. First, a multi-intensity fusion photometric stereo method is used to construct a defect-free normal sample data set, and a condition-guided diffusion model deep learning network is designed and constructed. In the deep learning network, the input data of the noise module are defect-free normal samples, random Gaussian noise and random mask images, and the input of the denoising module is the noisy samples, time control tensors and comprehensive features; the encoder and decoder include a residual module and time embedding, and the residual module is responsible for introducing the information of the time embedding. At the same time, the attention mechanism of the residual module can make the network training faster; the trained model is used to perform defect detection and threshold segmentation on the input image. The present invention combines the photometric stereo with the diffusion model, and at the same time uses a large number of defect-free samples in industrial production, combined with the training strategy of unsupervised learning, to study and explore a method suitable for industrial appearance defect detection.

The application provides an inflatable flexible visual-tactile device and method for measuring surface topography of an object. The device comprises an inflatable flexible visual-tactile sensor, a clamp and a support, the inflatable flexible visual-tactile sensor comprises a tactile perception unit and a visual imaging unit; when the surface of the object contacts the sensor, the flexible film and the external reflective layer in the tactile perception unit are deformed, and are attached to the surface of the object under the action of the internal air pressure of the inflatable flexible visual-tactile sensor; the deformed flexible film is reconstructed in three dimensions by using photometric stereo technology, so that the reconstruction of the whole surface topography of the object and the real-time measurement of the size are realized. The device adopts a sealed inflatable structure design, omits the skeleton support to expand the effective measurement range of the flexible film, and simultaneously makes the flexible film closely attached to the surface of the measured object under the action of the air pressure, so that the accurate surface concave-convex feature information of the object is collected, and the reconstruction accuracy and the measurement accuracy of the complex surface topography of the object are significantly improved.

An imaging device includes an imaging unit, a signal separating unit, a normal line calculating unit, and a distance estimation unit. The imaging unit includes a plurality of polarization lights having different polarization directions of light emitted to a subject and a polarization sensor that captures an image of the subject that is simultaneously irradiated with the light from the plurality of polarization lights. The signal separating unit separates pixel signals corresponding to each of the polarization directions from the image captured by the imaging unit and generates an image for every polarization direction. The normal line calculating unit calculates a normal line on a surface of the subject from the image for each of the polarization directions by photometric stereo. The distance estimation unit estimates the shape of the subject based on the normal line calculated by the normal line calculating unit.

The present invention discloses a surface defect detection method, device, system, and medium. The detection method includes: controlling each light source to light up and cycle in sequence, using a true color line array camera to shoot a moving object to be tested, so as to obtain the original image information collected by each channel of the true color line array camera; splitting the original image information collected by each channel so that the image information corresponding to the same light source is summarized in sequence, thereby obtaining sub-images corresponding to all light sources in each channel; fusing the sub-images corresponding to all light sources in each channel, calculating the average value of all image data corresponding to the same position in each sub-image in the current channel as the fused data at the corresponding position, thereby obtaining color information of the surface of the object to be tested; extracting the sub-images corresponding to all light sources in any channel, and calculating a photometric stereogram based on the angular information of each light source to obtain concave-convex information. The present invention can improve detection efficiency while reducing costs, and realizes the simultaneous acquisition of color information and concave-convex information.

The application discloses a kind of based on I 2 2.5D imaging system and method of conventional industrial camera combined with intelligent docking station of C bus.The system includes conventional industrial camera, intelligent docking station, multi-direction controllable light source assembly and host computer.Camera has I 2 C host interface, is connected with intelligent docking station by I 2 C bus;Docking station built-in MCU, I 2 C slave interface and multi-channel light source drive channel, support independent adjustment the brightness, switch and trigger mode of each light source;Host computer issues control command by I 2 C interface of camera SDK, and runs photometric stereo algorithm.The application utilizes existing I 2 C channel of camera as light source control bus, saves independent light source controller, with wiring simple, time sequence synchronization precision high, expansibility strong, soft and hard decoupling, upgrading cost low etc.Advantages, especially suitable for conventional 2D vision production line to 2.5D ability low-cost upgrade.

The embodiment of the present application provides an object detection method, device, equipment and storage medium, the object includes: obtaining a first image and a second image of the object to be detected, the first image is a two-dimensional image, and the second image at least includes a color normal vector image synthesized by photometric stereo; inputting the first image into a two-dimensional target detection model to output a first detection result, and inputting the second image into a photometric stereo target detection model to output a second detection result, the first detection result is used to indicate the position coordinates and confidence probability of each defect detected from the first image, and the second detection result is used to indicate the position coordinates and confidence probability of each defect detected from the second image; inputting the first detection result and the second detection result into a joint processing model to compare with a preset threshold to output the quality inspection result of the object to be detected. The technical solution provided by the embodiment of the present application is used to improve the accuracy of object detection.

The application discloses a clothing fabric flatness detection system based on image recognition and relates to the technical field of clothing fabric quality detection. A signal acquisition module acquires multi-source signals, a data preprocessing module generates standardized multi-source image data, a three-dimensional reconstruction module fuses binocular vision images and a photometric stereo image sequence to reconstruct a high-precision three-dimensional point cloud model, a feature extraction and grading module determines a flatness standard grade, and finally, a result output module generates a detection report, thereby realizing full-process automatic detection.