12 results about "Pinhole camera" patented technology

The application provides a pinhole image splicing true value acquisition and splicing method based on a heterogeneous camera combination. The acquisition method first symmetrically installs two pinhole cameras on a support, and installs an fisheye camera between the two pinhole cameras. Based on a double spherical camera model, the three cameras are calibrated to obtain the internal parameters and external parameters of the three cameras. The left eye pinhole view, the right eye pinhole view and the middle eye fisheye view of the target scene are simultaneously acquired by using the three cameras. The middle eye fisheye view is subjected to equirectangular projection. According to the internal parameters and external parameters of the three cameras, the left eye pinhole view and the right eye pinhole view are projected to the equirectangular projection view plane respectively, multi-camera coordinate system one is completed, and the splicing true value is obtained. The application has the core advantages of the hardware structure design and the heterogeneous camera image registration algorithm, can stably acquire images without seams and time sequence consistency, and provides strong support for the true value reference of the precision verification and model training of subsequent panoramic video splicing.

This invention discloses a robust visual servo control method for robots based on an adaptive update law, comprising: associating the pixel coordinates of feature points with their 3D coordinates in the camera coordinate system according to a pinhole camera projection model, and establishing a global linear regression model containing unknown position parameter vectors; designing an adaptive update law for the estimated values ​​of the unknown position parameter vectors based on the global linear regression model, used to estimate the unknown depth information parameters of feature points in real time, and reconstructing the visual Jacobian matrix online based on the estimated depth information parameters; constructing a visual state observer to obtain smoothed image feature estimates; defining a joint space-assisted tracking error based on the smoothed image feature estimates based on the reconstructed visual Jacobian matrix; and designing an integral sliding mode robust feedback term based on the integral sliding mode in the robot joint driving torque expression based on the lumped disturbance in robot dynamics, combined with feedforward compensation, to generate the final joint driving torque to drive the robot to perform servo tracking tasks. This invention can achieve highly robust and high-precision asymptotic tracking of target feature points under complex working conditions.

This invention discloses a one-way vision decorative film and its preparation method, belonging to the field of one-way vision film technology. Its purpose is to solve the technical problems of existing ultra-transparent decorative films lacking one-way vision or having poor one-way vision and privacy. It includes a dot matrix layer and a base film arranged sequentially. The dot matrix layer consists of multiple bicolor dots arranged in an array, with the brightness of the outdoor side of each bicolor dot being higher than that of the indoor side. The center distance L between two adjacent bicolor dots is 2.0~3.0 mm, and the distance H between the outer edges of two adjacent bicolor dots is 0.4~1.4 mm. Through the dot matrix layer's dot matrix distribution of high brightness on the outer side and low brightness on the inner side, the bicolor dot portion is opaque, while the gaps between the bicolor dots are translucent. By controlling the size of the bicolor dots, a one-way vision effect of clear inner and hidden outer parts is achieved during the day. The decorative film has good one-way vision, good privacy, and a sunshade effect; it also avoids the imaging blurring caused by the small size of the pinhole camera, resulting in good one-way vision imaging visual effects.

The application discloses a pinhole camera for a carrier-based helicopter landing optical system and belongs to the field of carrier-based helicopter landing optics. The pinhole camera is composed of a six-piece spherical lens group, an aperture stop and a detector. The first lens and the second lens are combined to correct the field curvature in the optical system. The third lens, the fourth lens and the fifth lens are combined to improve the distortion in the system. The sixth lens of the lanthanide series glass corrects the field curvature of the system again, and the seventh surface focuses the imaging surface to be received. The aperture stop is located at the front surface of the fourth lens of the system to limit the light entering the optical system. The infrared camera lens on both sides of the flight deck tracks and shoots two groups of infrared laser beacons on the fuselage, captures the position of the carrier-based helicopter, corrects the aberration of the system according to the positive and negative focal lengths of the lenses in the infrared optical system, and improves the imaging precision of the carrier-based helicopter landing optical system.

This invention provides a method for manufacturing an electronic lock motor for a charging pile, comprising: S1 manufacturing a micro motor and a reduction gearbox, and setting an absolute encoder at the output end of the micro motor; S2 providing a high-definition pinhole camera device, and manufacturing a face recognition system and / or a fingerprint recognition system; S3 manufacturing a main control circuit board that communicates with a cloud server, and sending data from the face recognition system and / or fingerprint recognition system to a user's smart mobile terminal. The user's smart mobile terminal can confirm charging based on the received data and the power access signal from the vehicle computer, forming a confirmation signal. The cloud server then receives the confirmation signal from the user's smart mobile terminal and sends a formal charging start signal to the charging pile. The smart charging gun includes a smart motor manufactured using the above method, improving the stability, reliability, billing effectiveness, and accuracy of the charging connection.

The utility model discloses a kind of anti-peeping detectors, including shell, shell is provided with mounting plate in, mounting plate one side outer wall is provided with thermal imager, it is provided with observation cylinder on mounting plate, observation cylinder inside is provided with long wave pass filter, several infrared lamps are provided around observation cylinder, infrared lamp is located on the side wall of shell, Type-C socket is provided on mounting plate, electromagnetic detection element is provided on mounting plate, battery is provided on mounting plate one side, buzzer alarm, several signal warning lights, blue warning light and switch are respectively provided on mounting plate one side.The utility model is provided with thermal imager, infrared lamp, electromagnetic detection element, the all-around detection of different types of pinhole camera is realized, the comprehensiveness and accuracy of detection are greatly improved, the risk of missed detection is effectively reduced, Type-C socket is set, the data of thermal imager can be transmitted to mobile phone, the temperature difference in house is observed conveniently, and hidden equipment is identified.

This invention provides a suspended collection system and method for deep-sea polymetallic nodules, belonging to the interdisciplinary field of deep-sea mining systems and machine learning. The system includes an underwater mobile carrier and a parallel collection manipulator. The parallel collection manipulator includes a static platform and a moving platform. The bottom of the moving platform is equipped with a mechanical gripper. The static platform integrates an environmental perception module and a system-level controller. The controller integrates designed algorithm models, including a deep-sea optical degradation physical model, a cross-modal feature interaction network, a pinhole camera perspective model, and a trajectory planning model. An optical inverse reconstruction and cross-modal heterogeneous feature decoding method for deep-sea degradation environments is designed. An absolute safety target screening and closed-loop adaptive constraint mechanism based on Boolean space difference sets is constructed. Combined with the system hardware design, the determinism and morphological fidelity of target recognition in turbid deep-sea physical environments are improved, ensuring the absolute safety of benthic ecological communities and the physical integrity of ore extraction.

This invention relates to a road obstacle detection method, detection device, and computer-readable storage medium based on a dual-camera combination. The road obstacle detection method includes the following steps: S1, calibrating a pinhole camera and a fisheye camera, synchronizing the two cameras and performing joint extrinsic parameter calibration, and calibrating the IMU to align the timestamps of the image frames acquired by the two cameras with the IMU data; S2, acquiring image frames, IMU data, and vehicle signals from the two cameras; S3, performing road region segmentation and depth estimation on the image frames acquired by the two cameras; S4, unifying the coordinates of the road region segmentation and depth estimation results based on the joint calibration extrinsic parameters of the two cameras, fusing the depth estimation results in the overlapping areas of the two cameras' fields of view, and completing the depth estimation results in the non-overlapping areas of the two cameras' fields of view; S5, calculating the size and depth of the road obstacle in the overlapping areas of the two cameras' fields of view and the non-overlapping areas of the two cameras' fields of view. This invention can effectively identify road obstacle information around the vehicle body.

The utility model discloses a kind of robot joint module with self-calibration function, including first shell, the first shell is connected with second shell by a plurality of bolts fixedly, the side of the second shell is fixedly connected with monitoring board, the front end of the monitoring board is fixed with pinhole camera, the front end of the monitoring board is fixed with wireless signal transmitter, the inside front end of the first shell is equipped with drive group, the rear end of the drive group is fixed with first connecting end, the rear end of the first connecting end is fixedly connected with second connecting end, the rear end of the second connecting end is fixed with main control group. The utility model relates to a kind of robot joint module with self-calibration function, by setting monitoring board, using pinhole camera, implementation is sent by wireless signal transmitter, realize the remote monitoring and diagnosis of joint module, promptly discover and solve problem, improve the reliability and maintainability of robot.

The invention relates to a method for rectifying images and / or image points acquired by at least one camera (2) of a camera-based system (1) of a vehicle (14) with a windshield (6). First, an original image of a scene is acquired with the camera (2). From the original image, original image data is selected, wherein the original image data is the complete original image, a part of the original image or a plurality of original image points of the original image. Then, intermediate image data is calculated based on the original image data and camera parameters, wherein the intermediate image data comprises an intermediate image or a plurality of intermediate image points, wherein the intermediate image data resembles an image or image points of the relevant scene acquired by a pinhole camera (8) through the windshield (6). Finally, a set of points in the relevant scene space is calculated, wherein the set of points corresponds to the intermediate image pixels or intermediate image points. The calculation is performed using a parallel shift (11) of the optical path (7) caused by the windshield (6) based on windshield parameters. Furthermore, the invention also relates to a camera-based system (1) for a vehicle (14) and a vehicle (14).

The application discloses a three-dimensional Gaussian sputter rendering and camera self-calibration method based on a general camera model. The method maps a three-dimensional point or direction of a camera coordinate system to a two-dimensional pixel coordinate by defining a learnable camera mapping function, and calculates a mapped Jacobian matrix to transfer a three-dimensional Gaussian covariance into a two-dimensional covariance and convert the two-dimensional covariance into a quadratic form parameter. Gaussian sputter rasterization is performed based on the quadratic form parameter to obtain a rendering image. With a reconstruction error as a target, an effective field of view mask and camera robustness are used to realize joint optimization and online self-calibration of camera parameters and three-dimensional Gaussian parameters. The scheme is suitable for fisheye, panoramic and catadioptric non-pinhole cameras, and can improve the rendering quality and stability of a large field of view under unknown or time-varying distortion conditions.

This utility model relates to the field of video surveillance technology. A spherical shell is housed inside a collision-resistant frame, and a mounting cavity is provided inside the spherical shell. A base is mounted on the upper side of the mounting cavity. A pinhole camera is installed inside the mounting cavity, with its probe section passing through the base. A mounting bracket is fixed inside the mounting cavity, and the pinhole camera passes through the mounting bracket. A tail spring is sleeved on the pinhole camera, and the tail spring is located on the upper side of the mounting bracket, with its upper end abutting against the base. A top spring is sleeved on the pinhole camera, and the top spring is located on the lower side of the mounting bracket. This invention solves the problems of common monitoring equipment on the market failing to maintain stable operation and conveniently adjust the camera angle in high-impact, high-collision environments.