655 results about "Single camera" patented technology

The invention provides an airport terminal video digital twinning method, device, equipment and medium, and the method comprises the steps: firstly obtaining data collected by a plurality of sensors, then constructing a high-precision airport terminal static three-dimensional model, and taking a world coordinate system as a reference, a mapping relation among a two-dimensional image coordinate system, an airport terminal static three-dimensional model coordinate system and a camera coordinate system is constructed, an airport terminal space initial layout is obtained, two-dimensional layout estimation is used as a key point, image textures are reconstructed, registration from the two-dimensional image textures to an airport terminal static three-dimensional model under a single camera is achieved, and the registration result is obtained. And finally, calculating a suture line in a fusion rendering process, and fusing a multi-camera two-dimensional image with the constructed static three-dimensional model to realize the three-dimensional panoramic digital twinning of the terminal building. Through the scheme of the invention, three-dimensional live-action visualization under the fusion of multiple cameras, structured data and the terminal indoor model in a large scene of the terminal is realized, comprehensive real-time monitoring is realized, and safe operation of an airport is guaranteed.

An optical tactile sensing method is provided distinguishing having an optical tactile sensor and performing shape reconstruction and force measurement. The optical tactile sensor has an elastomeric hemisphere. A single camera captures the illumination of the entire reflective inner surface of the elastomeric hemisphere in a single input image. Shape reconstruction for a novel shape is performed while in contact with the hemisphere. Image pixels of a single sensor input image are inputted to a trained neural network, which outputs shape characteristics of the contact of the novel shape. With a continuous pattern on the elastomeric hemisphere, the optical tactile sensing method further distinguishes performing force reconstruction / estimation. Force reconstruction / estimation is performed through tracking deformation of the continuous pattern of the elastomeric hemisphere. Multiple sensor input images collected during the deformation are inputted to a trained neural network, which outputs force vector information of the contact of the novel shape.

The invention relates to a common-field-of-view-free camera external parameter calibration method and system based on a laser tracker. The method comprises the following steps: firstly, setting a laser tracker and defining a global coordinate system based on calibration of external parameters of a common-field-of-view-free camera of the laser tracker; for each single camera, if no common view exists between the single camera and the tracker, the tracker is transferred to the position with the common view, a temporary calibration plate is arranged, and the pose relation between the temporary calibration plate and the global coordinate system is calculated; when a public view exists, a calibration plate with a target seat is arranged in the public view, a laser tracker is used for measuring coordinates of a target ball, a camera is used for measuring coordinates of a conversion ball, a target ball coordinate system and a conversion ball coordinate system are respectively established and unified, and therefore the pose relation between the camera and the calibration plate and the pose relation between the calibration plate and the global coordinate system are calculated; and finally, obtaining external parameters of the common-field-of-view-free camera by combining all pose relationships. Compared with the prior art, the method has the advantages that the external parameters of the camera can be accurately and efficiently acquired when the camera system without the public view field is processed, the anti-interference capability is strong, the efficiency is high and the like.

A vehicular vision system includes a camera disposed at a vehicle with an extender platform that is movable between an extended state and a retracted state. With the extender platform in the extended state, the camera is at an extended position that is at a distance above the roof of the equipped vehicle. With the extender platform in the retracted state, the camera is at a retracted position that is closer to the roof of the equipped vehicle than when the camera is at the extended position. The camera, when in the extended position, has a field of view that encompasses the equipped vehicle and a region at least partially surrounding the equipped vehicle. The system displays, when the extender platform is in the extended state, at a display disposed within the equipped vehicle, a bird's-eye view of the equipped vehicle derived from the image data captured by the camera.

Systems and methods for performing barcoding and machine vision with a single camera are disclosed herein. An example system includes an image sensor configured to capture low-resolution image data of a large field of view and high-resolution image data of a small field of view. A first data pipeline is configured to transmit the low-resolution image data to a first module configured to perform image processing on the low-resolution image data. A second data pipeline is configured to transmit the high-resolution image data to a second module configured to perform image processing on the high-resolution image data. Machine readable instructions cause the system to capture image data of the large field of view or the small field of view and the processor transmits either the low-resolution image data via the first data pipeline or the high-resolution image data via the second pipeline.

The invention provides a method for acquiring the position and attitude of a model through a single camera, and belongs to the technical field of wind tunnel measurement. The method comprises the following specific steps: S1, installing a plurality of to-be-tested coding points on a model; s2, the model is adjusted to an initial attitude, so that the incidence angle, the roll angle and the sideslip angle of the model are all zero; s3, acquiring three-dimensional coordinates of a to-be-measured coding point in the wind tunnel coordinate system, shooting an image of the model by using the main camera, and acquiring two-dimensional pixel coordinates of the to-be-measured coding point in the image; s4, calculating a rotation matrix and a translation vector from a two-dimensional pixel coordinate to a three-dimensional coordinate; s5, moving the model, repeating the step S3, and calculating a rotation matrix and a translation vector from a two-dimensional pixel coordinate to a three-dimensional coordinate; s6, on the basis of the data in the step S4 and the step S5, calculating and acquiring pose information of the model and outputting the pose information; and S7, repeating the steps S5 and S6, and obtaining and outputting the pose information of the model in real time. The data obtained by the method provided by the invention is high in precision and more accurate.

The invention is suitable for the field of image processing, and discloses a fast fusion method for point cloud data of multiple 3D cameras, terminal equipment and a storage medium. The multi-3D-camera point cloud data fast fusion method comprises the steps that calibration data of a plurality of 3D cameras are collected, the calibration data comprise an RGB image, a depth image and an internal reference matrix, and a calibration plate needs to appear in the view fields of the 3D cameras at the same time; generating a three-dimensional point cloud coordinate point set according to the calibration data, and calculating a transformation matrix between the reference camera coordinate system and the non-reference camera coordinate system according to the three-dimensional point cloud coordinate point set; and according to the transformation matrix, registering the three-dimensional point cloud coordinate point set to a preset reference camera coordinate system to obtain merged target point cloud data, the target point cloud data including RGB color values. According to the invention, multi-view complementation is realized, a physical blind area of a single camera can be covered, and the problem of point cloud missing caused by insufficient view field and shielding is solved.

The invention provides a college student classroom automatic sign-in method and system based on multi-frame focusing enhancement and adaptive panoramic stitching, and relates to the field of intelligent classroom management. According to the method, a multi-frame focusing enhancement technology is utilized, multi-frame images with different focal lengths are fused, a clear high-quality image is generated, and the problem of focusing difficulty possibly occurring in a large classroom environment is solved. No matter which area the student sits in, it can be ensured that the system captures high-quality image data, and the recognition accuracy is ensured. Besides, the method introduces an adaptive panoramic stitching technology to cover the whole classroom, and adaptive panoramic stitching is carried out on the images of different blocks, so that large-range image coverage can be realized, even a camera with a small visual angle can obtain a complete classroom panorama through the stitching technology, all students can be ensured to be monitored, and the method is suitable for popularization and application. The problem that the visual angle of a single camera is limited is solved.

The invention provides a time-space correlation multi-camera personnel tracking method and system, and the method comprises the steps: obtaining video streams of all cameras in a scene, carrying out the frame-by-frame detection of the video streams through a detection module based on a deep learning model, and obtaining pedestrian detection samples under different cameras at the current moment and corresponding appearance features. Associating the detection sample with a historical tracking trajectory to obtain a trajectory in each single camera; and carrying out inter-camera association on the trajectory in the single camera by combining a pedestrian re-identification ReID technology and homography-based spatial constraint to obtain a complete tracking trajectory of the current frame. According to the method, in the aspect of position representation of the trajectory, 2D Kalman prediction is used in an image plane, meanwhile, the 3D space position of the trajectory is predicted and tracked, and the trajectory position can be accurately drawn and output.

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 mobile phone camera assembling equipment solves the problem that the mobile phone camera assembling technology is single and comprises a driving assembly, an assembling assembly, a first overturning assembly, a reassembling assembly, a detecting assembly and a laser assembly, and the assembling assembly, the first overturning assembly, the reassembling assembly, the detecting assembly and the laser assembly are arranged around the driving assembly. The driving assembly comprises a bottom box, a hydraulic cylinder, a disc and an annular disc, the hydraulic cylinder is arranged in the middle of the bottom box, the station is arranged on the annular disc, the annular disc can rotate, the assembling assembly, the first overturning assembly, the reassembling assembly, the detecting assembly and the laser assembly are arranged on the outer edge of the annular disc, and a workpiece is placed on the station; workpieces on the stations can be subjected to process machining by facing different devices, different processes have continuity, the multi-process machining integration degree is high, and therefore the problem that the camera assembly process is single is solved.

A method and system for eliminating 2D features from planar surfaces in 2D images. Three digital images are taken, from a single camera at a fixed position, of a subject such as a pallet of boxes. One image (IA) is taken with ambient lighting, one image (I1) has ambient lighting plus a first added light source, and one image (I2) has ambient lighting plus a second added light source. An output image Q is then computed by Q=(I1−IA) / (I2−IA). Subtracting the ambient image removes ambient diffuse and specular reflections. Division eliminates all variations in the output image caused by color. The only variations that remain are those due to the angle between each surface point's normal direction and the direction from the light to that point. The output image Q, devoid of all colors and 2D features, is well suited for computing a robot grasp of an object in the image.

The invention provides a general dynamic texture generation method and system, and the method comprises the steps: separating a spatial-temporal feature from input data, constructing a spatial feature and a time feature of a texture, and carrying out the fusion of the spatial feature and the time feature, and obtaining a fusion feature; dynamically selecting a physical simulation or statistical modeling path according to a fusion feature type obtained by fusion, and generating a controllable texture evolution rule; and in combination with the generative adversarial network and the neural radiation field, processing the texture evolution rule to generate a visual consistent and physically credible dynamic texture sequence, and outputting a dynamic texture adaptive to the target scene. The method supports the generation of various dynamic textures, is high in coupling, effectively reduces the time cost of repeated modeling, solves the pain points of'fidelity-efficiency paradox 'and'physical-art balance problem' in the existing dynamic texture generation field, and has the advantages of short single-lens manufacturing period, high physical rationality standard-reaching rate and cross-scene multiplexing.

The invention discloses a photovoltaic panel edge detection method and a related device, and relates to the field of artificial intelligence, a laser radar and an image acquisition device are installed on a photovoltaic cleaning robot at the same time, in the operation process of the photovoltaic cleaning robot, point cloud data acquired by the laser radar are acquired, point cloud boundary points in the point cloud data are extracted, and the point cloud boundary points are extracted; the method comprises the following steps: acquiring a point cloud boundary point under a radar coordinate system, acquiring a photovoltaic panel image acquired by image acquisition equipment, detecting line features in the photovoltaic panel image, and converting the point cloud boundary point under the radar coordinate system into an image coordinate system to realize linear fitting of the point cloud boundary point by taking the line features as reference under the image coordinate system so as to obtain photovoltaic panel edge information; compared with photovoltaic panel edge detection based on a single camera or a single laser radar, the accuracy of photovoltaic panel edge detection is improved.

The invention provides a physical driving measurement method for monocular three-dimensional dynamic displacement of a rotary machine, and belongs to the technical field of crossing of computer vision and industrial state monitoring. According to the method, a high-speed dynamic visual acquisition system is constructed, and a time sequence video stream is obtained by using a cooperative marker; constructing a'Gaussian + motion blur 'composite gradient model taking the motion blur width as an endogenous variable, and jointly resolving sub-pixel edge coordinates and ambiguity by adopting a nonlinear optimization algorithm; decoupling the pixel displacement of the radial X axis, the radial Y axis and the axial Z axis by using the width change and the edge displacement of the marker in combination with the geometric principles of sequential robust filtering and monocular imaging; and finally, outputting a three-way physical vibration waveform by using the calibration conversion factor. According to the method, the fuzzy influence is adaptively eliminated from a physical imaging mechanism, micron-level precision three-direction vibration synchronous measurement is realized only by a single camera, and the hardware cost and the deployment difficulty are reduced.

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 relates to a double-mechanical-arm calibration method and device based on a single camera and a storage medium. The method comprises the steps of obtaining point cloud data of a first calibration plate; a transformation matrix between a base coordinate system of the first mechanical arm and a camera coordinate system of the camera is calculated according to the first calibration plate point cloud data, and a first transformation matrix is obtained; obtaining point cloud data of a second calibration plate; calculating a transformation matrix between a base coordinate system of the second mechanical arm and the camera coordinate system according to the point cloud data of the second calibration plate to obtain a second transformation matrix; calculating a double-arm calibration transformation matrix according to the first transformation matrix and the second transformation matrix; compared with a traditional double-camera hand-eye calibration method and a calibration method based on a measuring instrument, the cost of the technical scheme is lower, and the calibration steps are simpler and more efficient.

The invention discloses a multi-camera acquisition image splicing method, which comprises the following steps: arranging cameras, and determining the breadth information of a single camera; calibrating the camera through the calibration plate, and calculating camera parameters; calculating physical coordinates of the corresponding processing alignment pattern of each camera according to a preset camera interval; performing image processing on a machine processing plane based on the physical coordinates of the centers of the camera alignment patterns, determining the alignment pattern corresponding to each camera, and calculating an alignment change matrix; splicing transformation is carried out on images collected by the camera, splicing transformation images are determined, and a splicing transformation image set is established; carrying out image splicing on the splicing transformation images in the splicing transformation image set based on the line direction to obtain a line direction splicing image; and carrying out image splicing on the row direction spliced image based on the column direction, and determining a final spliced image. According to the processing breadth visual field information input by the user, splicing of the images collected by the multiple cameras is effectively completed, and the image splicing precision is improved.

The invention relates to the technical field of image processing, solves the problems that in the prior art, UV flat plate printing needs multiple cameras to cover the whole printing platform, and the precision is not high, and provides a scanning image processing method and device based on a single camera, equipment and a medium. The method comprises the steps that a camera is controlled to scan a calibration graph in the main scanning direction to obtain a first area image, the first area image is analyzed to correct distortion, target images are obtained, then the camera moves in the auxiliary scanning direction and repeatedly scans to obtain a second area image, distortion correction is conducted as well, and overlapped parts of the two target images are compared to obtain a target image. And longitudinal shooting overlapping parameters are calculated, and adjacent target area images are spliced by using the two groups of longitudinal overlapping parameters through a mapping splicing technology. Scanning of the whole printing platform can be completed through a single camera, hardware configuration is simplified, image splicing is carried out after multiple times of scanning and distortion correction, and the overall printing precision is improved.

A method for adjusting camera intrinsic parameters of a single camera visual tracking device is described. In one aspect, a method includes accessing a temperature of a camera of the visual tracking system, detecting that the temperature of the camera exceeds a threshold, in response identifying one or more feature points that are located in a central region of an initial image, generating a graphical user interface element that instructs a user of the visual tracking system to move the visual tracking system towards a border region of the initial image, and determining intrinsic parameters of the camera based on matching pairs of the one or more detected feature points in the border region and one or more projected feature points in the border region.

The invention discloses a method for realizing target positioning based on a single camera and computer equipment, and belongs to the technical field of positioning, and the method comprises the following steps: obtaining basic parameters of the camera; calculating a current horizontal field angle HFOV and a current vertical field angle VFOV of the camera; calculating a horizontal deviation angle DFOV and a vertical deviation angle VDFOV of a target point in the image relative to a central point of the image; calculating the range distance R of the target point; and calculating the longitude and latitude of the target point. The method has the advantages that the longitude and latitude of any target point in the visual field can be realized based on the single camera, the positioning accuracy is high, the calculation efficiency is high, the method is suitable for various types of cameras, the application range is wide, the method can be realized on the basis of the existing hardware, additional expensive equipment is not needed, the method is suitable for upgrading and reconstruction on the existing monitoring system, the cost is low, and the method is suitable for popularization and application. The implementation is simple and easy.

The invention provides a calibration method suitable for a single-camera high-precision scanning system. The calibration method comprises the following steps: S1, carrying out area array mode calibration on a linear array camera; by adjusting the exposure time of the line-scan digital camera, moving the base station to image at different positions of the checkerboard, and solving internal parameters and distortion parameters of the line-scan digital camera; s2, line scanning mode calibration; performing line scanning imaging on the checkerboard to obtain pixel coordinates of angular points of the checkerboard; and separating the actual rotation angle of the checkerboard from the projection error, and further deducing the rotation angle of the real camera, thereby completing calibration. According to the calibration requirement of the linear array camera in a scanning imaging scene, a two-stage algorithm combining area array mode modeling and linear scanning imaging correction is provided, and the problem that a traditional calibration method is not applicable under the condition that a single camera is fixed and moves in a single direction is effectively solved.

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 relates to the technical field of security and protection, in particular to an intelligent video monitoring system based on multi-view camera data fusion, which comprises a plurality of multi-view cameras used for shooting a monitoring area; the rotation unit is used for adjusting the shooting angle, the shooting position and the shooting focus of each camera in the multiple cameras; the verification unit is used for determining and comparing picture-in-picture features in the video streams shot by the cameras in the single multi-view camera within the first preset time, and comparing the picture-in-picture features of the video streams shot by the fixed single-view camera before and after replacement within the second preset time; the alarm device is used for receiving the alarm signal and sending out a sound-light alarm; the system provided by the invention avoids misjudgment caused by shooting limitation of a single camera by utilizing a mode of arranging the devices, greatly improves the accuracy of judging whether a picture is modified or not, and effectively improves the safety and accuracy of the intelligent video monitoring system based on multi-view camera data fusion.

The invention provides an optical lens, a camera module and electronic equipment, the optical lens comprises a first lens group, a second lens group, a light guide module and a rear lens group, when the optical lens is in a first imaging mode, the light guide module is used for reflecting first light from the first lens group to the rear lens group, and the second lens group is used for reflecting second light from the second lens group to the rear lens group; when the optical lens is in a second imaging mode, the light guide module is used for reflecting second light from the second lens group to the rear lens group, and the optical lens has different effective focal lengths in the first imaging mode and the second imaging mode; the rear lens group comprises a third lens group and a fourth lens group which are sequentially arranged in the direction from the object side to the image side, and at least one of the third lens group and the fourth lens group is a focusing lens group capable of moving along the optical axis. The optical zoom function can be realized by using a single camera module, and many defects of a multi-module relay type optical zoom scheme in the prior art can be solved.

The invention discloses a 3D human avatar method and a 3D human avatar system which are generated based on 3d gaussian patterning and can be driven in real time. The 3D human avatar system comprises a data acquisition module, a Gaussian initialization module and a training rendering module, the data acquisition module acquires a small amount of human body data based on a single camera, predicts human body posture information based on an smplx model and expression information based on a Flame model from two-dimensional human body image data, and makes labels; a Gaussian initialization module carries out adaptive Gaussian initialization on a human body smplx model grid in any frame label to obtain a 3D Gaussian ellipsoid; and the training rendering module is used for training the 3D Gaussian ellipsoid initialized in the step 2 based on an improved 3d Gaussian sputtering model, and rendering a 3D human avatar capable of being driven in real time. According to the method, the topological consistency of the Gaussian point and the human body smplx model can be highly maintained, artifacts are reduced, and high fidelity is improved.

Multiple fluorophores within a sample can be imaged by merging a plurality of beams from different wavelength light sources of excitation light into a single path, directing the excitation light into the sample, and detecting light emitted by the fluorophores within the sample on two different arrays of pixels (e.g., two regions within a single camera sensor chip). The light sources are activated during respective timeslots, and captured image data is processed. For at least one of the timeslots, the processing of the image data comprises using the image data captured using the first array of pixels to detect a presence of a given fluorophore, and using the image data captured using the second array of pixels to detect a presence of a different fluorophore. This arrangement enables a system that includes only N light sources to image more than N fluorophores.

The invention discloses a compact stripe monocular three-dimensional measurement system and method based on a mechanical grating, and belongs to the technical field of measurement sensing. The invention aims to solve the problems that the existing three-dimensional measurement technology depends on expensive active devices, the structure is complex, and single-frame high-density fringe projection and dynamic measurement are difficult to realize. The system comprises a dense fringe projection device, a monocular acquisition module and a processing unit. The compact stripe projection device is composed of an active light source, a mechanical grating and an optical lens, and is used for projecting a single-frame compact stripe formed by the mechanical grating to the surface of an object to be measured. And the monocular acquisition module is used for acquiring a deformed stripe image which is subjected to height modulation by the surface of an object. And the processing unit is used for synchronously controlling projection and acquisition and resolving the acquired single-frame deformed stripe image based on a pre-established system calibration model so as to reconstruct a three-dimensional point cloud coordinate of the object. The passive mechanical grating is adopted to replace traditional digital projection elements such as DLP, MEMS and DOE, and monocular vision and a single-frame reconstruction algorithm are combined, so that the system has the advantages of low cost, small size, single camera and the like, and has wide application prospects in the fields of miniaturized 3D imaging modules, extremely small endoscopes, portable 3D imaging equipment, dynamic 3D imaging and the like.

The invention relates to the technical field of image shielding processing, in particular to a target graph shielding processing method and system based on variable-focus wide-view-angle cameras, and the method comprises the steps: deploying a plurality of variable-focus cameras based on seat distribution, constructing a monitoring network, and collecting an initial image; identifying desktop features according to the images, establishing a unified coordinate system and mapping each desktop; when shooting is needed, querying candidate cameras according to the coordinate system, and determining a main camera according to an imaging area and a distance score; and performing quality evaluation on the main shot image, outputting the main shot image if the main shot image reaches the standard, otherwise, triggering a dynamic re-shooting mechanism. According to the invention, through cooperation of multiple cameras and intelligent visual angle selection, the problem that a single camera is easy to block is effectively solved, and automatic and high-quality image acquisition and processing are realized.

The present invention discloses a single-camera multi-projection dual-axis projection structured light three-dimensional reconstruction measurement system, which relates to the technical field of structured light measurement. The method comprises: using a structured light projector to project structured light to a detection object to generate a dual-axis phase-coded fringe image and collect it, reconstructing a height map of the detection object according to the image, eliminating the noise of the occluded area according to the installation position of the structured light projector group and the collected image and obtaining a height map of the unobstructed real height area, fusing the height map of the real height area to obtain a complete and accurate height map, obtaining point cloud data of the detection object according to the height map and performing three-dimensional reconstruction; the present invention can project a 45-degree rotated structured light through a structured light projector and present dual-axis phase-coded fringe on the detection object, eliminate the influence of shadows and high reflections, increase the number of effective point clouds, improve the measurement precision and accuracy of the system, and obtain a complete and accurate measurement result of the detection object.