39 results about "Spherical image" patented technology

The embodiment of the invention discloses a camera group calibration method and device, equipment and a medium, and relates to the technical field of camera calibration. The method comprises the following steps: acquiring a calibration object image of a to-be-calibrated object in a candidate camera coordinate system, and determining candidate calibration object coordinates in the candidate camera coordinate system according to the calibration object image; judging whether the candidate camera coordinate system is a reference camera coordinate system or not, and if not, converting the candidate calibration object coordinates under the candidate camera coordinate system into reference calibration object coordinates under the reference camera coordinate system according to a preset camera group transformation matrix; according to the reference calibration object coordinate and a preset calibration error function, determining corresponding calibration compensation data, and according to the reference calibration object coordinate and the calibration compensation data, determining a target calibration object coordinate of the object to be calibrated; wherein the calibration error function is determined based on sphere images of the calibration sphere at different acquisition positions in the view field overlapping area of the camera group and a preset sphere radius. And the space consistency and robustness of camera group calibration are improved.

Provided are a depth map generation method, a device and a storage medium, which belong to the technical field of image processing. The method includes: generating, according to a first spherical image acquired by a first fisheye lens and a second spherical image acquired by a second fisheye lens, a first disparity map of a spatial region where a terminal device is located; generating a second disparity map of the spatial region according to depth information of the spatial region acquired by an active depth sensor; and generating a target depth map of the spatial region according to the first disparity map and the second disparity map.

The invention discloses a spherical panoramic image feature matching method and system, a terminal and a storage medium, and the method comprises the steps: obtaining a spherical panoramic image, and carrying out the preprocessing of the spherical panoramic image; screening the preprocessed spherical panoramic image based on a spatial constraint model, and constructing a scene graph based on the screened spherical panoramic image; segmenting the scene graph into a plurality of sub-scene graphs, and performing priority ranking on the sub-scene graphs based on a graph sequence scheduling algorithm; and performing geometric correction and feature extraction on all the screened spherical panoramic images, and executing a feature matching task of the spherical panoramic images in the sub-scene images according to the priority ranking of the sub-scene images. Through a spatial constraint model, a graph order scheduling algorithm, geometric correction and a cascade Hash matching algorithm, the problem that feature matching efficiency and precision are difficult to consider when a spherical image feature matching technology processes large-scale high-resolution spherical images is solved.

Embodiments of the present application provide three-dimensional scene reconstruction method, apparatus, device, and a storage medium. The method comprises the following steps: constructing a neural radiance field for a three-dimensional scene based on a multi-view image sequence in the three-dimensional scene; for each given point location center, determining ray sampling points at the point location center and color information of the ray sampling points based on the neural radiance field; performing multi-layer rendering on the color information of the ray sampling points to obtain a multi-sphere image reconstructed for the three-dimensional scene at the point location center.

The present disclosure relates to live streaming methods and apparatuses, an electronic device, and a storage medium. A method comprises: acquiring a source live video stream, and acquiring the video projection format of the source live video stream; when the video projection format of the source live video stream is a first projection format, converting the video projection format of the source live video stream into a second projection format to obtain a target live video stream, the first projection format being used for projecting a spherical image into a rectangular image, the second projection format being used for projecting a spherical image to each face of an unfolded cube, and the cube being circumscribed about the spherical image; and pushing the target live video stream to a terminal.

A system for capturing omnidirectional imaging data includes a sensor unit, an array of two or more digital cameras, and a processor. The digital cameras are each adapted for capturing subspherical imaging data. The processor is operatively connected to the array of digital cameras and is adapted for combining the subspherical imaging data into spherical imaging data. The sensor unit is detachably mounted to an intermediate mounting member. The intermediate mounting member includes a substantially hollow body and a battery pack. The intermediate mounting member is detachably mounted to a base bracket.

A system may obtain a plurality of experimental diffraction patterns. A system may identify a crystallographic orientation of each diffraction pattern of the plurality of experimental diffraction patterns. A system may build one or more pole figures. A system may select a reference spherical function having a reference frame. A system may correlate spherical images from the pole figures and the reference spherical function. A system may determine a sample frame of the crystallographic orientations. A system may rotate the crystallographic orientations of the plurality of experimental diffraction patterns into alignment with the reference frame to produce a plurality of rotated crystallographic orientations.

Obtaining a processed spherical image includes obtaining a first luminance thumbnail image for a first hemispherical input image, obtaining a second luminance thumbnail image for a second hemispherical input image, obtaining a first distortion correcting weight map, obtaining a second distortion correcting weight map, obtaining, as an aggregate weighted mean value for the input spherical image, an aggregate of a first normalized weighted mean value for the first luminance thumbnail image and a second normalized weighted mean value for the second luminance thumbnail image, obtaining at least one of a target exposure value, a target aggregate gain value, or a region of interest ratio value in accordance with the aggregate weighted mean value, and obtaining the processed spherical image from the input spherical image in accordance with at least one of the target exposure value, the target aggregate gain value, or the region of interest ratio value.

Embodiments of the present invention disclose a panoramic image processing method and a panoramic camera, which are used to improve the anti-shake effect of the panoramic camera. The method of the embodiments of the present invention includes: obtaining a panoramic image, the acquisition timestamp of the pixels of the panoramic image, and a plurality of rotation matrices. Converting the panoramic image into a spherical image, and for each pixel of the spherical image, respectively performing position correction using the plurality of rotation matrices to obtain a plurality of corrected pixels for each pixel. For each pixel of the spherical image, according to the acquisition timestamp of the pixels of the spherical image, determining a first corrected pixel and a second corrected pixel from the plurality of corrected pixels. For each pixel of the spherical image, performing weighted average calculation using the first corrected pixel and the second corrected pixel to obtain a target corrected pixel. Through the panoramic image processing method of the embodiments of the present invention, each pixel of the spherical image can be corrected to the position where the pixel should be at the initial moment as much as possible, thereby achieving a good anti-shake effect.

Obtaining a processed spherical image includes obtaining a first luminance thumbnail image for a first hemispherical input image, obtaining a second luminance thumbnail image for a second hemispherical input image, obtaining a first distortion correcting weight map, obtaining a second distortion correcting weight map, obtaining, as an aggregate weighted mean value for the input spherical image, an aggregate of a first normalized weighted mean value for the first luminance thumbnail image and a second normalized weighted mean value for the second luminance thumbnail image, obtaining at least one of a target exposure value, a target aggregate gain value, or a region of interest ratio value in accordance with the aggregate weighted mean value, and obtaining the processed spherical image from the input spherical image in accordance with at least one of the target exposure value, the target aggregate gain value, or the region of interest ratio value.

Embodiments of the present specification provide a panoramic image processing method and device, the method comprising inputting a target panoramic image into an image processing model, obtaining panoramic image features of the target panoramic image through an encoding layer of the image processing model; converting the panoramic image features into spherical image encoding features according to a panoramic image spherical conversion algorithm; inputting the spherical image encoding features into a decoding layer of the image processing model, and obtaining a spherical depth image of the target panoramic image through the decoding layer; and converting the spherical depth image into a panoramic depth image of the target panoramic image according to the panoramic image spherical conversion algorithm. The method obtains a depth image of a panoramic image by using an image processing model, saves costs without additional instruments and equipment; and runs an image processing model specially designed for a sphere on a sphere, solves distortion generated in an ERP projection process of a panoramic image, and improves the accuracy of obtaining a depth image of a panoramic image.

The embodiment of the present application provides a kind of depth map generation method, equipment and storage medium, belong to image processing technical field.The method comprises: according to the first spherical image of the first fish-eye lens collected and the second spherical image of the second fish-eye lens collected, the first parallax map of the space region where the terminal device is located is generated;And according to the depth information of the space region collected by the active depth sensor, the second parallax map of the space region is generated;Then according to the first parallax map and second parallax map, the target depth map of the space region is generated.The technical scheme of the present application can improve the field view angle of depth image.

A three-dimensional reconstruction image production program is provided that can achieve both efficient data collection and high accuracy of the reconstruction model in three-dimensional reconstruction. [Solution] The image production program for three-dimensional restoration disclosed herein includes an exclusion criterion detection procedure, an image exclusion procedure, and a restoration image output procedure, wherein the exclusion criterion detection procedure detects exclusion criteria from a spherical image, and the exclusion criteria are objects included in an image combination area of ​​the spherical image, the image exclusion procedure excludes a predetermined area from the spherical image based on the exclusion criterion, and the restoration image output procedure outputs the image from which the predetermined area has been excluded as a three-dimensional restoration image.

A system may obtain a plurality of experimental diffraction patterns. A system may identify a crystallographic orientation of each diffraction pattern of the plurality of experimental diffraction patterns. A system may build one or more pole figures. A system may select a reference spherical function having a reference frame. A system may correlate spherical images from the pole figures and the reference spherical function. A system may determine a sample frame of the crystallographic orientations. A system may rotate the crystallographic orientations of the plurality of experimental diffraction patterns into alignment with the reference frame to produce a plurality of rotated crystallographic orientations.

The invention relates to the field of computer vision and image processing, in particular to a panoramic image editing method and system for spherical geometry, and the method comprises the steps: obtaining a to-be-edited panoramic image and an editing instruction of a user, drawing a mask of a user editing dragging region on the panoramic image, and marking a control point and a target point; rotating an area edited by the user to the center of the spherical image; image editing is carried out on the panoramic image after rotation transformation by using a trained point editing diffusion model, and the point editing diffusion model adaptively adjusts an optimization area and an editing track according to spherical latitude information of a control point; and outputting the edited panoramic image. Compared with the prior art, the method has the advantages that the distortion area of the panoramic image is effectively corrected, editing path planning with higher consistency in the panoramic space is realized, and the problem that an existing editing method is difficult to apply to the spherical image is solved.

A mechanism for processing video data is disclosed. The mechanism includes determining to process multi-sphere image (MSI) based video with a two-dimensional (2D) codec, wherein multi-sphere images pertaining to a particular time instance are converted between a set of sphere images and projected 2D images acting as MSI layers, and wherein the projected 2D images are frame-packed. A conversion is performed between a visual media data and a bitstream based on the 2D codec.

An isometric image construction method suitable for standard CNN network processing, which is characterized by a large number of perspective images and a variety of types, is used in the semantic segmentation of panoramic images, the two-dimensional plane representation form of the panoramic image is called isometric image, the conversion relationship between spherical image and tangent plane image and the conversion relationship between spherical image and isometric image are used to realize the conversion of perspective image to isometric image, the best projection position of the perspective image data set converted into the isometric image data set is given by taking the isometric image semantic segmentation as an example, and compared with other methods of processing isometric image, it is verified that the method has better performance.

Various aspects of visual servoing based on use of a generative diffusion model are described. One technique includes obtaining a current view image from a robot camera that captures a portion of an environment of the robot, and obtaining a spherical image from a previous view that depicts a surrounding area of the environment of the robot. The current view image is combined with the previous spherical image to produce a modified spherical image, and inpainting is performed in a mask area of the modified spherical image with a generative diffusion model. The inpainting blends the current view image with the previous spherical image, providing a view of the entire environment of the robot that can be used for visual servoing. The robot can perform path planning and visual servoing of an end effector based on the modified spherical image, independent of any use of an external positioning or localization system.

The present application is applicable to the technical field of image processing, and provides an image stitching method, applied to a panoramic camera. The panoramic camera is provided with a first fisheye lens and a second fisheye lens. The image stitching method comprises: acquiring a first fisheye image by means of the first fisheye lens, and acquiring a second fisheye image by means of the second fisheye lens (S101); mapping the first fisheye image onto a unit spherical surface to obtain a first spherical image, and mapping the second fisheye image onto the unit spherical surface to obtain a second spherical image (S102); rotating the first spherical image by a specified angle to obtain a rotated first spherical image, and rotating the second spherical image by the specified angle to obtain a rotated second spherical image (S103); unwrapping the rotated first spherical image into a first ERP image, and unwrapping the rotated second spherical image into a second ERP image (S104); and stitching the first ERP image and the second ERP image to obtain a target image (S105). Thus, the image stitching accuracy is effectively improved.

To provide an image display device that can display a spherical image (including a spherical video image) and is easy to assemble, disassemble and move. The display device comprises a plurality of display units 2 and 3 each having the outline of a regular polygon that constitutes all or part of a polyhedron 1 surrounded by only two or less types of regular polygons, multiple Display unit Each of the a display surface corresponding to the inner peripheral surface of the polyhedron 1 and on which input image data is displayed; The relevant a connecting means for connecting the outer edges of the display units 2 and 3 to and detaching from the outer edges of other adjacent display units; The relevant and a position specifying means S for specifying the position of the display unit on the polyhedron, and each of the display units 2, 3 corresponds to the position of the display unit 2, 3 specified by the position specifying means. do Image data own Display it on the display surface.

Obtaining a processed spherical image includes obtaining a first luminance thumbnail image for a first hemispherical input image, obtaining a second luminance thumbnail image for a second hemispherical input image, obtaining a first distortion correcting weight map, obtaining a second distortion correcting weight map, obtaining, as an aggregate weighted mean value for the input spherical image, an aggregate of a first normalized weighted mean value for the first luminance thumbnail image and a second normalized weighted mean value for the second luminance thumbnail image, obtaining at least one of a target exposure value, a target aggregate gain value, or a region of interest ratio value in accordance with the aggregate weighted mean value, and obtaining the processed spherical image from the input spherical image in accordance with at least one of the target exposure value, the target aggregate gain value, or the region of interest ratio value.

The present application relates to a method, system and non-transitory computer readable recording medium for correcting luminance of a spherical image. According to an aspect of the present application, there is provided a method for correcting luminance of a spherical image, comprising: calculating a photographing luminance distribution of a region corresponding to a sphere as a physical quantity measurement object in a plurality of images photographed with respect to the sphere; and correcting the photographing luminance distribution of the region corresponding to the sphere in at least one of the plurality of images with reference to a reference luminance distribution.

The invention provides an artificial intelligence recognition method based on a panoramic video and a related device, and the method comprises the steps: carrying out the mapping of a spherical full-view image shot by a panoramic camera, and generating a two-dimensional unfolded image; performing image cutting on a strong interference area of the two-dimensional expanded image to generate an effective area image; inputting image sub-blocks generated by multi-segment equal division of the effective area image into a target detection model for target identification, and generating a preliminary identification result; restoring the corresponding preliminary recognition result to a unified coordinate system of the two-dimensional expanded image to generate a multi-target fusion result; and carrying out secondary cutting on the local image of the detection target in the multi-target fusion result, carrying out feature identification on the detection target image after secondary cutting, and identifying a behavior event of the detection target. According to the scheme, the spherical image shot by the panoramic camera is subjected to equidistant columnar expansion, and the monitoring efficiency of a large-range monitoring scene is effectively improved in combination with a mechanism of image effective area cutting and sub-block recognition result fusion.

The present invention provides an augmented reality display component, including an image unit, an eyepiece unit and a refraction unit, the refraction unit including a first optical switch and a first birefringent crystal, the first optical switch being located between the image unit and the first birefringent crystal, the refraction unit also including a second birefringent crystal and a first phase retarder, the first phase retarder having a phase delay of π / 2 and being arranged between the first birefringent crystal and the second birefringent crystal. The present invention also provides a display device using the augmented reality display component. The present invention utilizes the first birefringent crystal, the second birefringent crystal and the first phase retarder arranged between the first birefringent crystal and the second birefringent crystal to realize a spherical imaging image output mode with multiple depths of field, which can ensure that the quality of the image output is maintained in the spherical high-quality output mode, with less image distortion and improved imaging clarity, and has broad application prospects and extremely high economic value.

A service system includes a mobile terminal and an information processing device capable of communication via a network. The mobile terminal includes a first transmission unit that transmits spherical images taken in respective imaging locations and positional information about the imaging locations to the information processing device. The information processing device includes a reception unit that receives the spherical images transmitted by the first transmission unit; a map data obtaining unit that obtains map data from a map data storage, the map data including the imaging locations of the spherical images; a path information creation unit that creates information about a path made by connecting the imaging locations in the map data obtained by the map data obtaining unit; and a content providing unit that makes content available for a request through the network, the content including the map data, the information about the path, and the spherical images.

An image display device is provided that can easily and accurately generate and display an evaluation image of a viewing facility. [Solution] The image display device 1 includes a spatial coordinate setting unit 410 that sets spatial coordinates corresponding to the observation facility. The image display device 1 also includes an operation information input unit 120 to which operation information including information about the viewpoint and direction in the spatial coordinates is input. The image display device 1 also includes a virtual space image generation unit 420 that generates a virtual space image based on the operation information and design information. The image display device 1 also includes a spherical image generation unit 430 that generates a spherical image, which is a sphere centered on the viewpoint and on which lines of latitude and longitude are drawn, based on the operation information. The image display device 1 also includes a superimposed image generation unit 440 that generates a superimposed image in which the virtual space image and the spherical image are superimposed, based on the virtual space image and the spherical image. The image display device 1 also includes a display unit 300 that displays the superimposed image.

A low-complexity panoramic video coding method considering distortion temporal propagation is provided. By analyzing the inter-frame reference relationships under the random access coding structure and establishing the corresponding distortion propagation chain, the method utilizes distortion impact factors of coding units to adjust encoding parameters, thereby optimizing the encoding process. Furthermore, the method addresses the issue of oversampling arising from the varying geometric deformations in different latitude regions during the projection of spherical images in panoramic videos. This is achieved by adjusting coding parameters based on the ratio of area changes at different latitudes. The proposed approach significantly enhances coding performance.

A spherical image compression method and device based on a spherical depth neural network are disclosed.The present application is based on the resampling of a spherical image based on a spherical measure,uniformly samples the spherical image using SMSIR,designs a basic component for learning a spherical image,through the integration of spherical convolution and self-attention spherical transformation,models the code rate using a spherical entropy model,so as to solve the problem of low efficiency of traditional spherical compression methods.

This invention provides a method and system for super-resolution of spherical signals, comprising: constructing a parameterized spherical icosahedral triangular mesh; projecting an equidistant rectangular projection image (ERP) from two-dimensional space onto the icosahedral triangular mesh to obtain a spherical mesh signal; passing the spherical mesh signal through a first feature extractor to obtain a first multi-scale feature; passing the first multi-scale feature through a second feature extractor to obtain a second multi-scale feature; expanding the second multi-scale feature based on an adaptive filter learning of Chebyshev polynomials and spherical pixel recombination to obtain spherical mesh expanded features; reconstructing the upsampled spherical mesh signal; and inversely projecting the upsampled spherical mesh signal onto the ERP to obtain a super-resolution spherical image. This invention enables high-quality representation learning and detail characterization of low-resolution spherical image inputs, especially in ultra-high magnification image super-resolution tasks, generating super-resolution spherical images with more complete details and less distortion.