151 results about "Stereo camera" patented technology

The invention provides a teaching-free welding robot path planning system based on visual autonomous learning, and relates to the technical field of industrial welding, and the teaching-free welding robot path planning system comprises a pose compensation module which is used for arranging three infrared reflective mark points on the surface of a clamp base in an L shape, collecting original point clouds of the mark points and a workpiece by using a stereo camera, and preprocessing the point clouds; generating a pose compensation matrix based on the offset of the actual coordinate and the theoretical coordinate of the mark point, and outputting a de-noising point cloud data set and a compensation matrix; and the pose correction module is used for fitting a workpiece plane equation by adopting a random sampling consistency algorithm on the basis of the de-noised point cloud data set, acting a pose compensation matrix on the workpiece plane equation, correcting a pose error caused by clamp drifting, calculating a welding seam track end point coordinate and outputting a corrected welding seam pose parameter and a scanning pose instruction. According to the method, clamp drift can be compensated, weld joint poses can be corrected, three-dimensional features are extracted, a collision-free path is planned, and the welding precision, efficiency and automation degree are improved.

A multimodal shared telerobotic system and method for a three-arm space robot, the system at least includes a local-site system, a communication module, and a remote-site system, where the local-site system includes two force-feedback haptic devices for left and right hands, a microphone array, and upper computer software; the remote-site system includes two robotic arms provided with end-effectors, an observation arm with a stereo camera installed at an end thereof, two force sensors, a vision unit and lower computer software; an operator can control the two robotic arms of the robot outside a cabin for performing operations, and control the observation arm to obtain a better local view; and a multimodal telerobotic control method of pose control, voice control, and force control is integrated with the robot's autonomous control through a shared control algorithm.

A request signal that indicates a quality for a determination of an orientation of a road user is received. The orientation of the road user is determined based on a) image data when the request signal indicates the quality is below a predetermined quality for the determination of the orientation of the road user, or b) on LIDAR data and image data when the request signal indicates the quality is the predetermined quality.

Provided is an image generation device which detects an obstacle that is present in the surrounding space, on the basis of a captured image obtained by a stereo camera of a head-mounted display, and sets a boundary 72 of a play area in which a user wearing the head-mounted display is allowed to move. When a new obstacle is detected inside the play area, the image generation device generates tangent lines 82a and 82 from an observation point H on a floor surface to a contour 80 of the obstacle and uses the tangent lines and a portion which is a part of the contour 80 and which is between tangent points AB to set a new boundary 86 of the play area.

An attachment structure of an onboard stereo camera unit comprises a bracket unit, a camera unit, one fitting-fixing mechanism, and engaging-holding mechanisms. The bracket unit is configured to be attached to a vehicle. The camera unit is configured to be mounted on the bracket unit and comprises at least camera devices in a left and right pair. The fitting-fixing mechanism is configured to fix the camera unit to the bracket unit. The engaging-holding mechanisms are configured to define a mounting posture of the camera unit and engage and hold the camera unit when the camera unit is attached to the bracket unit.

The invention relates to a method for determining a position of a rail vehicle, moving on a track, by means of an optical measuring system comprising a stereo camera system and an evaluation device, wherein by means of the stereo camera system an image pair is recorded from a reference point in a lateral environment of the track and wherein by means of photogrammetry the position of the rail vehicle is determined in relation to the reference point. The position of the rail vehicle is additionally detected by means of a radio-based measuring system for real-time locating by means of anchor modules attached to the rail vehicle and by means of transponders attached to several reference points, wherein position data of the two measuring systems are compared by means of a central system unit. In this way, two independent measuring systems are used to generate position data.

The present invention provides a teaching-free welding robot path planning system based on visual autonomous learning, which relates to the field of industrial welding technology. The system comprises: a posture compensation module for arranging three infrared reflective marking points in an L-shape on the surface of a fixture base, using a stereo camera to collect the original point cloud of the marking points and the workpiece, and preprocessing the point cloud; generating a posture compensation matrix based on the offset between the actual coordinates and the theoretical coordinates of the marking points, and outputting a denoised point cloud data set and the compensation matrix; a posture correction module for fitting the workpiece plane equation based on the denoised point cloud data set using a random sampling consistency algorithm, applying the posture compensation matrix to the workpiece plane equation, correcting the posture error caused by fixture drift, calculating the coordinates of the weld trajectory endpoints, and outputting the corrected weld posture parameters and scanning posture instructions. The present invention can compensate for fixture drift, correct weld posture, extract three-dimensional features, and plan a collision-free path, thereby improving welding accuracy, efficiency, and automation.

An automated fruit picking apparatus including a stereo camera to determine accurate information regarding a location of fruit on trees and a vacuum picking device that automatically moves toward discovered fruit hanging from a tree based on the determined location of the fruit and to make contact with and pick the fruit off the tree, and a method of automatically picking fruit from a tree.

Stereo visualization systems with optical filters for selective detection of color, multispectral, fluorescence, and laser mapping image data. A system includes a stereo camera comprising a first image sensor and a second image sensor, with a first optical filter that prevents the first image sensor from accumulating near infrared electromagnetic radiation. The system includes an emitter comprising a plurality of sources of electromagnetic radiation. The first image sensor detects visible electromagnetic radiation and reads out a visible data frame in response to the emitter cycling on a visible source, and the second image sensor detects near infrared electromagnetic radiation and reads out a near infrared data frame in response to the emitter cycling on a near infrared source.

The system generates real-time augmented reality video for TV broadcast, cinema or video games. The system includes a monoscopic video camera including a body, a stereoscopic video camera, and a processor. The system includes sensors, including multiple non-optical sensors, which provide real-time positioning data defining the 3D position and 3D orientation of the monoscopic video camera, or enable the 3D position and 3D orientation of the monoscopic video camera to be calculated. The processor is configured to use the real-time positioning data automatically to create, recall, render or modify computer generated 3D objects. The processor is configured to determine the 3D position and orientation of the monoscopic video camera with reference to a 3D map of the real-world generated whilst the camera is being used to capture video. The processor is configured to track the scene without a requirement for an initial or prior survey of the scene.

A computer implemented method and associated control system for monitoring the operational use of an agricultural machine. Raw image data from a stereo camera system is processed through application of an epipolar image rectification to generate a rectified image data set. The rectified dataset is utilized to generate a disparity map indicative of depth within the image data, which is used as an input to one or more assisted or automated operational tasks for the agricultural machine.

The invention discloses an intelligent laser oral implanting robot for clinical application. The intelligent laser oral implanting robot comprises a robot system, a CT imaging system, an optical positioning and tracking system, a supporting device and a control platform. The robot system comprises a base, a fixing frame, a mechanical arm and a laser transmitter, and the laser transmitter is used for drilling holes in bone tissues; the CT imaging system comprises a radiation source and a detector and is used for scanning and collecting oral information of a patient before an operation; the optical positioning and tracking system comprises an infrared emitter, an infrared stereo camera and a dynamic reference frame and is used for dynamically scanning and collecting oral cavity information of a patient in an operation; the control platform receives data information collected by the CT imaging system and the optical positioning and tracking system, and the working state of the robot system is planned and timely adjusted. Advanced image reconstruction, intelligent path planning, dynamic navigation and laser cutting technologies are combined, the accuracy of the laser cutting path can be ensured, and accurate cutting and precision control of the alveolar bone are achieved.

For three-dimensional image capture with the aid of a stereo camera having two cameras, an image of a three-dimensional scene is first captured simultaneously with the two cameras. Characteristic signatures of scene objects within each captured image are determined and assigned to each other in pairs. Characteristic position deviations of the assigned signature pairs from each other are determined. The position deviations are filtered in order to select assigned signature pairs. Based on the selected signature pairs, a triangulation calculation is performed to determine depth data for the respective scene objects. A 3D data map of the captured scene objects within the captured image of the three-dimensional scene is then created. This results in a method for capturing three-dimensional images, which is well adapted for practical use, in particular, for capturing images to safeguard autonomous driving.

An apparatus for creating a virtual world includes a processor and a memory connected to the processor, in which the memory stores program instructions executed by the processor so as to receive an image of a real space through a device having a stereo camera, collect mesh data for the real space and an object existing in the real space through the image, determine coordinates for first edges of the real space from the mesh data for the real space, select one of a plurality of second edges based on an area of a virtual space defined by each of the plurality of second edges facing a predetermined direction, when there are more first edges of the real space than edges of a polygon preset for the real space, and output a virtual space defined by some of the first edges and the selected one second edge and a virtual object corresponding to the real object recognized in the real space.

The invention relates to the technical field of medical equipment, and discloses an automatic ultrasonic scanning method and system. The automatic ultrasonic scanning method is applied to a scanning robot and specifically comprises the following steps that S101, image-mechanical arm registration is carried out on an ultrasonic image coordinate system and a mechanical arm end executor, a conversion relation from image pixel coordinates to a world coordinate system is established, hand-eye calibration is carried out on a stereoscopic vision camera and the scanning robot end executor, and a three-dimensional image is obtained; and solving a transformation matrix between the camera coordinate system and the scanning robot coordinate system, calculating rigid transformation between the stereo camera coordinate system C and the end effector coordinate system EE, and realizing unified mapping from the visual coordinates to the scanning robot coordinate system. According to the method, the deep learning image segmentation method is combined, and the TransUNet model can realize high-precision synchronous identification of various tissues such as muscles and bones, so that the segmentation effect and the identification accuracy of the image are remarkably improved.

Methods, systems, mobile devices, and non-transitory computer-readable mediums for determining a scale of an object with a mobile device. The mobile device includes at least one object-facing camera (e.g., a monocular camera) and an away-facing stereo camera system. Information captured using the away-facing stereo camera system is used to estimate relative pose information for determining the scale of the object in images captured by the object-facing camera. The proposed system leverages the scene images surrounding the mobile device to resolve scale ambiguity and calculate the absolute scale.

The invention relates to a robotic lawnmower (10) comprising: - a sealed main housing (60) for receiving a control or regulation unit (110), in particular comprising a main circuit board (111); - a sealed sensor module (20) for environmental detection, in particular a camera module (112), preferably a stereo camera module (21); - wherein a seal between the main housing (60) and the sensor module (20) is provided by a common cable-guiding sealing element (33).

A tracking system for quantifying retinal traction on a retina of a patient eye includes an indicator device, a stereo camera, and an electronic control unit (ECU). The stereo camera collects and outputs stereo image data. The ECU, which is in communication with the indicator device, executes a method by receiving the stereo image data from the stereo camera during an ophthalmic procedure and thereafter assigning tracking points as coinciding pixels within stereo image pairs. The ECU also automatically performs a digital image correlation (DIC) process using the stereo image pairs to ascertain relative motion of the tracking points, and associates relative motion of the tracking points with the retinal traction using a traction map. A numeric traction quotient is generated that is indicative of magnitude of retinal traction. The ECU executes a control action using the indicator device based on the numeric traction quotient.

An imaging apparatus has a plurality of cameras, each including: an imaging device in which unit pixels are periodically arranged, the unit pixels including high sensitivity sub-pixels that output a first output value for a certain exposure amount and low sensitivity sub-pixels that output a second output value lower than the first output value for a certain exposure amount; a composition section that selects and outputs an output of the high sensitivity sub-pixels and an output of the low sensitivity sub-pixels when the exposure amount is smaller or larger than the predetermined exposure value, respectively; and an amplification section that amplifies and outputs an output of the composition section, and so that image signals of the high and low sensitivity sub-pixels in the same predetermined exposure values become the same between the plurality of cameras, corrects the image signals of the high and low sensitivity sub-pixels.

The method and apparatus for determining the position and orientation of a marker having encoded information includes acquiring images of the marker with a stereo camera. A center of the marker is determined, and then a position of the marker is determined based on the center of the marker. A number of vertices are then determined about the center of the marker. The number of vertices are used to determine the pitch, roll and orientation of the marker. The orientation of the marker is determined based on the pitch, roll and orientation of the marker. The method and / or apparatus for determining the position and orientation of a marker can be used in a range of applications for determining the position and orientation of an object on which the marker is placed.

An object detection device includes a processor. The processor is configured to apply a Hough transform to coordinate points on a UD map to detect a straight line having a predetermined length, and detect a target disparity corresponding to the detected straight line having the predetermined length as a disparity corresponding to an object parallel to a direction of travel of a stereo camera. In the UD map, a target disparity satisfying a predetermined condition among disparities acquired from a captured image is associated with coordinate points, each of the coordinate points having two-dimensional coordinates formed by a first direction and a direction corresponding to a magnitude of a disparity. The processor is configured to convert, in the Hough transform, a straight line passing through coordinate points associated with the target disparity and a predetermined range based on a vanishing point into a Hough space.

The invention relates to a test system for testing a LIDAR device (1), comprising a controller (5) for generating LIDAR information relating to a simulated LIDAR object based on a real object to be reproduced for a test process, wherein the LIDAR information includes at least one item of two-dimensional contour information and an item of depth information relating to a virtual distance of the simulated LIDAR object; comprising a LIDAR image generation device (6) for generating the simulated LIDAR object based on the LIDAR information; and comprising a LIDAR projection device (7) for projecting the simulated LIDAR object (9) onto a projection surface (8). The depth information is determined on the basis of a time component between the projection surface (8) and the LIDAR device (1) to be tested, which is defined by the controller (5). In one embodiment, a video image generation device can be provided, in order to generate a visible video image of at least one real object on the projection surface. The IR image which is not visible for people and which is projected by the LIDAR projection device is overlayed in a synchronised manner with a video image that is visible for people. In a variant, the test system is suitable for also testing a stereo camera, in addition to the LIDAR device, e.g. which is integrated in a vehicle to be checked, but can also be provided independently, yet in combination with the LIDAR device.

The present invention provides a 3D reconstruction method for underwater damage of marine equipment based on vision and IMU fusion. The method includes the steps of performing, in an underwater environment, internal parameter calibration of the left and right cameras of a stereo camera and extrinsic parameter calibration between the left and right cameras of the stereo camera and a platform IMU; calibrating the extrinsic parameter matrices of the drive IMU coordinate system and the laser sensor coordinate system on each axis of the drive system; identifying and roughly locating the damaged area based on the 3D reconstruction of the underwater vision; planning an optimal path for the underwater mobile platform, performing local obstacle avoidance based on the 3D reconstructed point cloud, and controlling the underwater mobile platform to move near the damaged area; planning a trajectory for a drainage system and draining water using the drainage system; and determining the laser position of a laser sensor using drive IMU data to realize a precise 3D reconstruction of the damaged area based on the laser sensor data. This method provides a highly accurate 3D reconstruction of the damaged area, assisting other equipment in autonomous repair and improving the work efficiency of the marine equipment.

A system for providing situational awareness to a cyclist or other user of a micromobility vehicle comprises a stereo camera assembly and processing logic configured to determine, based on images acquired by the stereo camera assembly, a distance between the cyclist and an object of interest (e.g., a vehicle). The system is configured to determine a threat level of the object based one or more factors such as, e.g., a speed of the object and / or a category of the object. In some examples, the system includes a display and / or an audio indicator to convey information to the cyclist about detected threats. In some examples, the system is configured to produce an audio indication in response to a threat exceeding a threshold threat level. A software platform may be configured to store and / or process micromobility data gathered from one or more users.

An environmental monitoring device for vehicles comprises a stereo camera having two fisheye lenses, an image sensor device having at least two sensor regions for detecting optical signals from the fisheye lenses in one of the sensor regions each and for generating and outputting image data signals based on the respective optical signals, wherein the sensor regions each have at least a first partial region corresponding to a first aperture angle within the maximum aperture angle of the respective fisheye lens, and a second partial region corresponding to a second aperture angle within the maximum aperture angle of the respective fisheye lens, a processing unit for processing the image data signals output by the image sensor device and for providing the processed image data signals, wherein the processing unit is adjustable in order to, in particular at a respective time,to process the image data signals selectively according to only one of the partial areas, and a control unit for adjusting the processing unit.,

The invention provides a freight object tracking method based on machine vision, and belongs to the technical field of logistics conveying object visual tracking, and the method comprises the steps: carrying out the barcode recognition, volume measurement and queue creation of a freight object, carrying out the volume measurement of the freight object through a line laser stereo camera on a conveying line, and creating a queue of the conveying line; acquiring multi-dimensional features of the freight objects and supplementing the multi-dimensional features into queue information of the freight objects; a plurality of main line detection points are configured on a main line of the conveying line, and a plurality of branch line detection points are configured on a plurality of branch lines respectively; the plurality of main line detection points track the motion trail of the freight object on the main line; when the freight object is about to be transferred from the main line to the branch line, the identified freight object is removed from the main line freight object queue and inserted into the tail part of the branch line freight object queue of the corresponding branch line; and the branch line detection point further tracks the freight object. And through video measurement and tracking of a plurality of links, the reliability and the accuracy of whole-process conveying of the material objects are improved.

Color image data is generated by capturing an image of a target object. Pixels of the color image data are classified to generate classified image data. The kernels have sizes according to a plurality of sub-target objects formed of pixels that belong to categories. First data on a point cloud is generated by capturing an image of the target object using an infrared stereo camera. The first data is projected onto a plane to generate second data on a point cloud. A point of the point cloud in the second data is associated with a pixel in the classified image data. Third data on a point cloud in a three-dimensional coordinate system is generated from the first data by filtering information on the positions of the points in the first data. The filtering uses the kernels according to the categories of the points contained in the first data.

A camera calibration method for calibrating a camera that captures an image through a windshield includes acquiring a calibration image associated with a calibration object by imaging by the camera. A calibration object has a linear portion extending in one direction intersecting an optical axis of the camera through the windshield, and the calibration object is a wire or a bar. The method further includes extracting a first linear portion image corresponding to the linear portion from the calibration image. The method further includes correcting distortion of the calibration image by comparing the first linear portion image with a second linear portion image captured when the linear portion is imaged by the camera not through the windshield.

A method may include receiving a plurality of pairs of images of a scene captured by a camera, receiving a pose of the camera when each of the pairs of images of the scene were captured, determining depth values of the scene for each pair of images, and training a neural network to receive a pose of a camera with respect to the scene, and output a geometry of the scene and an appearance of the scene with respect to the pose. The plurality of pairs of images, the poses of the camera, and the depth values may be used as training data to train the neural network. The neural network may include a first component that receives the pose as input, and outputs the geometry of the scene and an embedding, and a second component that receives the embedding as input, and outputs the appearance of the scene.

The present invention relates to a device and a method for large deformation measurement and material property estimation of beam-shaped polymer materials using a stereo camera and, more specifically, to a device and a method for large deformation measurement and material property estimation of beam-shaped polymer materials using a stereo camera, the device comprising: a fixing unit for fixing an end of an object; a linear stage for applying tension to a wire embedded in the object fixed to the fixing unit in a gravity direction; a load cell for measuring the tension applied to the wire; a stereo camera for photographing a deformation curve by deforming the object in accordance with the tension applied to the wire; a data collection unit for collecting tension data measured from the load cell; and a controller for controlling at least one of the linear stage or the stereo camera.