168 results about "Stereo cameras" patented technology

A pest control system is disclosed comprising an optical, computational, and monitoring subsystem, optionally mounted on a mobile platform. The optical system may include a neutralizing laser or multi-wavelength light source, discovery and detail cameras (optionally stereo), a beam-steering mechanism, tunable focus, and optional thermal or depth sensors. The processor, such as a GPU or FPGA, identifies insect or biological targets, adjusts laser focus by depth, and controls beam activation. A monitoring system verifies safety by detecting humans or other non-target entities using environmental and thermal cameras; if detected, laser firing is inhibited. The mobile platform may use wheels, propellers, tracks, or cables, with GPS and data links for remote control. A visible light pre-flash may induce a blink reflex before firing. In some embodiments, a scouting drone transmits target coordinates to the neutralization unit, enabling coordinated, efficient, and safe laser-based pest control.

A multi-modal stereo vision system includes one or more stereo vision units. Each stereo vision unit includes a plurality of stereo camera pairs. Each image pair includes a first image and a second image. The plurality of stereo camera pairs can capture multi-modal image data.

The invention provides a macrobrachium rosenbergii quality grading system based on machine vision. The macrobrachium rosenbergii quality grading system based on machine vision comprises a prawn body placing platform used for placing macrobrachium rosenbergii to be tested; the three-dimensional acquisition module comprises a structured light projection device, a binocular stereo camera and a flight time depth sensor; and the three-dimensional reconstruction module is used for constructing the data of the three-dimensional acquisition module into a complete three-dimensional point cloud model through a data fusion algorithm and a point cloud registration algorithm. According to the macrobrachium rosenbergii quality grading system based on machine vision, the overall scheme has robustness and expandability, the system is suitable for various large-scale farms and grading scenes, and the intelligent level of macrobrachium rosenbergii quality control is greatly improved.

An electronic device displays a widget dashboard user interface in a three-dimensional environment, displays a representation of a physical tool to as guidance for indicating a location of the physical tool relative to a location associated with video feed, displays suggestions for changing a pose of a camera to a predetermined pose based on image data detected while the camera previously had the predetermined pose, displays a live camera feed and image data and scrubs through the image data in accordance with changes to a pose of the camera relative to a physical object, displays live stereoscopic camera feed with special effects, detects and responds to inputs for virtually annotating portions of objects, and / or displays models of objects and detects and responds to input for rotating and / or viewing the model from different depth positions within the model.

Disclosed herein is a method for estimating a depth of an image. The method may include acquiring a first depth image based on left and right images collected from a stereo camera, estimating a second depth image based on any one of the left and right images, generating a depth estimation model based on first depth values within a depth range recognizable by the stereo camera in the first depth image and on second depth values of the second depth image matching the first depth values, and inputting third depth values of a range intended to be estimated in the second depth image to the depth estimation model, thereby estimating fourth depth values of the first depth image matching the third depth values.

A computer that includes a processor and a memory, the memory including instructions executable by the processor to select first side stereo images of first and second pairs of stereo images acquired at first and second time steps, respectively, and mask first and second first side stereo images, determine point features in masked first and second first side stereo images and determine line features in masked first and second first side stereo images. Matching point features in the masked first and second first side stereo images can be determined using a first attention / graph neural network (attn / GNN) based on keypoints determined based on the line features. Matching line features in the masked first and second first side stereo images can be determined using a second attn / GNN based on keypoints determined based on the line features. Three-dimensional (3D) locations in a scene can be determined by determining stereo disparity based on the matched point features included in the first first side stereo image and point features determined in a first second side stereo image of first and second stereo pairs of images and a 3D stereo camera pose can be determined by determining a perspective-n-point and line algorithm on the 3D locations.

The present disclosure is a data positioning apparatus including a stereo camera which acquires visual data corresponding to 2D and 3D, an inertial measurement unit which acquires inertia data corresponding to acceleration and angular velocity data, and a computing module which receives data acquired from the stereo camera and the inertial measurement unit and performs computation of a visual SLAM engine.

The invention relates to a method for determining the position and / or orientation of tools of construction machines in a construction area, comprising the steps of: attaching at least one stereo camera to at least one construction machine or to a movable carrier, such that the stereo camera can detect at least one detection region within the construction area, preferably a working region of the construction machine, providing at least one reference point, the position of which is known relative to a predefined 3D world coordinate system and which can be recognised in the images of the stereo camera, in the detection region of the at least one stereo camera, calibrating the at least one stereo camera on the basis of the detection of the at least one reference point and triangulation in order to ascertain a transformation between the 3D world coordinate system and a 2D image coordinate system of the at least one stereo camera, preparing a virtual digital 3D terrain model of the construction area by means of digital image processing, in particular stereoscopy, and image recognition on the basis of the detection of the construction area by means of the at least one stereo camera, and representing predetermined working positions and detected actual tool positions and / or actual tool inclinations of the tool of the at least one construction machine in the virtual digital 3D terrain model.

Systems and methods related to visual guidance for improving autonomous navigation with row following corrections in stereo camera systems are disclosed herein. A visual positioning system may implement a method for navigating a vehicle. The method may comprise: receiving navigation coordinates defining a route comprising a straight path; detecting detected lines that are parallel to the straight path based on images received from at least one camera on the vehicle; accessing ground truth data; deriving vehicle coordinates from the ground truth data; determining a centerline in vehicle coordinates based on the detected lines; determining corrected vehicle coordinates based on the centerline in vehicle coordinates and the vehicle coordinates from the ground truth data; and generating control signals to navigate the vehicle along the route using the corrected vehicle coordinates. The visual positioning system may maintain localization accuracy and provide drift correction in the presence of poor GPS or radio localization.

The invention provides a visual identification positioning method, device and equipment for a robot, and the method comprises the steps: collecting a plurality of frames of left and right target images through a stereo camera, carrying out the dual feature detection of the images, extracting point features and line features, and forming complementary feature information; matching optimization processing is carried out on the point-line features, and a high-quality feature matching result is obtained; key frame selection is carried out based on a point-line fusion feature matching result, and redundancy calculation is reduced; and carrying out three-dimensional reconstruction on point-line features in the key frame, and carrying out fusion optimization with inertial measurement unit data to obtain accurate robot position and attitude information. Through a point-line feature fusion mode, the limitation of purely depending on point features in a texture missing environment is effectively solved, the precision and robustness of robot vision positioning are remarkably improved, and the method is suitable for robot autonomous navigation in texture missing and rugged terrain environments.

An image processing device 20 includes a communication unit 21 and a controller 22 (processor). The communication unit 21 acquires a standard image and a reference image captured by a stereo camera 10. The controller 22 calculates a disparity based on the standard image and the reference image. The controller 22 calculates, at each pixel position, a cost value representing a degree of difference for each pixel position between the standard image and each of multiple images obtained by displacing the reference image by multiple different deviation amounts in a direction corresponding to a baseline length direction of the stereo camera 10. The processor aggregates the cost values using dynamic programming and calculates a disparity for each pixel position based on the aggregated cost values for each different deviation amount. The multiple different deviation amounts are discrete values at uneven intervals.

The present disclosure relates to user interfaces for augmented reality experiences including live feeds from one or more external sensors. An electronic device displays a widget dashboard user interface in a three-dimensional environment, displays a representation of a physical tool as guidance for indicating a location of the physical tool relative to a location associated with a video feed, displaying a suggestion for changing the pose of the camera to a predetermined pose based on image data detected when the camera has previously the predetermined pose, displaying a live camera feed and the image data and browsing the image data according to the change in the pose of the camera with respect to the physical object, a live stereo camera feed with a special effect is displayed, input for virtually annotating portions of an object is detected and responsive to, and / or a model of the object is displayed, and input for rotating and / or viewing the model from different depth positions within the model is detected and responsive to.

System and method for a computer vision technique for contactless measurement of vehicle toe are disclosed herein. The method includes capturing with a stereo camera an image containing a vehicle's wheel, segmenting the image, determining a suitable circular component of the wheel and computing the angle of the wheel relative to the camera and, subsequently, to the body of the vehicle. The method includes repeating the process for a plurality of wheels and computing the toe angle of the vehicle based on the obtained results.

To provide an electronic apparatus, a program, and an information processing method capable of accurately measuring a position of a pedestrian.SOLUTION: An electronic device (10) includes a disparity data processing unit (11) that generates disparity data based on image data acquired from a stereo camera, a skeleton detection unit (12) that detects a skeleton of a person included in the disparity data, a center-of-gravity recognition unit (13) that recognizes a center of gravity of the person based on the skeleton of the person, an ROI setting unit (14) that sets an ROI including the center of gravity of the person for the disparity data, and a conversion unit (15) that converts a position of the center of gravity of the person into a position in a sensor coordinate system based on the disparity data in the ROI.SELECTED DRAWING: Figure 1

An autonomy computing system and a method of an autonomous vehicle for rectifying stereo images includes a memory storing computer executable instructions and a processor coupled to the memory, the processor, upon execution of the computer executable instructions, configured to: receive an image pair captured using respective cameras in the stereo camera pair; predict a rotation matrix between the first image and the second image by: extracting a first feature map and a second feature map; applying positional feature enhancement on the feature maps to derive a pair of enhanced feature maps; computing a correlation volume across the enhanced feature maps; determining a set of likely matches between the enhanced feature maps; computing a predicted relative pose; and computing the rotation matrix. The system and method further include calibrating the stereo camera pair to rectify the first image and the second image based on the rotation matrix.

The application provides a tunnel vehicle positioning and trajectory tracking method, device and system, the method comprising: acquiring lane marking corner point coordinates in the tunnel; determining the coordinates and direction cosine matrix of the stereo camera in the tunnel based on the lane marking corner point coordinates; wherein a plurality of groups of stereo cameras are installed at equal intervals on the tunnel vault center line, and each group of stereo cameras comprises a main camera and an auxiliary camera located on both sides of the tunnel vault center line; determining the monitoring field of view of the stereo camera based on the coordinates and direction cosine matrix of the stereo camera in the tunnel; acquiring images captured by the stereo camera in the monitoring field of view, inputting each frame of image into a trained Swin Transformer model, and obtaining a vehicle detection result; and determining the position and motion trajectory of the vehicle based on the vehicle detection results of different frames of images. The application can solve the technical problem of low accuracy of tunnel vehicle positioning and trajectory tracking results.

A method and a system are disclosed for maintaining accuracy of a photogrammetry system comprising a stereo pair of cameras and characterized by calibration parameters determined at initialization, the system for tracking one of a touch probe and a 3D sensor, the method comprising in use, continuously detecting a presence of a reduced number of 3D target points comprising at least one pair of 3D target points selected in a group comprising at least two 3D target points; measuring image position data associated with the at least one pair of 3D target points of the reduced number of 3D target points; computing at least one updated calibration parameter using the measured image position data and corresponding reference distance data associated with the at least one pair of 3D target points of the reduced number of 3D target points; and updating at least one calibration parameter of the photogrammetry system.

This disclosure relates to the calibration and tuning of stereo cameras. A disclosed method includes measuring an operating temperature of a subject camera, applying the operating temperature to a subject camera function to produce an output, and tuning the subject camera at the operating temperature using the output. The subject camera functions can be derived using a calibration method. The calibration method can include obtaining reference camera measurement data at a set of temperatures and deriving a reference function for the reference camera using the data. The reference function uses temperature as an input. The calibration method can also include obtaining subject camera measurement data from the subject camera and deriving the subject camera function for the subject camera using the reference function for the reference camera and the subject camera measurement data.

A robotic surgical navigation system is disclosed. An example system includes a stereoscopic camera and a robotic arm having an end-effector connected to the camera. The system also includes a navigation computer that determines a first transformation between the stereoscopic camera and a target surgical site, a second transformation between the end-effector and a robotic base of the robotic arm, and a third transformation between the robotic base and the target surgical site. The navigation computer calculates a fourth transformation using the first, second, and third transformations. The fourth transformation represents a transformation between the end-effector and the stereoscopic camera. The navigation computer uses the transformations to determine coordinates for a view vector of the stereoscopic camera that are in a coordinate system of the robotic arm, thereby enabling movement of the robotic arm based on commands provided by an operator in relation to the view vector of the camera.

An adjustable stereoscopic camera system includes a first camera (210) mounted to a first mounting plate (220); and a second camera (250) mounted to a second mounting plate (260). The first mounting plate (220) is movable along a y axis in an x, y, z coordinate system and rotatable in α and γ directions about the x and z axes where α, β, and γ indicate directions of rotation about the x, y, and z axes respectively.

To provide a stereo camera capable of measuring the distance to an object using only images from two cameras positioned to capture images in different directions.SOLUTION: A stereo camera according to one aspect of the present disclosure includes: two cameras positioned to capture images in different directions and having a common overlapping area in the captured images; a normal image conversion unit that converts each of the captured images from the two cameras into a normal image; an image matching unit that extracts the overlapping area from the two converted images that have been normalized by the normal image conversion unit; a parallax extraction unit that extracts the parallax of an object captured in the overlapping area; and a distance measurement unit that measures the distance to the object by triangulation from the parallax. The normal vectors of the coordinate planes of the two converted images are parallel, and perpendicular to a base line connecting the optical centers of the lenses of the two cameras.SELECTED DRAWING: Figure 2

To highly accurately measure cloud heights of clouds in the whole sky.SOLUTION: A cloud measurement system comprises: a stereo camera 30 that can change zoom magnification in an imaging direction and optically; a picture reception unit 204 for acquiring the imaged picture; a cloud edge detection unit 207 that recognizes a cloud displayed on the picture, detects a boundary of the cloud, and acquires an edge region including the boundary from a plurality of sub regions in the picture; a cloud imaging order setting unit 209 that on the basis of the edge region, sets target sub regions to be imaged while changing the zoom magnification of the camera and their imaging order; a camera control unit 210 that controls the stereo camera 30 so as to perform enlargement imaging on the target sub regions according to the set imaging order to acquire a stereo picture for each target sub region, a stereo vision distance measurement unit 202 for acquiring a distance to a cloud displayed on the stereo picture using a parallax, and a cloud bottom height estimation unit 203 for acquiring a cloud bottom height of the cloud on the basis of the acquired distance.SELECTED DRAWING: Figure 1

The present disclosure relates to user interfaces for augmented reality experiences including live feeds from one or more external sensors. An electronic device displays a widget dashboard user interface in a three-dimensional environment, displays a representation of a physical tool as guidance for indicating a location of the physical tool relative to a location associated with a video feed, displaying a suggestion for changing the pose of the camera to a predetermined pose based on image data detected when the camera has previously the predetermined pose, displaying a live camera feed and the image data and browsing the image data according to the change in the pose of the camera with respect to the physical object, a live stereo camera feed with a special effect is displayed, input for virtually annotating portions of an object is detected and responsive to, and / or a model of the object is displayed, and input for rotating and / or viewing the model from different depth positions within the model is detected and responsive to.

The invention belongs to the technical field of new view angle synthesis, and discloses a generalized method for joint optimization of structured light and a neural radiation field. Superposing a plurality of complex components with independent phases to generate structured light; the sampling factor is applied to the structured light, bicubic interpolation is used for sampling the structured light, and the process is irrelevant to depth information; simulating a light transmission process from the scene to be measured to the stereo camera by adopting geometrical optics; a view angle conversion operation is completed according to the depth image and the shielding image of the camera view angle, the structured light is distorted to a binocular view angle, and an active stereo image is obtained; the active stereo image and the RGB stereo image generate stereo image features and a three-dimensional feature body together through a feature extractor, and a renderer based on a neural radiation field is adopted to perform new view angle synthesis and geometric prediction; the whole process from the structured light to the nerve radiation field can be microprocessed, and joint optimization is carried out.

A stereo camera includes a first lens, a second lens, a first image sensor and a second image sensor. The first lens has a first nodal point and a first optical axis passing through the first nodal point. The second lens has a second nodal point and a second optical axis passing through the second nodal point. The first lens and the second lens are spaced apart along a lens arrangement direction. The first image sensor disposed corresponding to the first lens has a first photosensitive surface. The second image sensor disposed corresponding to the second lens has a second photosensitive surface. The first optical axis is parallel to the second optical axis. In the lens arrangement direction, a geometric center of the first photosensitive surface is offset from the first optical axis, and a geometric center of the second photosensitive surface is offset from the second optical axis.

The invention discloses an active positioning and mapping method and device based on an unmanned vehicle cross-country environment, a medium and a product, and relates to the technical field of automatic driving, and the method comprises the steps: obtaining laser radar point cloud data, IMU data and stereo camera data; establishing a vehicle space coordinate system; performing filtering processing on the laser radar point cloud data to obtain filtered point cloud data; obtaining the pose transformation estimation of the unmanned vehicle based on the filtered point cloud data and IMU data; screening the filtered point cloud data, constructing a sub-map, and constructing a global map based on the sub-map; constructing a passable area map by adopting Bayesian reasoning based on pose estimation of the filtered point cloud data, the stereo camera data, the global map and the transformed vehicle space coordinate system in a global map coordinate system; and based on the passable area map, an A * algorithm is adopted to plan an exploration path, and the unmanned vehicle moves according to the exploration path. According to the invention, the active exploration capability of the unmanned vehicle in the cross-country environment can be improved.

A visualization system includes a housing assembly having a head unit configured to be at least partially directed towards a target site. An optical coherence tomography (OCT) module and a stereoscopic camera are located in the housing assembly. A controller is in communication with the OCT module and the stereoscopic camera. The controller is adapted to acquire left OCT data and right OCT data of the target site, via the OCT module, and synchronously acquire left camera data and right camera data of the target site, via the stereoscopic camera. The controller is adapted to generate volume-rendered images, including: first and second OCT images based on the OCT data and first and second camera images based on the camera data. The first and second OCT images and the first and second camera images have matching parallax.

A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.