566 results about "Stereo image" patented technology

The invention provides a navigation instruction generation method, device and system based on multi-modal environment understanding, and the method comprises the steps: obtaining multi-modal perception information comprising the three-dimensional image data and three-dimensional point cloud data of an environment where a current unmanned aerial vehicle is located, and the task text information of the unmanned aerial vehicle; and performing semantic fusion extraction on the multi-modal perception information and the task text information based on a visual language fusion model to obtain a multi-modal embedded representation, constructing a large language model Prompt based on a plurality of prior navigation templates and the multi-modal embedded representation, and inputting the large language model Prompt into the large language model. According to the method, the navigation instruction text output by the large language model is obtained, then the navigation instruction text is analyzed into the control instruction sequence which can be recognized and executed by the unmanned aerial vehicle, the control instruction sequence is issued to the unmanned aerial vehicle, and the accuracy, continuity and stability of navigation can be maintained in a complex, dynamic and GNSS limited environment.

The invention provides a robust stereo matching method fusing monocular semantic prior and multi-dimensional expert aggregation, relates to the technical field of computer vision and stereo matching, establishes a robust stereo matching framework fusing monocular semantic prior and multi-dimensional expert aggregation, and comprises a monocular branch and a binocular branch, inputting a stereo image into a robust stereo matching framework based on fusion of monocular semantic prior and multi-dimensional expert aggregation for matching calculation, wherein the matching calculation comprises the following steps: extracting semantic prior features of the input image by using a monocular branch; the method comprises the following steps: extracting a geometric enhancement feature map of a stereo image by using binocular branches, generating a matching cost body based on the geometric enhancement feature map, and carrying out refined iterative updating on the matching cost body to obtain a matched disparity map. According to the method, monocular and binocular depth estimation is cooperatively supported in a unified network architecture, and a parallel monocular depth prior path is utilized to actively guide and strengthen a core binocular matching process.

The invention relates to an urban live-action three-dimensional construction method based on a high-resolution satellite image. The method comprises the following steps: carrying out stereo image pair screening and stereo image pair preprocessing on a high-resolution multi-view satellite image; carrying out adjustment optimization based on a rational function model on the satellite stereo image pair; generating an epipolar ray image based on the optimized rational function model; performing dense matching on the epipolar line image by combining building edge straight line segment constraint and an MGM algorithm to generate a disparity map; generating a three-dimensional point cloud and a three-dimensional model formed by a plurality of stereo image pairs through forward intersection based on the disparity map and the optimization parameters; generating a digital elevation model, a digital surface model and a three-dimensional Mesh model based on the three-dimensional point cloud; and carrying out precision evaluation and integrity evaluation by adopting pixel proportions of plane precision, elevation precision and height difference. According to the method, the urban live-action three-dimensional model and the corresponding digital product can be constructed quickly, efficiently and accurately by using the high-resolution satellite image.

An advanced driver assist system (ADAS) includes a processing circuit and a memory storing instructions executable by the processing circuit. The processing circuit executes the instructions to cause the ADAS to: obtain, from a vehicle, a video sequence including a plurality of frames captured while driving the vehicle, where each of the frames corresponds to a stereo image including a first viewpoint image and a second viewpoint image; determine depth information in the stereo image based on reflected signals received while driving the vehicle; fuse the stereo image and the depth information to generated fused information, and detect at least one object included in the stereo image based on the fused information.

Embodiments of the present disclosure relate to surface estimation using stereo imaging and surface disparities. For example, a surface disparity field representing a surface in the environment (e.g., the ground) may be estimated from stereo image data and used for various downstream tasks. For example, the difference between a stereo disparity field and a ground disparity field may be used to detect objects, a representation of a navigable space may be generated by radially casting 2D rays in the ground disparity field, the ground disparity field may be used to compensate ego-motion for high dynamic attitude changes, and / or the ground disparity field may be lifted to 3D and used to fit a surface profile to points sampled from the lifted point cloud.

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 invention discloses a low-canopy-density single-tree-scale young forest remote sensing extraction scheme fusing two-dimensional and three-dimensional features, and the scheme comprises the steps: generating a multi-view epipolar line image based on a two-linear-array three-dimensional image of GF-7 and RPC parameters; generating a pyramid image for the multi-view epipolar line image, and determining a disparity map of the two linear array stereoscopic images based on the pyramid image; calculating a point cloud based on the disparity map and carrying out grid processing on the point cloud to generate a DSM; laser height measurement data of a satellite is used for optimizing the DSM, the optimized DSM is obtained, an isolated forest algorithm is adopted for carrying out image analysis on the optimized DSM, and pixels containing young forests are extracted; fusing the panchromatic rearview image and the multispectral image of the satellite remote sensing image to generate a panchromatic-multispectral fused image; performing shadow extraction on the panchromatic-multispectral fusion image by adopting a shadow detection algorithm to obtain a target shadow region; the pixel containing the young forest is compared with the target shadow area, the target young forest extraction result is determined, and the accuracy of the young forest extraction result can be improved.

The invention discloses a panoramic image determination method and device, equipment, a medium and a product. The method comprises the following steps: acquiring a current scene image, shot by at least one camera device, of an environment to which a vehicle belongs, and kinematics data and attitude data of the vehicle from a current shooting moment to a previous shooting moment; determining a scene image transformation matrix based on the kinematics data and the attitude data; acquiring a historical scene image shot by the camera device at a previous shooting moment, and performing stereo matching on the current scene image and the historical scene image based on the scene image transformation matrix and shooting parameters of the camera device to obtain a scene stereo image corresponding to the camera device; and determining and displaying a panoramic image based on the scene stereo image of each camera device. The authenticity, accuracy and reliability of panoramic image determination are improved, and the driving safety is improved.

The invention discloses a vision and laser collaborative assembly positioning method and system, and belongs to the technical field of industrial automation control, and the method comprises the steps: obtaining stereo image data and positioning light spot data, generating multi-source input data, and carrying out the analysis and matching, calculating initial pose estimation, and carrying out the positioning of the three-dimensional image data and the positioning light spot data. Generating a visual positioning result, comparing the visual positioning result with theoretical position data, correcting deviation, generating cooperative positioning data, combining a standard operation process file, generating a visual guiding scheme containing a display instruction and a laser control instruction, synchronously executing the display instruction and the laser control instruction, realizing assembly guiding, and performing assembly. And meanwhile, the assembly process is monitored in real time to generate operation progress data, and the detailed degree of the visual guide scheme is adjusted in combination with historical operation data. According to the method, dynamic compensation and cooperative positioning are carried out by acquiring the three-dimensional image and the laser spot data, and a virtual-real combined guiding scheme is adjusted in real time, so that high-stability self-adaptive assembly process control can be realized.

The invention discloses a power distribution area load state monitoring method and system based on stereo portrait analysis, relates to the technical field of urban power grids, and effectively improves the positioning precision and response speed of a load fluctuation area by introducing a three-dimensional image reconstruction and dynamic partitioning mechanism; a graph neural network and space-time long-short-term memory network modeling method is combined, so that the trend perception capability of the load state evolution process is enhanced; further, multi-source fusion recognition of abnormal behaviors is realized through association matching of the image change track and the load feature sequence, and the monitoring accuracy and sensitivity are effectively improved; based on risk index assessment and a map visualization expression mode, an abnormal area positioning result is visual and transparent, and intelligent early warning and decision assistance are supported; the method has the advantages of high data fusion capability, high risk identification precision, high visual interactivity and the like, and the intelligent and practical level of load state monitoring of the power distribution area is remarkably improved.

A method for adjusting a depth of a stereoscopic image includes the following. A first disparity correction amount is obtained according to a distance between centers of two lenses of a stereoscopic camera and an interpupillary distance (IPD) of a first observer. A second disparity correction amount is obtained according to a difference between image distances of a stereoscopic display and the stereoscopic camera at zero disparity. A third disparity correction amount is obtained according to the IPD of the first observer and an IPD of a second observer. A stereoscopic image of an object photographed by the stereoscopic camera which has been corrected by the first disparity correction amount, the second disparity correction amount, and the third disparity correction amount is transmitted to the stereoscopic display. A device for adjusting a depth of a stereoscopic image is also provided.

The present disclosure relates to an image modification process used to generate a chosen type of stereoscopic video of the common field of view shared by two cameras without requiring any pre-set and arrangement normally needed for stereoscopic display. The process can use left and right video streams of images originating from a wide range of camera types sharing some portion of their respective fields of view that are not limited to a specific relative orientation (convergent, parallel or divergent) and can be used to adapt in real time the stereoscopic video to be displayed to a viewer where his dynamic inputs are constantly updated. The proposed method can be used to optimize, correct and or allow the use of various apparatuses (webcams, cameras, scanners, etc.) that may come out of the production lines with imperfects to the capture cameras.

The invention provides a measurement control point-free island stereo image pair extraction high-precision DSM method, which comprises the following steps of: firstly, carrying out semi-global dense matching by adopting a semi-global dense matching algorithm to obtain a disparity map; secondly, performing coordinate three-dimensional positioning of the rational function model, and processing longitude, latitude and height coordinates to obtain a three-dimensional point cloud without deformation; and finally, realizing point cloud reconstruction DSM, and generating a DSM three-dimensional model. Experimental results show that the method for reconstructing the DSM by the high-resolution satellite stereo image pair is well applied to World-View3 satellite images, and the DSM three-dimensional model of the island reef can be constructed.

The invention provides a dynamic polarization three-dimensional imaging system, which relates to the technical field of anti-counterfeiting encryption and comprises a light source, a polarization film and a color three-dimensional imaging module which are sequentially arranged along a light path, the light source is used for providing visible band incident light; the polarizing film is configured to transmit TM polarized light when rotating 0 degree and transmit TE polarized light when rotating 90 degrees; the color three-dimensional imaging module comprises a micro lens array, a transparent spacing layer and a micro image-text array which are sequentially arranged along a light path; the micro image-text array comprises a metal coating layer, a grating layer and a glass substrate which are stacked from top to bottom, wherein the grating layer forms a Fabry-Perot-like microcavity resonance structure; the polarization state of the incident light is switched by rotating the polarization film, so that the stereo image of the micro image-text array is dynamically switched among an appearing state, a hiding state or a color changing state. According to the invention, wide-color-gamut and dynamically-adjustable color stereo imaging is realized, and the complexity and the identifiability of anti-counterfeiting encryption are improved.

A perception system is disclosed. The perception system includes at least one memory configured to store machine executable instructions, and at least one processor configured to execute the stored executable instructions to: (i) extract camera features from stereo images; (ii) extract LiDAR features from a LiDAR point cloud; (iii) transform the camera features in a bird's-eye-view (BEV) space; (iv) transform the LiDAR features in the BEV space; and (v) fuse the transformed camera features and LiDAR features in the BEV space using a learned fusion with attention technique to generate the fused camera features and LiDAR features in the BEV space.

The invention discloses a near-ground distance measurement method based on virtual large baseline four-eye vision, a medium and equipment, and the method comprises the steps: synchronously obtaining four images when a lifting appliance enters a near-ground operation range; based on the calibration relation between the cameras, the high-altitude images are respectively projected and transformed to the visual angles of the corresponding lifting appliance cameras and fused, two virtual camera images are generated, and therefore a virtual large base line far exceeding the physical distance is constructed; performing three-dimensional correction and cutting on the virtual image pair to obtain a row-aligned three-dimensional image pair; performing feature matching and triangulation on the virtual image pair to generate a sparse reference depth map; and inputting the stereo image pair and the sparse depth map into a pre-trained depth estimation neural network model together, outputting a dense depth map, and converting the dense depth map into a coordinate system taking the lifting appliance as an original point to obtain a vertical distance. According to the invention, the ultra-large baseline is virtually synthesized by using the existing camera, the remote distance measurement precision is improved, the cost is low, and the reliability is high.

The invention discloses a binocular vision depth estimation method and system based on knowledge embedding, and the method comprises the steps: collecting data through employing a binocular camera and rotating laser scanning, carrying out the preprocessing of the data, constructing a data set, and dividing the data set into a training set and a test set. Secondly, constructing a binocular vision depth estimation model based on a convolutional neural network, and constructing a physical knowledge embedding loss function according to the relationship between the real parallax and the predicted parallax; and then training the binocular vision depth estimation model based on physical knowledge embedding by using the training data set. And finally, using the trained binocular vision depth model to predict the stereo image of the test set to obtain a disparity map which is consistent with the original image in size and conforms to the physical characteristics of the scene, and completing depth estimation. According to the method, the disparity map conforming to the physical characteristics of the scene can be obtained, and the precision of disparity estimation and the generalization performance of the model are improved.

The invention relates to the technical field of cigarette package anti-counterfeiting, in particular to a multilayer body with a 3D anti-counterfeiting effect, a preparation method of the multilayer body and an anti-counterfeiting packaging material. The multilayer body comprises a base material layer, a microlens array layer arranged on the front surface of the base material layer and a miniature image-text layer arranged on the rear surface of the base material layer, the base material layer comprises a protruding part and a plane part, the front surface of the base material layer comprises a convex surface and a front plane, and the rear surface of the base material layer comprises a concave surface and a rear plane; the micro lens array layer is arranged on the convex surface, and the miniature image-text layer is arranged on the concave surface. According to the invention, the microlens array layer forms the curved surface structure, so that the optical axis directions of the microlenses in different areas are naturally changed, a wider viewing angle is covered, and an observer can see a clear and distortionless three-dimensional image even if watching the three-dimensional image from a large lateral angle; and meanwhile, the light path change is more complicated, and a larger-amplitude and smoother dynamic effect is provided.

The invention provides a three-dimensional image modeling method and device based on plane data, and the method comprises the steps: carrying out the full-color / multispectral band fusion, bit depth adjustment, thin cloud removal, image enhancement, stripe removal and light and color uniformity of a satellite surveying and mapping image, and achieving the real color recovery of the image; performing splicing preprocessing on the plurality of small orthographic satellite surveying and mapping images after real color recovery, performing image registration on the to-be-registered image and a reference image, performing image geometric correction on the registered image, and performing image mosaic processing on the plurality of images after image geometric correction to obtain a single large-scene image; and three-dimensional image matching, building mask extraction, three-dimensional building modeling and three-dimensional building post-processing are carried out on a single large scene image to obtain a three-dimensional digital surface model, and ground three-dimensional real image modeling is completed. By applying the technical scheme of the invention, the technical problem that the existing two-dimensional surveying and mapping data is difficult to meet the increasing application requirements of three-dimensional scenes is solved.

The invention discloses a semantic segmentation method based on stereoscopic image super-resolution reconstruction guidance, and relates to the technical field of computer vision, and the method comprises the steps: firstly designing a semantic-super-resolution joint network with a double-branch structure; and simultaneously generating a high-resolution semantic segmentation map and a super-resolution reconstruction result of the left view through the semantic segmentation branch and the super-resolution branch. And secondly, in order to effectively utilize parallax information in the three-dimensional image to assist semantic segmentation, a parallax perception fusion module is designed, and semantic features are enhanced based on the parallax information, so that the segmentation accuracy is improved. Besides, in consideration of the fact that the super-resolution branch contains richer detail information and can guide the semantic segmentation task to learn better high-resolution representation, a semantic-detail interaction module is designed, the semantic-detail interaction module and the super-resolution branch can fully pay attention to complementary information clues of each other, and therefore performance improvement is further achieved.

The invention provides a multi-data combined construction site three-dimensional model construction method and system, and relates to the technical field of data processing, and the method comprises the steps: carrying out the calling of a preset resolution satellite image, and obtaining a full-region stereo image pair data set; after radiation correction is carried out, a region surface model and a region elevation model are generated; grid-level modeling defect detection is carried out, and distributed blind area blocks are positioned; performing obstacle avoidance path fitting to generate an obstacle avoidance optimized flight path; the unmanned aerial vehicle is driven to execute multi-angle surrounding scanning, and distributed blind area dense point clouds are directionally collected; constructing a distributed blind area model; and carrying out microscopic superposition, and outputting a three-dimensional model of the construction site. The technical problems that a construction site modeling method in the prior art is limited in the aspects of coverage, modeling efficiency and data real-time performance, depends on a single data source, cannot provide a comprehensive and accurate three-dimensional model of a construction site, and affects the construction progress and decision are solved.

The invention provides a binocular stereo matching method and system, and the method comprises the steps: obtaining a left and right stereo image pair captured by a binocular camera, and carrying out the feature extraction and enhancement through a depth separable convolution basic network and an ECANet attention model; carrying out topological structure transformation by using a TopoAug feature enhancement strategy, constructing a topological consistency loss function and carrying out adaptive feature fusion; a large neighborhood search strategy and a hybrid node-destructor model are adopted to construct an initial cost body, and cost aggregation is carried out through capacity routing; and constructing an M uniform loss grid and a grid motion model to carry out parallax estimation, and obtaining a final parallax map through unsupervised consistency optimization. Through the technologies of lightweight network design, topology perception feature enhancement, hybrid node optimization cost body construction, unsupervised consistency optimization and the like, the calculation complexity is reduced while high precision is kept, and the method is particularly suitable for real-time monitoring scenes in resource-constrained environments such as substations and the like.

The invention discloses a multi-modal three-dimensional image quality evaluation method based on consistency-complementarity characteristics, and belongs to the technical field of three-dimensional image quality evaluation and brain-computer intelligence. The method comprises the following steps: S1, acquiring a plurality of groups of distorted stereo images and electroencephalogram signals corresponding to the distorted stereo images, preprocessing the distorted stereo images, and endowing a quality grade label to a sample according to a subjective experiment result; s2, inputting the preprocessed three-dimensional image and the electroencephalogram signal into a parallax perception image encoder and a multi-scale attention electroencephalogram encoder to obtain binocular image features and electroencephalogram spatial-temporal features; s3, inputting the binocular image features and the electroencephalogram spatial-temporal features into a complementary learning module, and extracting image complementary features, electroencephalogram complementary features and cross-modal consistency features; and S4, inputting the consistency characteristics into a consistency learning module for cross-modal alignment to obtain an optimized consistency characteristic representation, fusing the optimized consistency characteristic representation with the complementary characteristics, inputting the fused consistency characteristic representation into a classification module, and outputting a stereo image quality grade.

A crop harvester system includes an image sensor is positioned to capture a stereo image of crop material disposed in a region forward of a harvester implement. A radar system is positioned to receive a returned electromagnetic signal reflected from crop material in the region. A controller determines a volume of the crop material in the region from the stereo image, and determines a moisture content and a density of the crop material in the region from the returned electromagnetic signal. Based on the volume of the crop material, the moisture content of the crop material, and the density of the crop material in the region, the controller may then control one of a traction unit and the harvester implement while the harvester implement is cutting the crop material in the region to avoid plugging an auger of the harvester implement with the cut crop material.

The invention discloses estimating depth information for stereoscopic images for robotic systems and applications. In various examples, techniques for estimating depth information of a stereoscopic image with reduced estimation inaccuracy by performing a depth accuracy evaluation. The technique includes generating a depth map associated with a first image of a stereoscopic image pair based at least on stereoscopic features of the first image. The technique further includes generating a confidence map representing a probability that depth values in the generated depth map are accurate based at least on the stereoscopic features of the first image. The technique further includes updating one or more portions of the generated depth map based at least on the confidence map.

The present application relates to the technical field of computers. Disclosed are an implementation method for an immersive conference, and a related electronic device. In the method, a 3D stereoscopic image of a second conference participant is constructed by using a second rendering model, and instead of an original video stream, only a relatively small amount of feature data needs to be transmitted, thereby effectively reducing the network bandwidth required by transmission; each conference participant can obtain the 3D stereoscopic image of the second conference participant at his / her own angle of view, thereby supporting a multi-person and multi-angle of view mode; and by means of the pre-constructed second rendering model, the 3D stereoscopic image of the second conference participant can be reconstructed in real time on the basis of the feature data, without the need for complex real-time rendering calculation, such that the overall rendering efficiency is improved, and even a terminal device with a relatively weak performance can also smoothly present a vivid 3D visual effect. The present application reduces the network bandwidth required by transmission, enables each conference participant to obtain an immersive experience at his / her own angle of view, and also improves the overall rendering efficiency.

The invention discloses a satellite high-precision image pair matching and reconstruction method and system based on task planning, and belongs to the technical field of satellite autonomous task planning. The method comprises the following steps: generating a plurality of three-dimensional image pairs based on a current remote sensing image, and calculating characteristic parameters of the three-dimensional image pairs based on satellite orbit data corresponding to the current remote sensing image; on the basis of the parameters of the three-dimensional image pair and the observation time window of the current remote sensing image, new satellite orbit data are acquired in combination with target requirements, a plurality of new observation time windows are obtained through orbit visibility calculation, and a plurality of new remote sensing images are generated according to the new observation time windows; and obtaining an optimal new three-dimensional image pair based on the track related data and constraints of the new remote sensing image and the DSM error of the new three-dimensional image pair. According to the invention, efficient and high-quality satellite observation scheme selection can be realized, so that more high-precision three-dimensional surface reconstruction images can be obtained.

The invention relates to the technical field of stereo projection, and provides a rotary liquid spraying 3D stereo projection method, device and system, and the device comprises a rotary liquid spraying module, a projection module and a control module. According to the specific working mode, the rotary liquid spraying module sprays a liquid level and sends a rotation position signal to the control module, so that the rotation angle corresponding to the current liquid level is determined, and the control module controls the projection module to project an image corresponding to the liquid level at the current rotation angle; within a short time of a rotation period, the projection module continuously switches and projects images corresponding to liquid levels at different rotation angles, which is a complete refresh of 3D stereo projection; by using the persistence of vision, through rapid rotation and projection of an image of a corresponding rotation angle, a 3D image can be viewed from any angle. The technical route is easy to implement, the 3D projection effect is good, and large-format 3D projection can be achieved through array arrangement.

The invention discloses a low-illumination binocular stereo image enhancement method based on multi-scale wavelet domain decoupling, and the method specifically comprises the following steps: 1, selecting a binocular stereo image pair data set, carrying out the low-illumination preprocessing of an image pair in the data set, and obtaining a low-illumination binocular stereo image pair data set, dividing the preprocessed data set into a training set, a verification set and a test set; step 2, constructing a dark light stereo image enhancement network based on wavelet decoupling; step 3, training the network model constructed in the step 2 by using the training set preprocessed in the step 1 to obtain an optimal enhanced network model; and 4, testing the enhanced network model obtained in the step 3 by using the test set preprocessed in the step 1, and outputting an enhanced image. According to the invention, the problems of insufficient image brightness and poor color recovery generally existing in the existing stereo image enhancement technology are solved.

A stereoscopic image display device includes a display device, a camera that detects the position of the user's viewpoint looking at this display device, and a rotation device that rotates the display device around a rotation axis passing through its display surface. This rotation device rotates the display device in synchronization with the movement of the user's viewpoint position so that the direction of the user's viewpoint as seen from the display surface does not change. A three-dimensional object defined in a world coordinate system that remains stationary relative to the real world is displayed on the display device, and when the user's viewpoint moves, an image of the object as seen from the direction of the user's viewpoint is displayed on the display device.