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1321 results about "Stereo matching" patented technology

Stereo Matching : Stereo matching, also known as Disparity mapping, is a subclass of computer vision. Modern innovations like self driving cars, as well as quad-copters, helicopters, and other flying vehicles uses this technique. It is robust and fast because it only uses cameras.

System and method for three-dimensional alignment of objects using machine vision

This invention provides a system and method for determining the three-dimensional alignment of a modeledobject or scene. After calibration, a 3D (stereo) sensor system views the object to derive a runtime 3D representation of the scene containing the object. Rectified images from each stereo head are preprocessed to enhance their edge features. A stereo matching process is then performed on at least two (a pair) of the rectified preprocessed images at a time by locating a predetermined feature on a first image and then locating the same feature in the other image. 3D points are computed for each pair of cameras to derive a 3D point cloud. The 3D point cloud is generated by transforming the 3D points of each camera pair into the world 3D space from the world calibration. The amount of 3D data from the point cloud is reduced by extracting higher-level geometric shapes (HLGS), such as line segments. Found HLGS from runtime are corresponded to HLGS on the model to produce candidate 3D poses. A coarse scoring process prunes the number of poses. The remaining candidate poses are then subjected to a further more-refined scoring process. These surviving candidate poses are then verified by, for example, fitting found 3D or 2D points of the candidate poses to a larger set of corresponding three-dimensional or two-dimensional model points, whereby the closest match is the best refined three-dimensional pose.
Owner:COGNEX CORP

Parallax optimization algorithm-based binocular stereo vision automatic measurement method

InactiveCN103868460AAccurate and automatic acquisitionComplete 3D point cloud informationImage analysisUsing optical meansBinocular stereoNon targeted
The invention discloses a parallax optimization algorithm-based binocular stereo vision automatic measurement method. The method comprises the steps of 1, obtaining a corrected binocular view; 2, matching by using a stereo matching algorithm and taking a left view as a base map to obtain a preliminary disparity map; 3, for the corrected left view, enabling a target object area to be a colorized master map and other non-target areas to be wholly black; 4, acquiring a complete disparity map of the target object area according to the target object area; 5, for the complete disparity map, obtaining a three-dimensional point cloud according to a projection model; 6, performing coordinate reprojection on the three-dimensional point cloud to compound a coordinate related pixel map; 7, using a morphology method to automatically measure the length and width of a target object. By adopting the method, a binocular measuring operation process is simplified, the influence of specular reflection, foreshortening, perspective distortion, low textures and repeated textures on a smooth surface is reduced, automatic and intelligent measuring is realized, the application range of binocular measuring is widened, and technical support is provided for subsequent robot binocular vision.
Owner:GUILIN UNIV OF ELECTRONIC TECH

Binocular stereo vision three-dimensional measurement method based on line structured light scanning

The invention discloses a binocular stereo vision three-dimensional measurement method based on line structured light scanning, which comprises the steps of performing stereo calibration on binocularindustrial cameras, projecting laser light bars by using a line laser, respectively acquiring left and right laser light bar images, extracting light bar center coordinates with sub-pixel accuracy based on a Hessian matrix method, performing light bar matching according to an epipolar constraint principle, and calculating a laser plane equation; secondly, acquiring a line laser scanning image of aworkpiece to be measured, extracting coordinates of the image of the workpiece to be measured, calculating world coordinates of the workpiece to be measured by combining binocular camera calibrationparameters and the laser plane equation, and recovering the three-dimensional surface topography of the workpiece to be measured. Compared with a common three-dimensional measurement system combininga monocular camera and line structured light, the binocular stereo vision three-dimensional measurement method avoids complicated laser plane calibration. Compared with the traditional stereo vision method, the binocular stereo vision three-dimensional measurement method reduces the difficulty of stereo matching in binocular stereo vision while ensuring the measurement accuracy, and improves the robustness and the usability of a visual three-dimensional measurement system.
Owner:CHANGSHA XIANGJI HAIDUN TECH CO LTD

Method and apparatus for tracking position of a ball in real time

A method and apparatus for tracking objects used in connection with athletic activities or sporting events, especially, balls, pucks, and the like. The method includes the steps of differencing present and previous frames of a video image including the, for example, ball to obtain motion regions, converting the motion regions to HSV color space, extracting the region corresponding to the ball based on empirical color data about the ball, obtaining a motion vector based on the motion of the ball region from a previous frame to the current frame, and updating the ball trajectory based on the newest motion vector obtained. The method also preferably includes a step of identifying completed trajectories based on preset constraints. The method is preferably expanded on by using at least one pair of cameras to provide a three-dimensional trajectory, and sometimes preferable expanded on by using a plurality of cameras, especially a plurality of pairs of cameras. An apparatus according to the present invention includes at least one camera connected to a computer which operates to difference previous and current frames, compute the ball track, convert ball regions to HSV color space and output the tracking and video information. In a case where one or more pairs of cameras are used, the computer is preferably also provided with a stereo matching device or module for matching the tracking results from respective cameras and/or respective pairs of cameras.
Owner:ALCATEL-LUCENT USA INC +1

Method for acquiring range image by stereo matching of multi-aperture photographing based on color segmentation

InactiveCN101720047AEliminate mismatch pointsImproved Parallax AccuracyImage analysisSteroscopic systemsParallaxStereo matching
The invention discloses a method for acquiring a range image by stereo matching of multi-aperture photographing based on color segmentation. The method comprises the following steps of: (1) carrying out image correction on all input images; (2) carrying out the color segmentation on a reference image, and extracting an area with consistent color in the reference image; (3) respectively carrying out local window matching on the multiple input images to obtain multiple parallax images; (4) removing mismatched points which are generated during the matching by applying a bilateral matching strategy; (5) synthesizing the multiple parallax images into a parallax image, and filling parallax information of the mismatched points; (6) carrying out post-treatment optimization on the parallax image to obtain a dense parallax image; and (7) converting the parallax image into a range image according to the relationship between parallax and depth. By acquiring range information from multiple viewpoint images and utilizing image information provided by the multiple viewpoint images, the invention can not only solve the problem of mismatching brought by periodic repetitive textural features and shelter and the like in the images, but also can improve matching precision and obtain an accurate range image.
Owner:SHANGHAI UNIV

Binocular vision obstacle detection method based on three-dimensional point cloud segmentation

The invention provides a binocular vision obstacle detection method based on three-dimensional point cloud segmentation. The method comprises the steps of synchronously collecting two camera images of the same specification, conducting calibration and correction on a binocular camera, and calculating a three-dimensional point cloud segmentation threshold value; using a three-dimensional matching algorithm and three-dimensional reconstruction calculation for obtaining a three-dimensional point cloud, and conducting image segmentation on a reference map to obtain image blocks; automatically detecting the height of a road surface of the three-dimensional point cloud, and utilizing the three-dimensional point cloud segmentation threshold value for conducting segmentation to obtain a road surface point cloud, obstacle point clouds at different positions and unknown region point clouds; utilizing the point clouds obtained through segmentation for being combined with the segmented image blocks, determining the correctness of obstacles and the road surface, and determining position ranges of the obstacles, the road surface and unknown regions. According to the binocular vision obstacle detection method, the camera and the height of the road surface can be still detected under the complex environment, the three-dimensional segmentation threshold value is automatically estimated, the obstacle point clouds, the road surface point cloud and the unknown region point clouds can be obtained through segmentation, the color image segmentation technology is ended, color information is integrated, correctness of the obstacles and the road surface is determined, the position ranges of the obstacles, the road surface and the unknown regions are determined, the high-robustness obstacle detection is achieved, and the binocular vision obstacle detection method has higher reliability and practicability.
Owner:GUILIN UNIV OF ELECTRONIC TECH +1

Binocular stereoscopic vision matching method combining depth characteristics

The invention discloses a binocular stereoscopic vision matching method combining depth characteristics. The binocular stereoscopic vision matching method comprises: obtaining a depth characteristic pattern from left and right images through a convolutional neural network; calculating a truncation similarity measurement degree of pixel depth characteristics by taking the depth characteristics as the standard, and constructing a truncation matching cost function combining color, gradients and depth characteristics to obtain a matched cost volume; processing the matched cost volume by adopting a fixed window, a variable window and a self-adaptive weight polymerization or guide filtering method to obtain a cost volume polymerized by a matching cost; selecting an optimal parallax error of the cost volume by adopting WTA (Wireless Telephony Application) to obtain an initial parallax error pattern; then finding a shielding region by adopting a double-peak test, left-right consistency detection, sequence consistency detection or shielding constraint algorithm, and giving a shielding point to a parallax error value of a same-row point closest to the shielding point to obtain a parallax error pattern; and filtering the parallax error pattern by adopting a mean value or bilateral filter to obtain a final parallax error pattern. By adopting the binocular stereoscopic vision matching method combining the depth characteristics, the incorrect matching rate of three-dimensional matching can be effectively reduced, the images are smooth and image edges including edges of small objects are effectively kept.
Owner:KUNMING UNIV OF SCI & TECH

Regional depth edge detection and binocular stereo matching-based three-dimensional reconstruction method

The invention discloses a regional depth edge detection and binocular stereo matching-based three-dimensional reconstruction method, which is implemented by the following steps: (1) shooting a calibration plate image with a mark point at two proper angles by using two black and white cameras; (2) keeping the shooting angles constant and shooting two images of a shooting target object at the same time by using the same camera; (3) performing the epipolar line rectification of the two images of the target objects according to the nominal data of the camera; (4) searching the neighbor regions of each pixel of the two rectified images for a closed region depth edge and building a supporting window; (5) in the built window, computing a normalized cross-correlation coefficient of supported pixels and acquiring the matching price of a central pixel; (6) acquiring a parallax by using a confidence transmission optimization method having an acceleration updating system; (7) estimating an accurate parallax by a subpixel; and (8) computing the three-dimensional coordinates of an actual object point according to the matching relationship between the nominal data of the camera and the pixel and consequently reconstructing the three-dimensional point cloud of the object and reducing the three-dimensional information of a target.
Owner:江苏省华强纺织有限公司 +1

Color image three-dimensional reconstruction method based on three-dimensional matching

The invention relates to a color image three-dimensional reconstruction method based on three-dimensional matching, comprising the following steps of: (1) simultaneously and respectively taking an image from proper angles by using two color cameras; (2) respectively calibrating the internal parameter matrixes and the external parameter matrixes of the two cameras; (3) carrying out polar line correction and image transformation according to calibrated data; (4) working out matching cost for each pixel point in the two corrected images by applying a self-adaption weight window algorithm and acquiring an initial parallax image; (5) marking the reliability coefficient of the pixel initial matching result by adopting matching cost reliability detection and left and right consistency verification; (6) carrying out color segmentation on the images through a Mean-Shift algorithm; (7) carrying out global optimization by a selective confidence propagation algorithm on the basis of color segmentation and pixel reliability classification results to obtain a final parallax image; and (8) working out the three-dimensional coordinates of actual object points on the images according to the calibrated data and the matching relation, thereby reconstructing the three-dimensional point cloud of an object.
Owner:南通洁万家纺织有限公司 +1

Three-dimensional photographing process based on laser probe array and device utilizing same

The invention discloses a three-dimensional photographing process based on a laser probe array and a device utilizing the same, and belongs to the field of three-dimensional photographing and measuring. Thousands of laser probes are projected to preset space positions according to the digital optical phase conjugation principle, reflection of the laser probes on surfaces of articles is monitored by a general two-dimensional camera, and then three-dimensional coordinate measurement is realized. Meanwhile, since the laser probe array is combined with a pair of three-dimensional cameras, more three-dimensional coordinates can be acquired by means of three-dimensional reconstruction, and accurate and compact three-dimensional coordinate measurement for large sites can be realized. Accordingly, three-dimensional matching treatment accuracy of three-dimensional images in the three-dimensional reconstruction process can be improved, matching treatment time is shortened, images picked up by the three-dimensional cameras can be compensated at the post stage, error in focal length and installation of the two cameras is eliminated, and requirements for the previous stage installation and synchronization of the focal length in the actual photographing process of the three-dimensional cameras are lowered. The three-dimensional photographing process based on the laser probe array and the device utilizing the same are applicable to fields of three-dimensional films, robots, intelligent driving, quick detection for obstacles, automatic measurement for industrial parts, and the like.
Owner:李志扬
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