589 results about "Vanishing point" patented technology

An image input unit inputs a plurality of images in a time series. Each input image includes a boundary line extending toward a vanishing point on a plane. A reverse projection image generation unit generates a reverse projection image of each input image by projecting information related to each input image onto the plane. A boundary line detection unit detects the boundary line from the reverse projection image by identifying a boundary line candidate on each reverse projection image.

A method for determining whether a target vehicle in front of a host vehicle intends to change lanes using radar data and image data is disclosed, comprising the steps of processing the image data to detect the boundaries of the lane of the host vehicle; estimating a ground plane by determining a projected vanishing point of the detected lane boundaries; using a camera projection matrix to map the target vehicle from the radar data to image coordinates; and determining lane change intentions of the target vehicle based on a moving trajectory and an appearance change of the target vehicle. Determining lane change intentions based on a moving trajectory of the target vehicle is based on vehicle motion trajectory relative to the center of the lane such that the relative distance of the target vehicle from the center of the lane follows a predetermined trend. Determining lane change intentions based on an appearance change of the target vehicle is based on a template that tracks changes to the appearance of the rear part of the target vehicle due to rotation.

The invention provides a method and device for detecting road traffic abnormal events in real time. The method includes the steps of monitoring a road, obtaining a plurality of frames of continuous monitor images, extracting bright white segments from the monitor images, obtaining lane lines and lane end points through processing, building a lane model, determining a bidirectional detection area of a lane according to the lane model, detecting a moving object in the bidirectional detection area according to a Gaussian mixture model background subtraction method, determining the position of the moving object, building the mapping relation between the moving target and an actual vehicle according to the position of the moving target in the multiple frames of continuous monitor images by the adoption of a posterior probability splitting and merging algorithm and a feature point matching and tracking method, obtaining the running track and running speed of the actual vehicle, detecting the lane model and the running track and running speed of the actual vehicle according to a prestored road traffic abnormal behavior semantic model, and judging whether the road traffic abnormal events exist or not. The method has the advantages of being intelligent, high in accuracy and the like.

Threaded and coupled pipe connections are provided with a number of design features that increase resistance of the connection to fatigue failure from cyclical side loading. The features acting alone or in combination include the provision of a pin thread that is formed along a single taper and that vanishes at the surface of the pipe. The coupling engages the pin such that the threaded area of the coupling engages all of the pin threads and extends beyond the vanish point of the pin threads at the optimum coupling makeup position. The threads of the coupling and pipe may engage along both the stab and load flanks to distribute the side loading. The external surface of the coupling may be tapered from the center toward each coupling end to reduce the stiffness ratio of the connection, and the ends or faces of the coupling may be reduced in radial thickness to prevent coupling splitting. The coupling length may be extended to exceed standard coupling lengths to provide the additional threaded area and / or taper areas and / or reduced stiffness ratios.

A method of processing a digital image to produce an improved digital image, includes receiving the digital image captured with a camera; determining a first vanishing point associated with the digital image; determining a second vanishing point associated with the digital image corresponding to a direction orthogonal the first vanishing point; determining a transform for modifying the digital image based on the first vanishing point and the second vanishing point; and applying the transform to the digital image to produce an improved digital image.

An embodiment of a system and method that inserts a virtual image into a sequence of video frames. The method includes capturing geometric characteristics of the sequence of video frames, employing the captured geometric characteristics to define an area of the video frames for insertion of a virtual image, registering a video camera to the captured geometric characteristics, identifying features in the sequence of video frames to identify the defined area of video frames for insertion of the virtual image, and inserting the virtual image in the defined area. Vanishing points are estimated to determine the geometric characteristics, and the virtual image is blended with the area of video frames prior to inserting the virtual image in the defined area.

A lane marker recognition method comprises the steps of inputting an image including a lane marker, extracting luminance change points in the image, and estimating the position of the lane marker using the extracted edge points. The edge extracting step includes calculating an angle of orientation of each of the edges and the lane marker position estimating step includes extracting edge points that are oriented toward a vanishing point of a road, from among the edge points extracted in the edge extracting step.

The invention discloses a method for calibrating external parameters of a monitoring camera by adopting reference height, which comprises the following steps of: far vanishing point and lower vanishing point-based vision model description and related coordinate system establishment; projected coordinate calculation of reference plumb information-based far vanishing points and lower vanishing points in an image plane; reference height calibration-based camera height, overhead view angle and amplification factor calculation; design of a reference plumb direction-based horizon inclination angle calibration tool; and design and use of perspective projection model-based three-dimensional measurement software and three tools for three-dimensional measurement, namely an equal height change scale, a ground level distance measurement scale and a field depth reconstruction framework. The calibrating method is simple and convenient in operation, quick in calculation and high in measurement precision. The reference can be a pedestrian, furniture or an automobile; and a special ground mark line is not needed. The method allows the camera to be arranged at a low place, and the shooting overhead view angle is slightly upward as long as the bottom of the reference can be seen clearly in the video and the ground level coordinate system is definite.

The invention provides a real-time lane line detection method. According to the real-time lane line detection method, an interested area is determined through the position of a current frame vanishing point, and an upper half image where no lane lines exist is removed, and therefore, the processing time of each frame of image can be decreased; edge point scanning is performed at two directions from inside to outside of the interested area, and what is detected every time is the inner side of a lane line which is most adjacent to vehicles on a lane, and except for the interference of other edge points, jigger will not be generated because of the width of the lane line, and since an image is divided into two half parts of detection lane lines from the position of the vanishing point, a situation that two detected straight lines are located at one side of the vanishing point when the entire image is detected can be avoided, and thus, the accuracy of the detection can be improved; and further, when Hough transform lane line detection is performed, only straight lines in a range of straight lines which can form a certain included angle with a horizontal line are selected, and therefore, the accuracy of the detection can be improved, and time for calculating Hough weight of straight lines that are not in the range of the straight lines can be saved. With the real-time lane line detection method of the invention adopted, lane line detection at highways and rural areas where roads are in good condition can be realized rapidly, accurately and stably.

A method of generating an image transform for modifying a digital image, that includes the steps of: detecting a vanishing point related to the selected image; determining a preferable vanishing point location, and generating an image transform based on the vanishing point location and the preferable vanishing point location. In another embodiment, the present invention provides a method for detecting an amount of rotation between the vertical axes of a scene and an image of the scene, that includes the steps of: detecting a set of vanishing points related to the image; selecting a set of vanishing points corresponding to a vertical axis of the scene based on a predetermined criteria; and using the selected vanishing points to detect the rotation of the image.

A distance correcting apparatus of a surroundings monitoring system includes a stereo imaging means for stereoscopically taking a pair of images of a frontal scenery, a parallax calculating means for calculating a parallax based on the pair of images, a distance calculating means for calculating a distance to an object based on the parallax and a parameter for correcting distance, an approximation line calculating means for calculating a plurality of approximation lines extending in the distance direction in parallel with each other based on the images, a vanishing point calculating means for calculating a vanishing point of the images from a point of intersection of the approximation lines and a parameter correcting means for correcting the parameter based on the calculated vanishing point.

The invention provides an image perspective-based micro unmanned aerial vehicle indoor autonomous navigation method. An indoor environment is divided into a corridor, a step and a room, a environmental form is determined by analyzing perspective characteristics of a visual image, obstacle detection is further performed by methods with vanish points, center lines or light streams to obtain corresponding navigation and control information, and micro unmanned aerial vehicle indoor autonomous obstacle avoidance and flight can be realized. An environmental three-dimensional model is not needed, the algorithm operating time can be greatly shortened, the real-time property of a control instruction is improved, and the method has high autonomous property and high reliability. The method is low in calculated amount, high in real-time property, low in hardware requirement and high in positioning accuracy and provides a feasible technical scheme for engineering application to indoor navigation of a micro unmanned aerial vehicle.

A method for estimating the aesthetic quality of an input digital image comprising using a digital image processor for performing the following: determining one or more vanishing point(s) associated with the input digital image by automatically analyzing the digital image; computing a compositional model from at least the positions of the vanishing point(s); and producing an aesthetic quality parameter for the input digital image responsive to the compositional model, wherein the aesthetic quality parameter is an estimate for the aesthetic quality of the input digital image.

The invention discloses a lane line detection method under a complex road condition scene. The method is used for a smart car to obtain road image information and instantly conduct lane line identification. The method includes scanning the edge image after the edge information of a road condition image is obtained, and calculating the connecting direction of edge pixel points to filter the abnormal noise edge of the connecting direction. The characteristic information of the disappearing point of a lane line can be used, and the position information of the disappearing point can be obtained through a ballot mechanism. The disappearing point serves as the constraint conditions for filtering interference line segment, and also as the key parameters for fitting a lane line. The method eliminates the influence of interference factors of tree shadows, characters and driving vehicles on the pavement, the lane line detection under various complex environments can be realized, and high accuracy and good robustness are ensured.

A mobile object recognizing device comprises a camera (2) for taking time-series images, a feature point extracting unit (23) for extracting the feature points of the individual time-series images taken by the camera (2), an optical flow creating unit (24) for comparing the feature points of the time-series images between different images, to create an optical flow joining the feature points having the same pattern, and a grouping operation unit (25) for selecting that optical flow as one belonging to one mobile object, the prolonged line of which intersects with one vanishing point within a predetermined error range and in which the external ratio of a segment joining the other end point and the vanishing point with one end point of the optical flow being the externally dividing point in the extension of the optical flow. The mobile object recognizing device may further comprise an image correcting unit (22) for correcting the image taken by the camera (2), into a transparent diagram in accordance with the characteristics of the lens of the camera (2).

The invention discloses a multi-camera-based multi-objective positioning tracking method. The method is characterized by comprising the following steps: installing a plurality of cameras at a plurality of visual angles firstly, planning a public surveillance area for the cameras, and calibrating a plurality of height levels; sequentially implementing the steps of foreground extraction, homography matrix calculation, foreground likelihood fusion and multi-level fusion; extracting positioning information which is based on selected a plurality of height levels and obtained in the step of foreground likelihood fusion; processing the positioning information of each level by using the shortest path algorithm so as to obtain the tracking paths of the levels; and after combining with the processing results of foreground extraction, completing the multi-objective three-dimensional tracking. By using the method disclosed by the invention, in the process of tracking, the vanishing points of the plurality of cameras are not required to be calculated, and a codebook model is introduced for the first time for solving the multi-objective tracking problem, thereby improving the accuracy of tracking; and the method has the characteristics of good stability, good instantaneity and high precision.

An original image area IMR is divided into divided image areas DR1 to DR4, texture coordinates specified by division point coordinates are obtained, and images of the divided image areas DR1 to DR4 are mapped onto polygons PL1 to PL4, based on the obtained texture coordinates. The original image area IMR is divided in such a manner that division spacing in a direction DIR1 towards a vanishing point VP1 from the original image becomes narrower as the divided image areas are closer to the vanishing point VP1 and texture coordinates are obtained, to implement correction processing for removing perspective of the original image. Correction processing is performed to remove perspective of images at a base surface of images IL1 and IR1 for the left eye and the right eye, the images IL2 and IR2 for the left eye and the right eye are generated, and a stereoscopic image is generated by synthesizing (by anaglyph processing) IL2 and IR2.

The invention discloses a measuring method for length, width and height of a vehicle based on an RGB-D camera. The method comprises the steps of acquiring a clear vehicle image in a camera short-distance mounting manner, calibrating the camera according to a calibrating method based on a disappearing point, obtaining an internal parameter and an external parameter of the camera, realizing three-dimensional point cloud conversion of a vehicle target in a world coordinate system through a camera depth image solution, and acquiring three-dimensional coordinate information of the external surfaceof the vehicle; acquiring the three-dimensional coordinate of the external surface of the vehicle by means of prior knowledge and an image processing method, splicing a vehicle image according to sequence patterns in a vehicle motion process through a registering method, and realizing three-dimensional measurement to the profile of the vehicle. The measuring method overcomes defects of high equipment requirement and tedious operation in a traditional method and realizes high calibration precision. The actual displacement of the vehicle is comprehensively analyzed through a matching relation ofpoints which correspond with the same position of the vehicle in the image sequence, thereby realizing relatively high registering precision. The measuring method further has advantages of realizingaccurate splicing of the vehicle side surfaces, reducing vehicle length measurement error and improving accuracy in splicing the vehicle side surfaces.

The present invention discloses a vehicular tilt-sensing method and an automatic headlight leveling system using the same. The method of the present invention comprises steps: using an image capture device to capture an image of the road and obtain at least one instantaneous lane marking line from the image; extending the instantaneous lane marking lines afar to obtain an instantaneous vanishing point; establishing an instantaneous horizontal line passing through the instantaneous vanishing point; calculating from the image the displacement between a datum horizontal line and the instantaneous horizontal line; and calculating the tilt angle with the displacement and the focal length of the image; using the tilt angle to generate a control signal to control level adjusting controllers to adjust headlights, whereby the headlights can provide optimized illumination to enhance night driving safety on a rugged road or in the case that the vehicle is unevenly loaded.

The present invention relates to a three-lane detection method based on image morphological segmentation and region growing. The method comprises: a method for, by using a shape of a lane mark and a relative gray level of a roadway, performing segmentation on the lane mark by means of image morphology; a method for fitting a vanishing point by using a weighted least square method; and a method for forming a region of interest (ROI) of the lane mark by a region growing method and iteratively searching for a feature point of the lane mark. According to the three-lane detection method based on image morphological segmentation and region growing, aimed at the problem of perception of a vehicle-mounted visual system of an intelligent vehicle to a multi-lane road in a process of driving on the urban structural multi-lane road, a method of carrying out image morphology preprocessing and carrying out iterative solution on the lane mark is adopted to adapt to a multi-lane environment. The method is novel in algorithm, high in adaptability, relatively high in illumination robustness, small in computation amount and easy to implement by programming, so that a module of the vehicle-mounted visual system is improved, and the efficiency and environmental adaptability of an intelligent vehicle environment sensing module are further improved.

A method for estimating the aesthetic quality of an input digital image comprising using a digital image processor for performing the following: determining one or more vanishing point(s) associated with the input digital image by automatically analyzing the digital image; computing a compositional model from at least the positions of the vanishing point(s); and producing an aesthetic quality parameter for the input digital image responsive to the compositional model, wherein the aesthetic quality parameter is an estimate for the aesthetic quality of the input digital image.

The invention discloses a structured light parameter calibrating apparatus and method based on a front-film-plated plane mirror. The method comprises the following steps: a front-film-plated plane mirror and a plane glass target are placed in front of a camera; the camera simultaneously shoots the image of the plane glass target and a mirror image of the plane glass target; a virtual binocular measurement model is established; optimal solutions of a rotation matrix from a front-film-plated plane mirror coordinate system to a camera coordinate system and a translation vector are obtained by a nonlinear optimization method; image vanishing point solving is carried out on optional feature points by the least squares method; white printing paper is placed in front of the front-film-plated plane mirror, and the camera takes the actual light bar image and the mirror image light bar image; and the center point of the light bar image is extracted to calculate the three-dimensional coordinates of matching points to solve an optical plane equation. According to the invention, the light bar quality is improved and the light bar center extraction precision is raised; feature points with the position precision of the micron order are provided to obtain more calibration points; higher calibration precision is realized; and the calibration result is more stable.

This invention provides a correcting device and a correcting method for perspective transformation of document images. The correcting device comprises a horizontal vanishing point determining unit, for detecting a horizontal vanishing point of the perspective transformed document image; a vertical vanishing point determining unit, for detecting a vertical vanishing point of the perspective transformed document image; and a perspective transformation correcting and converting unit, for correcting the perspective transformed document image; wherein the horizontal vanishing point determining unit comprises a direct horizontal line segment detecting unit, an indirect horizontal line segment detecting unit and a horizontal vanishing point detecting unit, and wherein the horizontal vanishing point detecting unit detects a horizontal vanishing point in accordance with a direct horizontal line segment detected by the direct horizontal line segment detecting unit and an indirect horizontal line segment detected by the indirect horizontal line segment detecting unit.

A method for adjusting an orientation of a camera installed on a vehicle, comprising the following operations: installing the vehicle at a location provided with markings on the ground, detecting these markings, estimating a vanishing point based on these markings, and matching the vanishing point with a positioning point by angular displacement of the camera.

The invention discloses a robot synchronous positioning and map construction method based on line segment features and line segment vanishing points, and the robot synchronous positioning and map construction method is applied to the positioning and map construction of a robot in an unknown environment. The robot synchronous positioning and map construction method comprises the steps of: extracting line segment features, intersection points and vanishing points from images, establishing line segment matching between the images according to the intersection points, estimating camera poses according to line segment matching results, and selecting a new keyframe; and inserting the keyframe into a map, calculating three-dimensional coordinates of the newly-added line segment features, performing cluster adjustment on local map, and removing outlier observation; and performing closed-loop detection and global map optimization based on the intersection points. The invention further discloses a synchronous positioning and map construction system. The robot synchronous positioning and map construction method and the robot synchronous positioning and map construction system can be appliedto the positioning and map construction of the robot in the unknown environment, and is particularly suitable for structured or semi-structured scenes, such as indoor environments, outdoor environments with buildings, and the like.

The invention belongs to the technical field of measurement, and relates to an improvement to a calibration method of structured light parameters in 3D vision measurement of structured light. The invention provides a calibration method of the structured light parameters based on a one-dimensional target. After a sensor is arranged, a camera of the sensor takes a plurality of images of the one-dimensional target in free non-parallel motion; a vanishing point of a characteristic line on the target is obtained by one-dimensional projective transformation, and a direction vector of the characteristic line under a camera coordinate system is determined by the one-dimensional projective transformation and a camera projection center; camera ordinates of a reference point on the characteristic line is computed according to the length constraint among characteristic points and the direction constraint of the characteristic line to obtain an equation of the characteristic line under the camera coordinate system; the camera ordinates of a control point on a plurality of non-colinear optical strips are obtained by the projective transformation and the equation of the characteristic line, and then the control point is fitted to obtain parameters of the structured light. In the method, high-cost auxiliary adjustment equipment is unnecessary; the method has high calibration precision and simple process, and can meet the field calibration need for the 3D vision measurement of the large-sized structured light.

A modeling method, medium, and system. The modeling method identifies a object within an image by detecting edges within the image, determines a complexity of the identified object based upon detected surface orientations of the identified object relative to a defined surface of the image, selectively, based upon the determined complexity, generates one or more surfaces for a 3D model by identifying one or more vanishing points for one or more corresponding surfaces, respectively, of the identified object and respectively analyzing the identified one or more vanishing points relative to respective determined points of the one or more corresponding surfaces of the image, and generates the 3D model by combining the one or more surfaces in a 3D space.