61 results about "Virtual coordinate systems" patented technology

The invention provides a target distance estimation method and system based on optical characteristics of a holder, and the method comprises the steps: carrying out the automatic target detection and tracking shooting of a to-be-detected target at a current visual angle, and obtaining a target video of the to-be-detected target; meanwhile, the cradle head posture and the camera focal length are collected in real time; performing target detection according to the target video to obtain key feature points of the target; performing distortion correction on the key feature points through image coordinate mapping to form a unified image coordinate system; combining the image coordinate system with the attitude information of the holder, and mapping the image coordinate system to a three-dimensional virtual space to construct a virtual coordinate system; and calculating the target distance of the to-be-measured target according to the geometric position of the to-be-measured target in the virtual coordinate system. According to the invention, the target distance can be accurately estimated in a complex scene and at different visual angles based on the holder system with a dynamic attitude adjustment function, and the method has the technical effects of real-time performance and robustness.

The invention discloses an equipment maintenance guidance method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring environment image data containing target equipment through a camera and acquiring attitude data of a target object through a sensor; determining the spatial position and direction of the target object based on the environment image data and the attitude data; determining an equipment virtual maintenance scheme of the target equipment based on the environment image data; and mapping the equipment virtual maintenance scheme to a virtual coordinate system of the wearable equipment based on the spatial position and direction so as to visually display the equipment virtual maintenance scheme, and guiding the target object to perform maintenance operation on the target equipment based on a visualization effect. According to the method, the equipment virtual maintenance scheme is accurately mapped into the virtual coordinate system, visual display of the equipment virtual maintenance scheme is realized, the target object is guided to carry out maintenance operation on the target equipment, the maintenance work is more efficient, accurate and convenient, and the maintenance efficiency is improved.

The invention discloses an image fusion enhancement method for a multi-signal-source liquid crystal splicing screen, and relates to the technical field of large-screen display control, and the method comprises the steps: building a virtual coordinate system taking a physical gap as a reference at an input end, carrying out the decoding, time synchronization and unified mapping of a multi-source heterogeneous signal, converting the multi-source heterogeneous signal into a unified color space, and carrying out the image fusion enhancement of the multi-signal-source liquid crystal splicing screen. The display consistency of different signal sources is ensured; then, a compensation model based on a brightness attenuation function is introduced into the splicing boundary area, edge pixel brightness is subjected to self-adaptive correction, and brightness unevenness caused by physical gaps is relieved; calculating the content complexity based on the row-level gradient magnitude in the fusion screen area, dynamically constructing a content-sensitive fusion weight, and carrying out weighted fusion on the images on the two sides to generate a transition image frame; and through joint output of the transition image frame and the original side image frame, visual seamless connection of the splicing gap area is realized. Therefore, the integral continuity and visual experience of tiled display are effectively improved while the image detail fidelity is ensured.

A computer-assisted device includes an articulated arm having a plurality of joints including a first joint and a second joint, the articulated arm configured to be coupled to an imaging device and a control unit including one or more hardware processors. The control unit is configured to, when coupled to the articulated arm and a table determine a virtual coordinate frame based on a pose of the imaging device before the first joint is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine movement of the table based on motion data received from the table, transform the determined movement of the table to the virtual coordinate frame, and drive the second joint based on the movement of the first joint and the determined movement of the table in the virtual coordinate frame.

The invention discloses a multi-screen collaborative display control method and system for a portable computer supporting a spliced screen, and relates to the technical field of display control. Comprising the following steps: setting a current portable computer as main control display equipment; when it is detected that the collaborative display device enters a preset portable computer near field control range, exchanging device identification data of the master control display device and the collaborative display device in real time; the equipment identification data comprises a native display attribute, a display color brightness reference, a display coding and decoding capability matrix and a display space topology seed; performing virtual mapping on the main control display equipment and the collaborative display equipment to obtain a screen display virtual coordinate system; according to the invention, absolute continuity of lines and shapes in logic is ensured; in combination with a compensation mechanism of an edge coupling area, smooth transition processing of brightness and color is performed on adjacent edge pixels, so that a visual blank caused by a physical frame is filled, and a user cannot perceive a physical gap between screens with naked eyes.

The invention relates to the technical field of digital twinning and simulation, and discloses a full-stack digital twinning simulation method and system for a power grid dispatching master station, and the method comprises the steps: obtaining a voltage power flow result data set and a temperature field distribution data set, building a unified virtual coordinate system, building an initial two-dimensional thermal distribution diagram according to an initial mapping matrix, and carrying out the simulation of the voltage power flow result data set and the temperature field distribution data set; carrying out Delaunay triangulation on the image to generate a mapping error distribution diagram; constructing a Markov chain state sequence, calculating a state transition probability matrix, and predicting and generating a corrected mapping matrix; the edge node loads the correction matrix to generate a lightweight state vector, the lightweight state vector is uploaded to the cloud through multi-level cache to form a set, and the cloud updates the matrix and issues a new version; according to the method, the voltage-temperature rise mapping relation is captured, predicted and corrected in real time along with working condition drifting, hidden coupling deviation caused by inconsistent data calibers is restrained, and it is guaranteed that the high-precision and high-consistency electrical-thermodynamic combined situation is always maintained in the operation process of full-stack digital twin simulation.

The invention relates to the technical field of AR remote operation and maintenance, and provides an operation and maintenance system, an operation and maintenance terminal, an expert terminal, a server and a control method thereof, and the operation and maintenance system comprises an operation and maintenance unit which is used for collecting video information and depth data of a physical environment in real time; establishing a mapping relation between the physical environment and the virtual coordinate system according to the video information and the depth data of the physical environment to obtain a physical environment grid and a camera projection matrix; the expert unit is used for intercepting a static frame picture and generating marking information after selecting a marking type; the operation and maintenance unit is used for receiving the marking information and the marking type in real time; converting the labeling information into a camera space ray through the camera projection matrix; calculating a collision point of a camera space ray and the physical environment grid, and determining a three-dimensional space coordinate; and rendering the corresponding three-dimensional marking model in the display field of view of the operation and maintenance unit. The method is used for realizing remote maintenance of IT equipment, mapping expert guidance information to a physical environment and carrying out augmented reality visual display.

A host, a tracking system, and a tracking method are described herein. A storage circuit is configured to store a program code. A processor is coupled to the storage circuit and configured to access the program code to execute: aligning a real coordinate system of a real world with a virtual coordinate system of a virtual world; obtaining a detecting status of a real object in the real world through an object sensor; obtaining a reference status in the real world; in response to a touch action to the real object, comparing the detecting status with the reference status; and in response to a status difference between the detecting status and the reference status being greater than a threshold value, calibrating a virtual object coordinate of the virtual object.

The invention relates to the technical field of product assembly, and discloses a product assembly guiding method and system based on an augmented reality technology, and the method comprises the steps: obtaining a three-dimensional structure model of a product, and carrying out the analysis to generate an assembly animation script; establishing a coordinate conversion relation between a virtual coordinate system and a real coordinate system by identifying anchoring features in a product assembly work site; and projecting the assembly animation into a real scene based on the assembly animation script and the coordinate conversion relationship, and guiding an operator to perform product assembly in combination with an operation interface. According to the invention, the product assembly process is combined with the AR technology, so that the product assembly process can be simply and intuitively presented in front of assembly workers in a step-by-step and step-by-step manner, the operation of each step can be detected in real time, the learning efficiency and the practical operation accuracy of the assembly workers are greatly improved, and the purpose of improving the manufacturing qualification rate is achieved. The method can be used for assembling products such as fuel cells.

This application provides a method, electronic device, and storage medium for object implantation in multi-degree-of-freedom (DOF) video. The method includes: obtaining the coordinates of a real camera matrix in a real-world coordinate system, wherein the real camera matrix is ​​used to capture multi-DOF video; constructing a virtual coordinate system based on the coordinates of the real camera matrix in the real-world coordinate system, wherein the virtual coordinate system is the coordinate system corresponding to the virtual camera matrix in virtual space; mapping the trajectory information of the real camera matrix in the real-world coordinate system to the trajectory information of the virtual camera matrix in the virtual coordinate system; and associating the trajectory information of the virtual camera matrix in the virtual coordinate system with a virtual object to be implanted in the multi-DOF video to obtain implantation information for implanting the multi-DOF video. This application provides a foundation for accurate matching between virtual objects and multi-DOF video.

The application discloses a writing ability evaluation method based on key point detection and related devices, which is used to improve the authenticity and effectiveness of the writing ability evaluation result. The application includes: acquiring a video of a writing area in real time through a camera device, and establishing a virtual coordinate system for a practice book in the video; when a user writes on the practice book using a writing pen, detecting the nib of the writing pen through a CenterNet key point detection algorithm, and tracking the motion trajectory of the nib on the practice book through a deepsort algorithm to obtain trajectory information; generating writing data according to the trajectory information and the coordinate system, wherein the writing data includes a plurality of coordinate points of the nib on the practice book and a plurality of time points corresponding to the plurality of coordinate points; when the user finishes writing, analyzing the writing data to obtain an analysis result; and determining the writing speed of the user according to the analysis result.

The invention provides a multi-level virtual-real coordinate mapping and drift correction method, system and platform, a dynamic floating original point mechanism is established, the original point position of a virtual coordinate system is adjusted in real time, so that a scene around a user is always in a high-precision calculation range of a single-precision floating-point number, and the user experience is improved. The dynamic floating origin mechanism comprises a coordinate mapping engine, an origin decision module and a seamless switching manager. A multi-level real world-virtual-real space-virtual environment conversion link is directly opened, large-scale development of augmented reality XR contents of cities / parks / outdoor / indoor / temporary spaces, automatic driving, unmanned aerial vehicles, intelligent robot navigation and the like is promoted, and the problems of large-space rendering jitter, low development efficiency and the like in the prior art are solved. In order to achieve the purpose, the invention provides an underlying OS operating system, and provides a cross-multi-level real world coordinate system and virtual environment coordinate system mapping method, a drift correction system and a developer operating platform.

The method comprises the following steps of: decomposing a measurement matrix of each strapdown triaxial magnetometer into a unit orthogonal matrix and a symmetric positive definite matrix by utilizing the characteristic that a magnetic field modulus is independent of the unit orthogonal matrix and adopting a polar decomposition technology, and obtaining an equivalent zero offset and the symmetric positive definite matrix of each strapdown triaxial magnetometer by adopting ellipsoid equation iteration linear least square fitting; a virtual coordinate system is introduced, a vector modulus value correction value of measurement data of each strapdown triaxial magnetometer is calculated, a correction value of a magnetic field horizontal modulus gradient is further obtained, and calibration of the strapdown triaxial cross magnetic array is completed. According to the method, the ellipsoid equation is solved with high precision by adopting the iterative linear least square method, the strapdown three-axis cross magnetic array does not need to be accurately rotated, high-precision calibration can be carried out under the condition of providing the geomagnetic field modulus, and the operation is simple and convenient; the iterative linear least square algorithm is simple, the calculation amount is small, and engineering implementation is easy.

The invention provides a dynamic convergence robot knitting track generation method and system, and relates to the technical field of composite material annular knitting and robot track planning, and the method comprises the steps: calculating an equivalent radius, a center line tangent vector and an equivalent half cone angle at each discrete point; establishing a dynamic convergence interval model; calculating an instantaneous convergence distance and an instantaneous traction speed of each discrete point; in the virtual coordinate system, constructing a virtual six-dimensional track containing a virtual position and a virtual attitude; acquiring real calibration coordinates of the center of the knitting machine guide ring in the real world; based on the real calibration coordinates and the initial position of the virtual six-dimensional track, calculating translation vectors and superposing the translation vectors to all virtual positions to determine a real position track; and combining and integrating the real position track, the posture in the virtual six-dimensional track and the instantaneous traction speed to generate a six-dimensional knitting track which can be executed by the robot.

The present invention relates to a computer-implemented method for surgical navigation comprising the following steps: obtaining image data of a patient, the image data having an image coordinate system; obtaining a position of a virtual coordinate system in the image, the virtual coordinate system having a spatial position and a spatial orientation in the image coordinate system; obtaining a spatial position of a patient sensor and a spatial orientation of the patient sensor in a tracker coordinate system, wherein the spatial position and orientation of the sensor are fixed in relation to the patient; obtaining at least a spatial position of a tracked instrument in the tracker coordinate system; and calculating a spatial position of the tracked instrument in the image coordinate system using the spatial position and spatial orientation of the virtual coordinate system and patient sensor.

Reference body and corresponding method for providing a reproducible reference to predetermined reference axes of a virtual coordinate system for fluoroscopic / x-ray imaging comprising a radio dense central marker located at a center of the virtual coordinate system, a plurality of radio dense main satellite markers each located on one of the main axes of the virtual coordinate system, so that a line between the center marker and one of the main satellite markers represent a main axis of the virtual coordinate system for reducing imaging effort and thus duration of the surgery, radiation impact on the patient, while maintaining exactness of the surgery.

The invention relates to the technical field of data integration, in particular to a digital twinning method for integrating multi-modal data, which comprises the steps of entity dynamic deformation field monitoring: capturing three-dimensional deformation data of a physical entity in real time, and generating a dynamic deformation field; constructing a non-rigid reference system; calculating a motion vector of each point on the surface of the entity, and generating a non-rigid reference system grid which is updated in real time along with deformation; binding a twinborn body reference system: dynamically binding a virtual coordinate system of the digital twinborn body with a non-rigid reference system grid; multi-modal data remapping: carrying out spatial transformation on the multi-modal sensing data acquired by the physical entity, and outputting a remapping data stream; and entity deformation suppression closed loop: detecting an abnormal deformation area based on the remapping data stream, generating an actuator control instruction to suppress entity deformation, and collecting suppressed data. According to the method, the abnormity identification precision and the response speed are improved, the predictive protection capability is achieved, and the stability and the safety margin of system operation are improved.

The invention discloses a method and a system for lightweight archiving and batch analysis of radiotherapy data, and relates to the field of physics crossing of medical informatics and radiotherapy. The method comprises the following steps: automatically analyzing original radiotherapy DICOM (Digital Imaging and Communications in Medicine) data, stripping high-redundancy CT (Computed Tomography) image data, and only retaining RT Structure and RT Dose files to generate lightweight archived data; reconstructing an independent three-dimensional virtual coordinate system based on the spatial metadata of RT Dose, and executing spatial dimension alignment of a dose grid and a structure contour; establishing a metadata index based on a memory, and constructing a to-be-processed queue according to a preset screening rule; and on the premise that the treatment planning system does not need to be restored, batch DVH reconstruction and parameter calculation are carried out on the lightweight data in the queue by using a mathematical reconstruction algorithm, and a structured analysis report is output. According to the method, the storage cost of radiotherapy historical data is remarkably reduced, and meanwhile, the data extraction efficiency and robustness of large-scale retrospective clinical research are greatly improved.

The present application relates to the field of virtual scene shooting technology, and provides a method for real-time rendering of virtual scenes based on machine vision and related equipment. Six-degree-of-freedom posture data is obtained by extracting spatiotemporal feature points and analyzing target postures of physical space video streams, and the six-degree-of-freedom posture data is mapped to a virtual coordinate system and driven by perspective transformation to obtain virtual shooting cone parameters. According to the LED display unit parameters, the virtual shooting cone parameters are compensated for LED screen perspective to obtain an anti-distortion rendering instruction set. According to the anti-distortion rendering instruction set, real-time matting and super-resolution reconstruction are performed to generate an HDR virtual background image. The HDR virtual background image is color-space calibrated and geometrically distorted to generate an output data set. The present application improves the accuracy and image quality of real-time rendering of virtual scenes through the coordinated optimization of multi-level correction and high-performance reconstruction.

A host, a tracking system, and a tracking method are described herein. A storage circuit is configured to store a program code. A processor is coupled to the storage circuit and configured to access the program code to execute: aligning a real coordinate system of a real world with a virtual coordinate system of a virtual world; obtaining a detecting status of a real object in the real world through an object sensor; obtaining a reference status in the real world; in response to a touch action to the real object, comparing the detecting status with the reference status; and in response to a status difference between the detecting status and the reference status being greater than a threshold value, calibrating a virtual object coordinate of the virtual object.

The invention relates to the technical field of golf ball position indication, and discloses a golf ball position indication method based on a light source locator, and the method comprises the steps: constructing a real region which is restored to a virtual golf course according to the ratio of 1: N; judging whether the ball falls into a real area according to the coordinate position of the ball stop point through a visual scanning technology; the irradiation angle of the light source positioner is calculated, and the position of the ball is indicated in a real area; the light source positioner is used for distinguishing ball stop points of different players according to light rays with different colors and patterns or light rays with different intensities and different change frequencies projected by different players; and according to the stop point coordinates of the ball, the battledore continues to push and short the rod in the real area. The accurate mapping relation between the virtual coordinate system and the actual coordinate system is established by using the visual scanning technology, the pan-tilt rotation angle of the light source locator is calculated through a vector method or a triangulation method in combination with a space coordinate conversion algorithm, the light source center and the ball stop point coordinate coincide, and the ball position indication accuracy is improved.

The application provides a kind of digital woodworking cutting equipment intelligent control method and system, it is related to intelligent control technical field, the method includes: through the least square method plane fitting of point cloud data, initial normal vector is calculated, combined with octagonal space division and poisson equation solution generation triangle grid, least square optimization normal vector is used, candidate key points are extracted by geometry feature analysis, and are finally determined three non-collinear key points by DBSCAN clustering and vector cross product verification;According to the coordinate information of three key points, the first reference surface of the surface of board is constructed;Based on the spatial position and attitude parameter of the first reference surface, a virtual coordinate system matching the first reference surface is generated, and a second reference surface of the board is constructed in the virtual coordinate system;The matching relationship between the first reference surface and the second reference surface is calculated by coordinate transformation algorithm.The application realizes adaptive adjustment of tool posture and curved surface normal vector, improves cutting flexibility and qualified rate.

The invention relates to an automatic measuring method for processing waveguide cracks, a virtual coordinate system for measurement is established through a mechanical coordinate system, and measurement is carried out on the virtual coordinate system; when displacing from one crack groove to another, the coordinates of the displacement can be quantitatively moved according to a formula, and can also be manually input during processing; during measurement, one point is taken as a reference to measure other points; all measurement actions are continuous. A compensation processing method based on the automatic measuring method is also disclosed, which processes along the route during measurement, generates a compensation value according to the measured value and the required groove depth during processing, and accurately processes the inner point and the outer point. The invention has the advantages of reducing measurement error, improving processing error, reducing labor intensity, improving production efficiency, improving processing quality, and ensuring the stability of processing quality.

The invention relates to a sparse view angle three-dimensional reconstruction pose optimization mode. The method comprises the following steps: inputting a sparse image; constructing an annular virtual coordinate system; performing depth guide pose projection; generating a curvature-color joint mask; performing multi-mode micro rendering optimization; pose output is optimized, physical constraint is achieved, feature dependence is broken through, and a virtual coordinate system achieves zero-overlapping pose multiplexing (SIFT / ORB feature matching is not needed); dynamic interference suppression and curvature-color joint mask are adopted to solve boundary jitter caused by clothes wrinkles; lightweight real-time optimization is achieved, NeRF implicit coding is replaced by multi-mode regularization, and the reasoning speed is increased by 13 times.

The application discloses a nonlinear optimal time of flight control guidance method for intercepting a maneuvering target, and the method comprises the following steps: establishing a nonlinear guidance model in an inertial system and converting to a relative virtual coordinate system; constructing a guidance law basic form which is a sum of a zero-control miss distance control item and a relative flight path error control item; deducing the zero-control miss distance control item based on an optimal control principle to meet a given performance index, determining the relative flight path error control item based on an optimal relative flight path error dynamics equation in an arc length domain, and thus obtaining a nonlinear optimal relative flight path control guidance law; and designing a future average speed prediction algorithm to establish a connection between the relative flight path and the time of flight, so as to realize time of flight control. The application is applied to the fields of aircraft dynamics and guidance and control, can directly design a guidance law for a maneuvering target, and has the advantages of simple form, strong robustness, high feasibility and the like.

This invention belongs to the field of motor control technology. Specifically, it relates to a method and system for smooth speed switching control of an air conditioning compressor based on coordinate transformation. In the low-speed stage, it accurately constructs the electrical angle based on speed integral limiting. Relying on instantaneous switching via coordinate transformation, it achieves instantaneous mapping from the virtual coordinate system to the actual rotor rotation coordinate system of the motor through angle error constraints. Combined with limiting the range of angle deviation, it avoids angle jumps. Simultaneously, after switching, it rapidly performs speed-current dual closed-loop control, effectively suppressing torque pulsation and current surges at the moment of switching, achieving a smooth, shock-free transition from open-loop start-up to closed-loop operation, and ensuring the stable operation of the air conditioning compressor.

The present invention relates to the field of medical devices, and specifically to a detection system for assisting in the precise positioning of chest lesions, comprising a data acquisition module for acquiring preoperative CT image data; a three-dimensional reconstruction module for converting data into a three-dimensional model; a coordinate construction module for establishing a unified virtual coordinate system and determining key positioning points; a virtual cutting module for simulating different paths and angles for pathological sectioning of the three-dimensional model; an image tracking module for capturing image data from within the patient's body in real time during surgery and fusing the image data with the three-dimensional model based on key positioning points; an image processing module for image acquisition and processing of pathological sections; and a spatial verification module for spatially matching image data with the three-dimensional model, and calculating the similarity between the image and the corresponding area and the overlap index of the lesion position. The present invention aims to achieve precise spatial position correspondence between the lesion area in the preoperative CT image and the actual resected pathological section during surgery.

The application provides an evaluation method and device for a sensor layout inside a switch cabinet, electronic equipment and a storage medium. The application constructs a virtual coordinate system based on the shell, and determines initial coordinates of each sensor. The position influence score of any target sensor is calculated based on the initial coordinates of each sensor. In the working process of the switch cabinet, the working effect score of the target sensor is determined based on the working data of the target sensor. The initial coordinates are evaluated based on the position influence score and the working effect score. The application quantifies the position influence through the virtual coordinate system, combines data accuracy and environmental bias to give a comprehensive score, overcomes the defects of the prior art which only relies on threshold or networking efficiency, and provides an objective and accurate evaluation method for the sensor layout inside the switch cabinet.

The present application relates to a kind of engine posture control method and engine lifting system.The engine method includes the following steps:S1, the initial positioning of lifting positioner and the displacement sensor arranged thereon, the calibration of displacement sensor is calibrated;S2, engine mounting system and aircraft pylon arrangement calibration block, laser radar scans the position environment of engine mounting system and aircraft pylon, generates corresponding initial three-dimensional point cloud chart;S3, establish virtual coordinate system, calibration engine mounting system and the initial position of aircraft pylon;S4, based on initial position, the lifting path of engine is calculated.The present application proposes a kind of engine posture control method and engine lifting system, can effectively be replaced in wing, can effectively be replaced in wing, improves replacement accuracy and efficiency.

This invention discloses a wind field measurement method and system based on the movement of the sky polarization background. The ingenious approach involves capturing images of a preset area of ​​the sky from multiple angles. Then, the target object in the sky image is located, selected, and its position (within a preset reference or virtual coordinate system) is reconstructed by combining the position information of the image acquisition device. Furthermore, the trajectory is determined by analyzing the positional changes of the target object in different groups of sky images divided according to time points, thereby retrieving the wind field and obtaining further wind field information. This solution facilitates wind field information estimation, reduces equipment requirements, and leverages the computing power of a server to post-process the sky images obtained by the image acquisition device, achieving a high-speed response feedback effect. This provides a new approach and direction for wind field measurement.