301 results about "Virtual target" patented technology

The invention discloses a robot density self-adaptive inter-row navigation method, which belongs to the technical field of robot autonomous navigation, and comprises the following steps: when a driving distance is within a preset range, judging the environment density according to the maximum length of a three-dimensional cube and the radius of a point cloud; an improved random sampling consistency algorithm is adopted to fit distribution line straight lines of the objects, a navigation path is obtained according to a geometric structure formed by the objects for navigation, and the driving distance is recorded; if the environment density is high, a barrier-free object in front of the robot is determined based on an artificial potential field mechanism and two-dimensional point cloud data, a point on a geometric shape center line of the object serves as a virtual target point to provide gravitation, objects on the two sides of the virtual target point serve as repulsive obstacles to control autonomous navigation of the robot, and the driving distance is recorded; and when the driving distance is not within the preset range, resetting the driving distance and ending the iteration. The problem that the navigation effect of the robot in environments with different densities is poor is solved.

The invention provides a digital-analog hybrid simulation method and simulator based on a QEMU, a SystemC and a SystemC-AMS. The digital-analog hybrid simulation method comprises the following steps: adding an external memory access interface and a time sequence synchronization interface in the QEMU; the method comprises the following steps: constructing a virtual CPU (Central Processing Unit) device in a SystemC; a register interface function and a logic signal function are realized by adopting a systemc model in the equipment, and a port analog signal function is realized by adopting a systemc-am model; the starting parameters are analyzed in the main program, and the simulation component is loaded; executing a virtual target machine instruction in the instruction core environment; switching to a systemc running environment, changing the value of an on-chip device register, and updating the logic function state and the port state of the device; and exiting from the systemc operation environment, and entering the operation environment of the instruction core again. The technical advantages of the QEMU, the SystemC and the SystemC-AMS are combined, a QEMU instruction set is reused, meanwhile, the hardware description language characteristics of the SystemC and the analog signal processing capacity of a simulation scheduler and the SystemC-AMS are utilized, digital-analog hybrid simulation is achieved, and the verification efficiency and accuracy of SoC design are improved.

The invention discloses a method for realizing holographic traffic at an intersection. The method comprises the following steps: acquiring a real-time video stream at the intersection; motor vehicles, non-motor vehicles and pedestrians in the video are identified based on a deep learning target detection algorithm, a continuous motion track of each target is generated through a multi-target tracking algorithm, identity association is carried out on cross-camera targets in combination with a re-identification algorithm, and structured traffic data including target types, real-time speeds and motion directions are output; obtaining coordinate points of each lane of the intersection based on a geographic information system, and constructing a lane network topological relation; combining with the structured traffic data to generate target trajectory data; and constructing an intersection three-dimensional model based on an unreal engine, generating a virtual target in the three-dimensional model according to the target trajectory data, and driving the virtual target to move in real time. According to the method, a holographic traffic implementation scheme is provided for a business scene which is free of radar and only monitored by a video.

The invention provides an aircraft simulation training method and system based on virtual-real combination, and relates to the technical field of aircraft simulation training. Accurate fusion of the actual optoelectronic device and the virtual scene is realized. Firstly, introduction of geographic information data provides a real scene basis for training; secondly, distortion correction of the two-dimensional picture ensures the accuracy of live-action imaging; and finally, by creating a virtual camera which is the same as the aircraft in position and has the same field angle, the system can always keep an output picture in an actual video range, and strictly follows the first view angle of a driver. According to the virtual-real combination mode based on position synchronization and visual angle matching, the real imaging characteristics of actual optoelectronic equipment are reserved, accurate superposition of the virtual targets is achieved, the real visual effect and the accurate space relation of training images are kept all the time, and therefore the vivid training experience is provided while the training cost is reduced.

Example systems, devices, media, and methods are described for controlling the presentation of one or more virtual or graphical elements on a display in response to bimanual hand gestures detected by an eyewear device that is capturing frames of video data with its camera system. An image processing system detects a first hand and defines a mapped region relative to a surface of the detected first hand. The system presents a virtual target icon at a position within or near the mapped region. The image processing system detects a series of bimanual hand shapes, including the detected first hand and at least one fingertip of a second hand. In response to determining whether the detected series of bimanual hand shapes matches a predefined hand gesture, the system executes a selecting action that includes presenting one or more graphical elements on the display.

A system for chromatic aberration and geometry calibration and validation of VR HMDs has a left eye display and a right eye display, comprises a measurement device with a left (11) and a right (12) camera. A control unit, connected to the two cameras, is configured to deliver control signals to the HMD when attached to the measurement device and with the camera IPD is equal to the HMD IPD and a virtual IPD, the control unit is configured to effect a measurement comprising the steps of: creating a virtual target object having am image center identifying element (523) for each camera (11, 12) and a plurality of predetermined points (525) within the FOV of the cameras, calculating and transmitting the images of said virtual target object to the displays of the HMD, taking the images of the displays with the cameras, detecting the virtual object (535) within the images, determining the shift (555) for the plurality of predetermined points (525) of the virtual object, for creating a chromatic aberration heatmap and a subsequent chromatic aberration validation, or for calculating the distortion of the predetermined points within the FOV of the cameras for creating a geometric correction mapping for the HMD for a geometry calibration of the HMD; or for using the shift for creating a heatmap for the HMD and determining the geometry validation or denying the geometry validation.

The invention discloses a multi-unmanned aerial vehicle cooperative formation method in a complex dynamic environment based on an MASAC algorithm. The method comprises the following steps: firstly, establishing a mathematical model of multi-unmanned aerial vehicle cooperative formation, and initializing model parameters; then calculating a dynamic target of each unmanned aerial vehicle by adopting a multi-unmanned aerial vehicle cooperative control method combining a dynamic virtual target and pilot following, and interacting with the environment to move to a new position; converting a multi-unmanned aerial vehicle cooperative formation problem into a distributed partially observable Markov model, and training the model by using an MASAC algorithm to obtain a convergent strategy model; and finally, carrying out a multi-unmanned aerial vehicle cooperative formation task by using the trained strategy model. According to the invention, the accuracy of autonomous navigation and adjustment of the multi-unmanned aerial vehicle formation in a complex environment is improved, the adaptability of the multi-unmanned aerial vehicle task is improved, the unmanned aerial vehicles can quickly respond to the change of a local environment without depending on a central node, and the efficiency and safety of task execution of the multi-unmanned aerial vehicle cooperative formation are improved.

The invention discloses a virtual simulation and security evaluation method and system based on a network security target range, and the method comprises the steps: constructing a network asset knowledge graph for describing a virtualized target range environment through information collection; secondly, based on an attack strategy grammar rule base, adopting a Monte Carlo Tree Search (MCTS) algorithm to carry out intelligent attack simulation on the knowledge graph so as to discover a nonlinear and multi-stage attack path; thirdly, constructing a Bayesian attack graph (BAG) based on the knowledge graph, and performing probabilistic and systematic quantitative evaluation on the security risk of each asset node in the network through Bayesian reasoning; and finally, integrating the attack path and the quantitative risk value, and generating a comprehensive assessment report containing a visual path, a risk sequence and a reinforcement suggestion. According to the target range simulation method and device, the problems that existing target range simulation is insufficient in confrontation authenticity, one-sided in safety evaluation and lack of predictability are solved by combining the strategy simulation of the MCTS and the global quantitative analysis of the BAG.

The invention relates to a rapid guidance method for an unmanned ship, which comprises the following steps of: establishing a parameterized reference path, determining a position and attitude relationship of the unmanned ship on a horizontal plane, designing a finite time drift angle observer for accurately observing an unknown drift angle of the unmanned ship, defining an estimated value of the drift angle, an adjusting parameter and an error term, and determining the position and attitude relationship of the unmanned ship on the horizontal plane. Deriving a derivative expression of the error term, proving that the error term converges to zero in finite time, establishing a drift angle estimation formula, and proving that the observation error converges to zero in finite time; designing a virtual speed and an updating law thereof; designing a nonlinear function for accelerating the convergence speed of the lateral error; establishing a line-of-sight tracking angle formula; and by parameterizing the reference path and accurately calculating the error between the unmanned ship and the virtual target point and combining the derivative expression of the error, the unmanned ship can be more accurately controlled to sail along the preset path, and the path tracking precision is remarkably improved.

The invention relates to the technical field of virtual-real fusion image processing, in particular to a target superposition method and system for augmented reality, and the method comprises the steps: firstly simulating to obtain a virtual route target, and superposing and fusing the virtual route target into an initial reality picture for guiding navigation; analyzing the change degree of the current reality picture, and judging whether the virtual target and the current reality picture need to be superposed, fused and updated or not; if yes, analyzing the similarity between the local areas of the current real picture and the reference picture, and preferentially matching the local areas; the relative displacement of the equipment is evaluated according to the matching result of the angular points in each local area, superposition fusion updating of the virtual target and the current real picture is carried out, a more accurate superposition fusion result of the virtual target is obtained, and the immersion and accuracy of a user during use are enhanced; and on the premise of ensuring the accuracy, the AR operation efficiency is effectively improved, the calculation delay is reduced, and the loss of equipment performance is reduced.

The invention relates to an image adjusting method based on XR glasses, the XR glasses, an electronic device and a medium, the XR glasses comprise a first display screen and a second display screen, the pupil distance of a user, the lens spacing of the XR glasses, the distance of a virtual target and the focal length of the virtual target are obtained; calculating convergence angles according to the interpupillary distance, the lens spacing, the distance of the virtual target and the focal length of the virtual target; adjusting the depth of field and the position of the virtual target in the XR glasses according to the convergence angles; and the convergence conflicts in the convergence adjustment process are relieved, and the visual fatigue of the user is relieved.

The invention discloses a hydropower engineering electromechanical equipment installation detail control method based on a three-dimensional laser scanning technology, and the method comprises the steps: S1, setting and determining the instrument parameters of a three-dimensional laser scanner, and collecting the point cloud data of a target region through the three-dimensional laser scanner; s2, remotely reading the point cloud data through a computer, uploading the point cloud data to a cloud database in a file stream form, and storing the point cloud data; s3, performing iterative fitting on the plane model by using a random sample consensus algorithm RANSAC and removing inner points, fitting a target ball model by multiplexing the RANSAC algorithm in the residual point cloud data after the plane model is removed, and screening target ball parameters with the maximum number of inner points; s4, constructing a combined reference model based on the electromechanical equipment to be installed and the virtual target ball, and performing coordinate deviation value comparison with the actually measured target ball model to obtain a deviation value; and S5, generating an installation detail adjustment scheme according to the coordinate deviation value, and sending the adjustment scheme to a mobile client of the field installation personnel.

The invention discloses a method for establishing a coordinate system by using a virtual target, and solves the problem of how to ensure the precision of a point cloud establishment control coordinate system when a whole scanning area cannot be controlled when a measurement entity target is laid. A total station prism-free polar coordinate method is utilized, six point positions are evenly and accurately measured on the top opening of the steel pipe pile farthest away from the trestle side, and the center coordinates of the top opening of the steel pipe pile are calculated in a fitting mode; and then the center of a top opening of the steel pipe pile serves as a virtual target, the virtual target and other entity targets on the trestle jointly control the whole scanning area, and therefore a control coordinate system is established, and the precision of the whole point cloud coordinate is guaranteed.

The invention relates to an unmanned system intelligent combat platform based on a large model and digital twinning, belongs to the technical field of strike evaluation, and solves the problems of low intelligent level, poor combat effectiveness evaluation and low visualization degree in the unmanned system technology in the prior art. The large combat model is used for generating combat area environment information and target information and further generating each combat scheme so as to obtain an optimal combat scheme; the digital twin virtual battlefield is used for reconstructing a virtual combat environment; the controller is further used for reconstructing a virtual target in the virtual combat environment and performing fine adjustment on the local combat environment, then striking the virtual target in the virtual combat environment according to the received optimal striking scheme, and collecting an image set after striking of the virtual target; the large combat model is also used for obtaining a simulated damage evaluation result according to the received image set after the strike; and the command center is also used for performing actual strike based on the simulated damage evaluation result. And intelligent combat of the unmanned system is realized.

Provided in the present application is a digital twin system for a target controller, the system comprising a system operating layer, an environment construction layer, a test layer and an analysis layer, wherein the system operating layer is used for simulating the operating state of a digital twin target controller; the environment construction layer is used for building a system operating environment; the test layer is used for transmitting a test instruction to the system operating layer, so as to perform a simulated test in the system operating layer; and the analysis layer receives returned test data transmitted by the test layer, and performs fault cause analysis and recording on fault-related data in the returned test data. The digital twin system for a target controller in the present application virtualizes the operating state of the target controller on a host computer, so that embedded development no longer relies on customized hardware; the hardware design, software functionality and system performance of the system can be verified in advance before real hardware is manufactured; and timely optimization can be performed after design defects are found, so that the number of iterations of product research and development is reduced, and the research and development cost is saved on.

Training apparatus (1) for at least one user (2), including a weapon (3) and consisting of a device for detecting a hit and a display device (6) for displaying virtual targets (13), wherein: the display device (6), worn by the user, takes the form of an augmented reality (AR) device, which visually displays to the user (2) at least the target (13) to be hit; the weapon (3) takes the form of a firearm, which fires at least one projectile (7); and the projectile (7) is detected by at least one laser (9, 11), evaluated and visually displayed on the display device (6).

The invention discloses a power transmission line construction method and system based on multi-source heterogeneous data automatic mapping, and the method comprises the steps: training target multi-source data of a historical power transmission line construction site, and a real load, a real fault type and a real construction progress corresponding to the target multi-source data, thereby obtaining a multi-task multi-label model; processing the target multi-source data of the target power transmission line construction site through a multi-task multi-label model to obtain a load prediction result, a fault diagnosis result and a construction progress prediction result; and constructing a digital simulation body of a virtual target power transmission line construction site through a GIM model in combination with multi-source data of the construction site, a load prediction result, a fault diagnosis result and a construction progress prediction result, so as to carry out construction drilling and optimize a construction scheme. According to the design, the construction scheme can be automatically obtained through the multi-task multi-label model, the intelligent degree is effectively improved, and the real-time decision-making requirement in a complex scene can be met.

A validation system for VR HMDs (20) has a left eye display (21) and a right eye display (22) with an adjustable HMD IPD (230) between them, and comprises a measurement device (10) with a left (11) and a right (12) camera, wherein each camera (11, 12) is intrinsically and extrinsically calibrated. Each camera (11, 12) is mounted within the validation system for a movement of the cameras (11, 12) to adjust the camera IPD (130) between the two cameras (11, 12). A control unit (100) is configured to effect a validation measurement when the HMD IPD (230) is adjusted to the prechosen camera IPD (130) through creating a virtual target object at a specific chosen position with a chosen distance from the measurement system, showing images of said virtual target object to the displays (21, 22) of the HMD (20), detecting the virtual object within the images and determining the distance from the cameras (11, 12) and validating the HMD based on a comparison between the determined distance with the chosen distance.

An information processing device 1 comprises a calculation unit 8 that evaluates an input operation of a user, the calculation unit generating prediction information that causes the user to predict a virtual target, causing an output unit to output the prediction information, acquiring trajectory data corresponding to the virtual target, calculating first coordinates corresponding to the trajectory data, calculating second coordinates corresponding to an input trajectory input to the input unit so as to follow the trajectory data for each predetermined timing on the basis of the input operation of the user, calculating a degree of matching indicating a spatial relationship between the first coordinates and the second coordinates, generating audio information associated with the input operation so as to change according to the degree of matching, and causing the output unit to output the audio information.

Pace control device for running sports, consisting of augmented reality glasses (1) equipped with a specific application and a pace and incline measurement device (5). Through the glasses (1), the runner (2) can see her environment as if through a transparent lens, as well as a virtual target (3), appearing as if projected onto the ground (4) in front of her. The virtual target acts as a "pacemaker": it moves ahead of the runner at a predefined target pace, so the runner only has to follow it to maintain that pace. (See abstract figure: Figure 1.)

The invention discloses a universal configurable airborne controller digital prototype model, which is characterized in that a virtual target machine simulation module realizes behavior-level simulation of an ARM architecture microcontroller through a Qemu technology, and constructs a virtual target machine for operating controller software; the control panel simulation module constructs a common resource library of a controller panel by using a QT tool, and selects a composition form of the control panel required by a project to form a simulation control panel; the bus data simulation module simulates external bus data excitation based on ICD; through co-simulation software, binding of the simulation control panel and the virtual target machine is realized, an external excitation signal is generated for the virtual target machine, and data transmission from simulation bus data to the virtual target machine and data transmission from target machine simulation to a control panel model are realized. According to the invention, building block type rapid construction of controller products in different projects in a digital prototype model is realized, and development, debugging and testing of software separated from a hardware environment are realized.

A projection system stores virtual space configuration information indicating a configuration of objects defined in a virtual target space representing a real target space. The projection system detects a real human shown in an image taken by a real camera installed in the real target space, and estimates a three dimensional pose of the real human based on the image. Then, the projection system projects a virtual human having the three dimensional pose and representing the real human onto the virtual target space. In addition, the projection system performs an action estimation process that estimates an action of the real human in the real target space by estimating an action of the virtual human in the virtual target space based on a relationship between the virtual human having the three dimensional pose and the configuration of the objects in the virtual target space.

Provided are a device hot-plug method, a computer device, and a storage medium. The method includes: in response to a hotplug request received by a virtual machine monitor for a virtual target device in a virtual machine, determining operation resource information corresponding to the hotplug request using the virtual machine monitor, where the operation resource information includes resource information needed for performing hotplug on the virtual target device; storing the operation resource information to an operation queue of a preset hotplug device, and sending an interrupt trigger signal to a sub-operating system of the virtual machine; and acquiring the operation resource information from the operation queue by using the sub-operating system when the interrupt trigger signal is detected by the sub-operating system, and executing a hotplug operation for the virtual target device according to the operation resource information.

The invention relates to the technical field of image processing, and discloses an image processing method of an LED dome screen display screen, comprising the following steps: S1, according to the size of the LED dome screen display screen and the size of a source image supported by a playing system, generating a virtual target image having the same shape as a dome screen, the size of the virtual target image being proportional to the actual size of the dome screen; s2, performing plane cutting on the virtual target image according to each row of pixel points forming the LED dome screen display screen to form corresponding hemispherical arcs; and S3, unfolding the generated hemispheroid arc and projecting the hemispheroid arc into a two-dimensional projection plane. Through accurate image mapping and deformation processing, the visual effect of a source image presented on an LED dome screen is the same as that of the source image presented on a flat panel display screen, an adaptive mapping algorithm is used, the deformation degree of the image can be dynamically adjusted according to image features, it is ensured that each frame of image can keep high-quality display at different visual angles, and the image quality is improved. And the viewing experience of the user is greatly enhanced.

The application discloses a kind of millimeter wave radar and the fusion method and system of visual identification target, the method comprises: obtaining the data information of multiple first target points and multiple second target points;The first target point represents the target object detected by millimeter wave radar sensor, and the second target point represents the target object detected by camera;With the first target point as the center, the absolute threshold set is expanded longitudinally and transversely, to form the first confidence interval;With the second target point as the center, the relative threshold is expanded longitudinally and transversely to form the second confidence interval;The size of the relative threshold is linearly related to the distance and speed of the second target point;KM algorithm is executed to fuse, as many as possible millimeter wave radar detected first target points and camera detected second target points are one-to-one associated as the same target object.The method can improve the target fusion effect and reduce the generation of virtual target.

A method for dexterous manipulation by a robot includes performing a virtual simulation where a robot model adopts a virtual target position from a virtual initial position, deriving a first policy for maneuvering a robot based on the virtual simulation, performing a first set of real simulations where a first robot adopts a real target position from a real initial position based on the first policy, and deriving a second policy for maneuvering a robot based on sensor data generated in the first set of real simulations. The method also includes combining the first policy and the second policy to derive a third policy for maneuvering a robot. The method also includes causing at least one of the first robot and a second robot to adopt a real target position based on at least one of the third policy and a subsequently derived policy for maneuvering a robot.

The invention particularly relates to a switching guidance method for tracking a non-escapable area, which comprises the following steps of: firstly, calculating the non-escapable area taking an intercepted target as a center, and then dividing a guidance process into two stages: in the first stage, taking minimization of missile energy loss as an optimization target, selecting a point on the boundary of the non-escapable area as a virtual target point in real time by adopting an Adam optimizer; the virtual target point is tracked by adopting a proportional guidance law, so that the aircraft enters a non-escapable area of the target; in the second stage, a proportional guidance law is adopted to track a real target, and the interception effect on a high-maneuverability flying target is remarkably improved due to the fact that the real target is in a non-escape area.

The invention relates to the technical field of data enhancement of computer vision, and discloses a data enhancement method and device, a computer readable storage medium and electronic equipment, and the method comprises the steps: carrying out the frequency domain disturbance enhancement of an original image, and obtaining a frequency domain disturbance enhanced image; determining a global scene embedding vector and a condition vector and a regional soft mask corresponding to each detection target according to the global scene prompt and the target-level prompt, the position information and the regional mask corresponding to the at least one detection target; utilizing a pre-trained instance-level conditional diffusion model to perform diffusion generation according to the global scene embedding vector and the conditional vectors and the regional soft masks corresponding to the detection targets to obtain a virtual target domain image; performing fusion processing on the frequency domain disturbance enhancement image and the virtual target domain image to obtain a fused image; and performing physical enhancement processing on the fused image to obtain a target enhanced image. According to the method, the training sample distribution diversity is improved, and the generalization ability of a cross-domain detection model is improved.

The invention provides a construction method and system for a dynamic threat capture system, and relates to the technical field of system construction, and the method comprises the steps: obtaining heterogeneous security data, extracting a three-domain behavior portrait, constructing a multi-dimensional feature vector, and recognizing attack features; dynamically constructing a virtual target environment to guide attacks, and obtaining threat data based on multi-modal perception; constructing a feature library for comparison, predicting an attack path, and generating a protection rule; and deploying protection measures to obtain confrontation data, and updating the feature library optimization rule. According to the invention, accurate identification, effective trapping and continuous confrontation of network threats can be realized, and the network security protection capability is improved.

The invention discloses an agent off-line and on-line logistics path planning method and system, and relates to the technical field of path planning, and the core idea of the method is that through the extraction and clustering analysis of obstacle boundary points, the environment complexity is defined, and then the step length and the bias guide growth probability are self-adapted; in the expansion tree growth stage, a state space is divided, a value function is set to provide sampling area reference for non-target-oriented growth, and an off-line path is simplified through pruning to serve as an on-line execution benchmark. Virtual target points are introduced to increase escape force, and possible zero resultant force balance points are damaged; repulsive force is regulated and controlled in a multi-level mode, global and local obstacle avoidance is dynamically balanced, and the emergency obstacle avoidance capacity is improved while the safe distance is ensured. According to the method, off-line path planning and on-line obstacle avoidance real-time planning are fused, the high-value pre-calculated off-line path is used as guidance, on-line obstacle avoidance planning is dynamically and efficiently executed, and it is ensured that efficient and effective path planning is achieved when an intelligent agent executes a task.