141 results about "World space" patented technology

Precision agriculture methods and systems where drone images of an agricultural field are captured by a UAV and analyzed to generate information regarding the agricultural field. Items of interest are identified in the images, the pixel-space locations of the items of interest are determined, and the world-space locations of the items of interest are then determined using the pixel-space locations. The transformation from pixel-space location to world-space location occurs without transforming the images or processing transformed images.

This application relates to a shadow rendering method performed by a computer device. The method includes: obtaining a world space location of a pixel point of a screen space in a world space in which a virtual scene is located; determining, from a plurality of light sources in the virtual scene, a target light source whose illumination area comprises the world space location of the pixel point; obtaining a world space location of the target light source in the world space; performing ray tracing based on the world space location of the target light source and the world space location of the pixel point, to obtain light source access information of the target light source for the pixel point; and performing shadow rendering on the virtual scene based on the light source access information.

The invention provides a flight environment virtual simulation restoration method and system based on flight data, relates to the technical field of virtual reality and flight simulation, and solves the problem of how to accurately and smoothly restore real flight data to a virtual simulation environment. The method comprises the following steps: acquiring real flight data, converting the real flight data into a data format which can be identified by a UE rendering engine, analyzing and extracting key flight parameters, and smoothing process data corresponding to the key flight parameters, so that the process data smoothly changes when the flight environment of an aircraft is virtually simulated and updated; according to the smoothed process data, updating the aircraft pose in the UE virtual environment of the UE rendering engine to realize the reduction of the flight path; meanwhile, a world space UI is created, and instrument information corresponding to the flight path is updated and displayed in the world space UI. According to the invention, the flight path and instrument display under the simulation condition are close to the real flight condition, and the authenticity and immersion of flight training are effectively improved.

The invention provides a texture mapping method, a texture mapping device, a computer storage medium and electronic equipment, and relates to the technical field of computer graphic processing. The method comprises the following steps: acquiring a world space coordinate and a world space normal of a vertex of a target model; performing texture projection on the world space coordinates on a plurality of world coordinate axes to obtain target texture coordinates of the vertexes of the target model on the world coordinate axes; determining a texture weight value based on the included angles between the world space normal and the plurality of world coordinate axes; and carrying out texture sampling according to the target texture coordinate to obtain an initial map sampling result, and carrying out mixed sampling on the initial map sampling result and the texture weight value on the corresponding world coordinate axis to carry out texture mapping on the to-be-processed model based on the target map sampling result. The method can get rid of dependence on a model topological structure and UV expansion of a three-dimensional model, and realizes a more real, natural, accurate and flexible texture fitting effect without deformation stretching.

An apparatus, method and computer program is described comprising: obtaining a virtual audio signal (comprising virtual audio samples) from one or more virtual sound signals of a virtual environment for presentation to a user; processing the virtual audio samples based on first reverberation parameters to generate a first reverberation signal (based on a geometry of a real-world space) for samples up to a first threshold time following the respective virtual audio sample being obtained; processing the virtual audio samples based on second reverberation parameters to generate a second reverberation signal (based on a geometry of the virtual environment) for samples beyond a second threshold time following the respective virtual audio sample being obtained; and generating an audio output for presentation to the user based on a sum of the first and second reverberation signals.

In accordance with one aspect of the inventive concepts, provided is an autonomous mobile robot (AMR), comprising: at least one processor in communication with at least one computer memory device; at least one 3D sensor configured to collect 3D sensor data of an object; and a fixed scale image processing module configured to receive the 3D point cloud data; transform the 3D point cloud data into at least one fixed scale (FS) image; detect, identify, and localize the object in image space of the at least one FS image; select a plugin associated with an object type of the object; and apply the plugin for 6D (degrees of freedom) pose estimation of the object in real-world space to localize the object. In various embodiments, the object can be any type of forkable object, but in other embodiments the object need not be a forkable object.

The invention relates to an underground engineering three-dimensional reconstruction and grid extraction method based on 3D Gaussian splashing, and the method comprises the following steps: S1, obtaining a static scene image: photographing a plurality of static scene images from different angles and heights of an underground engineering through photographing equipment or an unmanned plane; s2, sparse point cloud generation: processing the image set collected in the step S1; s3, initializing to generate 3D Gaussian: taking the sparse point clouds obtained in the step S2 as input, dividing the point clouds into a plurality of regions, and generating one or more 3D Gaussian models in each region based on the world space position mean value and distribution characteristics of the point clouds; s4, optimizing a 3D Gaussian parameter; s5, extracting a grid; and S6, model lightweight: in order to reduce the storage demand of the model and accelerate the rendering speed, performing lightweight processing on the model. According to the method, efficient generation and real-time rendering of the three-dimensional model of the underground engineering can be realized while the reconstruction quality is maintained, and digital support is provided for design, construction and management of the underground engineering.

The invention discloses automatic boundary creation and relocation. Aspects of the present disclosure relate to instant boundary creation for virtual reality (VR) experiences. An artificial reality (XR) system may scan and collect visual feature data of a user's real-world environment in the background while rendering an augmented reality (AR) environment or a mixed reality (MR) environment. When the XR system detects an intent to enter a VR mode (e.g., by launching a VR application), the XR system may generate a recommendation to a boundary of a real-world space, which may include a type of interaction mode (e.g., a movable mode or a stationary mode). Based on the user's response to the recommendation, the XR system may prompt the user to further scan the real-world space and / or manually adjust the boundaries while continuing to scan and collect visual feature data in the background. Alternatively or additionally, some embodiments may automatically relocate the real-world space based on the generated boundaries.

In various examples, one or more deep neural networks (DNNs) are executed to regress on control points of a curve, and the control points may be used to perform a curve fitting operation—e.g., Bezier curve fitting—to identify landmark locations and geometries in an environment. The outputs of the DNN(s) may thus indicate the two-dimensional (2D) image-space and / or three-dimensional (3D) world-space control point locations, and post-processing techniques—such as clustering and temporal smoothing—may be executed to determine landmark locations and poses with precision and in real-time. As a result, reconstructed curves corresponding to the landmarks—e.g., lane line, road boundary line, crosswalk, pole, text, etc.—may be used by a vehicle to perform one or more operations for navigating an environment.

In various examples, a machine learning model—such as a deep neural network (DNN)—may be trained to use image data and / or other sensor data as inputs to generate two-dimensional or three-dimensional trajectory points in world space, a vehicle orientation, and / or a vehicle state. For example, sensor data that represents orientation, steering information, and / or speed of a vehicle may be collected and used to automatically generate a trajectory for use as ground truth data for training the DNN. Once deployed, the trajectory points, the vehicle orientation, and / or the vehicle state may be used by a control component (e.g., a vehicle controller) for controlling the vehicle through a physical environment. For example, the control component may use these outputs of the DNN to determine a control profile (e.g., steering, decelerating, and / or accelerating) specific to the vehicle for controlling the vehicle through the physical environment.

A 3D neural radiance field (NeRF) is used to generate an impulse response (IR) characterization, which can then be input to a convolutional reverberation engine to create an audio experience that reflects the in-game world on a 2.0 stereo speaker system. The NeRF recreates a background geometry and the impulse response of a virtual 3D space generated using NeRF is input to the convolutional reverberation engine to transform game sounds / music to appear as though they are occurring inside the 3D space of the game. The same may be done for the player's real-world space in which the virtual IR and real IR are blended together in real-time, and the real-life player tracked as he moves around the room to create audio as it would sound were the player moving through the virtual space while adjusting for the acoustics of the real space.

The invention discloses a vehicle tracking and re-identification system in an expressway scene, and the method comprises the steps: building a homography matrix to construct the mapping of a camera space coordinate and a real space coordinate, and then carrying out the pre-screening of a confidence coefficient + Laplacian variance pre-screening module; a set of end-to-end assembly line is formed by combining a hierarchical matching and self-adaptive histogram filtering matching module, a motion constraint and Kalman filtering module and Desection-Tracking-ReID Pipeline, so that the re-recognition accuracy and the track connectivity are improved. According to the method, systematic optimization is carried out for special challenges of a highway closed monitoring scene, the accuracy of vehicle re-identification and the connectivity and smoothness of the track are remarkably improved, and reliable technical support is provided for intelligent traffic monitoring.

Provided are an augmented reality device for providing an augmented reality service matched to a real-world space, and an operating method thereof. The augmented reality device may recognize a plurality of objects in a real-world space from an image obtained through a camera, recognize a relative position relationship including positions and directions between the plurality of recognized objects, and display, at a preset position, a virtual object representing information related to the plurality of recognized objects, based on information about a prestored relative position relationship.

Provided are an augmented reality device for providing an augmented reality service for controlling an object in a real world space, and an operating method for the same. The method may include recognizing a first plane comprising a wall and a second plane comprising a floor from a spatial image based on a photograph of the real world space; generating a three-dimensional (3D) model of the real world space by extending the wall and extending the floor along the respective planes and performing 3D in-painting on an area of the extended wall and the extended floor that is hidden by an obstructive object; segmenting an object selected by a user input from the spatial image based on two-dimensional (2D) segmentation; and segmenting the object on the spatial image from the real world space based on a 3D model or 3D position information of the object using 3D segmentation.

Aspects of the present disclosure relate to more accurate and quicker localization of an artificial reality (XR) system in a real-world space (e.g., a room). If a user enters a room and localization fails, the system can locate a corner that was designated in a previous localization. The corner could have been manually selected by the user or could have been automatically recommended by the XR system. In some implementations, the user or system can identify two adjacent corners in the room for further accuracy. Through later selection of the corner(s) for localization, the XR system can identify the saved room using depth sensors, with identification of corners being more reliable and detectable than other methods identifying walls.

In various examples, image space coordinates of an image from a video may be labeled, projected to determine 3D vehicle space coordinates, then transformed to 3D world space coordinates using known 3D world space coordinates and relative positioning between the coordinate spaces. For example, 3D vehicle space coordinates may be temporally correlated with known 3D world space coordinates measured while capturing the video. The known 3D world space coordinates and known relative positioning between the coordinate spaces may be used to offset or otherwise define a transform for the 3D vehicle space coordinates to world space. Resultant 3D world space coordinates may be used for one or more labeled frames to generate ground truth data. For example, 3D world space coordinates for left and right lane lines from multiple frames may be used to define lane lines for any given frame.

One example method includes receiving, by a display management device, one or more display configuration selections for one or more corresponding video conference displays for a hybrid conference location, the hybrid conference location providing a real-world space associated with a corresponding virtual conference hosted by a virtual conference provider; accessing, by the display management device, the corresponding virtual conference via the virtual conference provider; requesting, by the display management device, a plurality of video streams of the virtual conference from the virtual conference provider, each video stream corresponding to a virtual participant, the display management device not corresponding to any virtual participant; generating, for each video conference display of the one or more video conference displays, a real-time video rendering of a respective subset of the plurality of video streams according to the one or more display configurations; and providing, to the one or more video conference displays, the respective real-time video rendering.

The present application relates to a three-dimensional object detection method and device for an unmanned system based on multimodal fusion. The method includes the following steps: obtaining a two-dimensional image and three-dimensional point cloud data of a road scene to be detected and inputting them into a multimodal fusion detection model; the multimodal fusion detection model includes a temporal dynamic convolution fusion module, which uses a three-dimensional position embedding encoder to generate a three-dimensional position perception feature of the previous frame according to the three-dimensional world space coordinates of the previous frame and the two-dimensional image features of the previous frame. The three-dimensional position perception feature of the previous frame is used as a supplementary position perception feature of the current frame after pose transformation; generating a first fused frame three-dimensional point cloud feature according to the supplementary position perception feature of the current frame and the three-dimensional point cloud feature of the current frame; obtaining a preliminary fusion feature based on the first fused frame three-dimensional point cloud feature and the two-dimensional image feature of the current frame, and outputting a detection result based on the preliminary fusion feature. This method can solve the problem of difficult recognition of distant objects.

The application relates to a dynamic grid coordinate generation method, system, computer equipment and storage medium, and the technical scheme points are as follows: receiving window space coordinates of multiple vertices, inversely transforming the window space coordinates of the vertices into corresponding world space coordinates; generating a primitive using the window space coordinates of all the vertices; performing primitive assembly and primitive rasterization on the primitive to determine target pixel points; performing interpolation calculation on the primitive after the primitive rasterization according to the world space coordinates of the vertices to obtain the world space coordinates of the target pixel points; determining a scaling ratio of the world space coordinates of the vertices and the corresponding window space coordinates according to the inverse transformation, and determining a scale according to the scaling ratio; determining to-be-colored pixel points according to the scale, a preset grid line width and the world space coordinates of the target pixel points, coloring the to-be-colored pixel points to obtain a grid; and the application has the effect of dynamically adjusting the grid scale and better display effect.

In various examples, a two-dimensional (2D) and three-dimensional (3D) deep neural network (DNN) is implemented to fuse 2D and 3D object detection results for classifying objects. For example, regions of interest (ROIs) and / or bounding shapes corresponding thereto may be determined using one or more region proposal networks (RPNs)—such as an image-based RPN and / or a depth-based RPN. Each ROI may be extended into a frustum in 3D world-space, and a point cloud may be filtered to include only points from within the frustum. The remaining points may be voxelated to generate a volume in 3D world space, and the volume may be applied to a 3D DNN to generate one or more vectors. The one or more vectors, in addition to one or more additional vectors generated using a 2D DNN processing image data, may be applied to a classifier network to generate a classification for an object.

This invention discloses a method, system, and electronic device for automatically switching safe zones. The method mainly includes six steps: map information acquisition, device location acquisition, device location determination, distance calculation, safe zone selection, and safe zone display. It can acquire environmental information to create a map, each map can include multiple safe boundaries, enabling switching between different safe boundaries. It also stores and updates each map piece of information, allowing for the reuse of safe boundary information within the map. The advantages of this invention lie in the reuse of safe boundaries within the same real-world space, eliminating the need for frequent setup. A single map can contain multiple safe boundaries, achieving seamless switching between different maps and safe boundaries, thus improving the user experience.

The present disclosure relates to a high light rendering method, device, medium and electronic equipment, the method comprising: obtaining a high light image to be rendered, a high light shape to be rendered being drawn in the high light image; determining a light source vector in a target coordinate space corresponding to the hair model according to a light source direction in a world space; for each pixel point to be rendered in the hair model, determining a line of sight vector corresponding to the pixel point in the target coordinate space according to a line of sight direction in the world space; for each pixel point, determining a texture offset in a vertical direction corresponding to a horizontal direction of the pixel point in the high light image according to the light source vector and the line of sight vector corresponding to the pixel point; and sampling from the high light image according to the texture offset corresponding to each pixel point to render the pixel point, to obtain a rendered high light rendering image. Thus, the rendering of anisotropic high light can be realized while ensuring the rendering of a high light shape.

A system for registering one or more cameras and / or creating an accurate three-dimensional (3D) model of a world space environment including back projecting at least one image from at least one of a plurality of camera views to the 3D model based on a set of existing camera parameters. The back projected image is added as a texture for the 3D model. This texture is automatically compared to one or more images from other camera views using a color space comparison of images to determine a set of differences or errors. The camera parameters and the 3D model are automatically adjusted to minimized the differences or errors. Over time, the parameters and the 3D model converge on a state that can be used to track moving objects, insert virtual graphics and / or perform other functions.

The invention discloses a rendering method and device of a virtual model, electronic equipment and a storage medium, and the method comprises the steps: converting each model vertex of the virtual model from a world space to a model space, and carrying out the texture map sampling of a basic texture map based on the coordinates of the virtual model in the model space; according to the method, a binding relation between the basic texture map and the model structure of the virtual model is established, it is ensured that the texture effect corresponding to the basic texture map does not deviate along with movement or selection of the virtual model, and the stability and consistency of the texture effect presented on the virtual model are ensured; by binding the basic texture map with the virtual model, the texture effect corresponding to the basic texture map presented on the virtual model can have a stereoscopic impression, so that the texture effect corresponding to the basic texture map has a penetration sense of a three-dimensional space, the rendering effect of the virtual model is effectively improved, and the game experience of players is improved.

In an augmented reality (AR) experience, virtual content may be rendered at a particular position within a 3D spatial map and overlaid onto a view of the real-world space. There may be scenarios in which the user wants to limit a 3D model to being rendered within a particular subspace of the space defined by the 3D spatial map. Computer-implemented methods are disclosed that include receiving input defining a subspace of a 3D spatial map of a real-world space. A set of 3D models may then be filtered to identify a subset of the 3D models that fit within the subspace defined by the input. AR content including a render of a particular 3D model from the subset and overlaid onto a view of the real-world space in a position within the subspace may be output for display.

We provide information processing devices that allow the first user to experience the real-world space they inhabit within a digital twin space. [Solution] An information processing device 2 used by a second user communicating with a terminal 1 used by a first user, comprising: a location information acquisition unit 21 that acquires location information 11a transmitted by terminal 1, including the current time of terminal 1, the latitude and longitude of terminal 1 at the current time, and the altitude; a space generation unit 22 that generates a digital twin space of a point that reproduces the surrounding environment of the real space of the point at the current time's latitude, longitude, and altitude; and a display processing unit 23 that displays the digital twin space generated by the space generation unit 22 on a display unit.

Methods and systems for normalizing views of real world space and virtual environment of an interactive application as viewed through a pair of augmented reality glasses include receiving content of the interactive application for rendering on a display screen of the pair of augmented reality glasses. The content is streaming content provided in response to inputs provided by the user and includes virtual objects. The virtual objects are dynamically scaled to match a scale of the real world objects to a scale of the virtual objects. The content of the interactive application dynamically scaled is projected as an overlay over the real world objects of the real world space viewed through the pair of augmented reality glasses. The content that is dynamically scaled enables a normalized view between the real world space and the virtual environment.

A tessellation method uses both vertex tessellation factors and displacement factors defined for each vertex of a patch, which may be a quad, a triangle or an isoline. The method is implemented in a computer graphics system and involves calculating a vertex tessellation factor for each corner vertex in one or more input patches. Tessellation is then performed on the plurality of input patches using the vertex tessellation factors. The tessellation operation involves adding one or more new vertices and calculating a displacement factor for each newly added vertex. A world space parameter for each vertex is subsequently determined by calculating a target world space parameter for each vertex and then modifying the target world space parameter for a vertex using the displacement factor for that vertex.

Devices, systems, methods, and media are disclosed for performing an object detection task comprising: obtaining a semantic segmentation map representing a real-world space, the semantic segmentation map including an array of elements that each represent a respective location in the real-world space and are assigned a respective element classification label; clustering groups of the elements based on the assigned respective element classification labels to identify at least a first cluster of elements that have each been assigned the same respective element classification label; generating, based on a location of the first cluster within the semantic segmentation map, at least one anchor that defines a respective probable object location of a first dynamic object; and generating, based on the semantic segmentation map and the at least one anchor, a respective bounding box and object instance classification label for the first dynamic object.

The invention discloses an object stroking method and device, electronic equipment and a computer readable storage medium, and the method comprises the steps: carrying out the basic material rendering processing of an object model of a target object, and obtaining a first rendering model; based on the shooting direction of the virtual camera, removing vertexes which do not face the virtual camera in the object model to obtain a model after removal; based on the vertex offset information, controlling each vertex of the model after elimination to offset along a vertex normal in the world space to obtain an offset coordinate; based on a preset stroking special effect texture map and the offset coordinates of the vertexes of the model after elimination, the model after elimination is rendered, a second rendering model is obtained, an edge area in the second rendering model presents a stroking effect, and a non-edge area has transparency; and fusing the first rendering model and the second rendering model to obtain a fused model with an object stroking effect, so that the presentation effect of the object stroking special effect of the virtual object can be improved.