131results about How to "Simplify the calibration steps" patented technology

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

The invention provides a method for calibrating an electronic compass of an unmanned machine under a magnetic environment, which comprises the following steps that: relative magnetic flux of an X-axis, a Y-axis and a Z-axis of the electronic compass is obtained through a magnetometer, ellipsoid fitting calibration on the magnetic flux is carried out after the filter processing, and calibration parameters are stored to a first storage device; an extreme value of the magnetic flux of the X-axis, the Y-axis and the Z-axis of the electronic compass is respectively obtained through the magnetometer, then ellipsoid fitting calibration on the extreme values is performed, and the calibration parameters are stored to a second storage device; obliquity data is obtained through an inertia navigation module, horizontal magnetic field strength Xh and Yh after being compensated are calculated according to the obliquity data and the calibration parameters of step 1 and step 2, so the magnetic interference calibration and obliquity calibration of the electronic compass can be completed. Due to the adoption of the calibration method, the adaptability of the electronic compass can be improved, and the calibration steps can be simplified; and the calibration is unnecessary to perform under the magnetic-free environment, so the requirement on the calibration equipment and the calibration environment is low.

The invention provides a calibration method of pose position-free constraint line laser monocular vision three-dimensional measurement sensor parameters and belongs to the technical fields of optical measurement and mechanical engineering technologies. After basic data are extracted, imaging points are sequenced according to the invariance of a vector quantity cross product direction set composed of the imaging points of target feature points in any shooting pose position, and corresponding relation between the target feature points and the imaging points is built. Light plane feature points are extracted through quadrilateral intersection composed of a light knife central point set fitting straight lines and the target feature points, and a three-dimensional coordinate is calculated according to an intersection invariance principle. Inner and outer diameters in a monocular vidicon and light plane diameters of a line laser projector are optically fitted and calculated, and accurate calibration of the line laser monocular vision three-dimensional measurement sensor parameters is achieved. In calibration, a target can freely move and rotate completely, pose position placing is free of restraint, the same group of calibration images is shared for calibration of two parts of diameters, the calibration accuracy of a three-dimensional measurement sensor is ensured, and simultaneously calibration steps are simplified.

The invention discloses a method for calibrating a two-port vector network analyzer based on a ten-error model, belonging to a method for calibrating a vector network analyzer. The method comprises the following steps of: selecting an error model according to the hardware topological structure of the vector network analyzer; preparing a 50-ohm short-open-thru (SOT) transmission line calibration piece of which the characteristic is known and the length is unknown for serving as a device under test (UDT), and evaluating the transmission characteristic of a UL (Unknown Line) according to the scattering parameter measured value of an SOT-UL standard piece and the scattering parameter measured value of an SOT standard piece; evaluating the normalized wave ratio of a DUT incident port during the measurement of an SO (Short-Open) standard piece according to the scattering parameter measured value and real value of the SOT-UL standard piece; and when an unknown DUT is connected, evaluating the real value of a DUT scattering parameter according to the measured value and real value of the standard piece scattering parameter and the DUT scattering parameter measured value. By adopting the method, the testing cost is lowered, and the calibration process is simplified greatly.

The invention relates to a method for calibrating the geometrical parameter error of an industrial robot based on a two-step method. A calibration coordinate system is established and comprises a measuring coordinate system and a constraint coordinate system, an error model is established according to the interconversion relationship between a robot connecting rod coordinate system and the calibration coordinate system, and thus the preliminary calibration result of a conversion matrix between the robot connecting rod coordinate system and the calibration coordinate system is obtained; and then the preliminary calibration result is utilized to establish an error correction model including the robot connecting rod geometrical parameter error and the conversion matrix error between the robotconnecting rod coordinate system and the calibration coordinate system according to a differential perturbation method, the corrected robot geometrical parameter error is obtained, and the calibration method is simple and precise.

The invention relates to a simple and convenient autonomic and automatic meter adjusting method. According to the method, an autonomic and automatic meter adjustment mechanism for an electric meter is used for the meter adjustment, so that the adjustment operation of the electric meter can be performed without a meter adjustment table but only by a power source, and therefore, not only the meter adjustment steps are simplified, but also the cost is reduced; and the method has high meter adjustment precision and high production repeatability, is favorable for production automation, reduces the influence of many human factors on the product quality, ensures the stability and reliability of the product quality, and greatly improves the qualified rate of the product.

The invention discloses a multiple star image and attitude associated star sensor internal parameter calibration method and a device thereof. A GPS antenna 3, a gyroscope unit 1 and a to-be-calibrated star sensor 2 communicate with a GPS receiver 4 respectively, and a data processing computer 5 is connected with the gyroscope unit 1 and the to-be-calibrated star sensor 2 respectively; synchronous data acquisition of the gyroscope unit 1 and the star sensor 2 is realized by virtue of UTC (universal time coordinated) time information acquired by the GPS receiver 5, and calibration algorithm solution of the to-be-calibrated star sensor 2 is completed in the data processing computer 5. According to the method, the gyroscope unit is used for providing accurate rotating angle information to implement splicing association of a plurality of frames of star images, thereby increasing observed data samples for internal parameter calibration of the star sensor; the method can be used for calibration under a dynamic condition, no strict requirements are made to the motion state of the to-be-calibrated star sensor 2, the calibration accuracy and reliability are improved, a calibration flow is simplified, dynamic calibration of the to-be-calibrated star sensor 2 can be conveniently implemented, and the method and the device are also applied to calibration of an inertial / celestial combined navigation system.

The invention discloses a line structured light vision measuring system complete calibrating method comprising scanning direction information, and belongs to the line structured light vision system calibrating method field. The line structured light vision measuring system complete calibrating method comprises the steps that based on a help of a relative motion calibrating device of a straight line slide rail system, by combining with a motion coordinate system conversion thinking, a routine light plane calibrating process is directly used to acquire a plurality of opposite relative motion calibrating images comprising light strip position information and scanning direction information at the same time by one time, and therefore calibrating steps are simplified, and at the same time, a calculation amount required by solving a structured light plane space equation of a calculation system is greatly reduced. The line structured light vision measuring system complete calibrating method is advantageous in that a scanning direction vector equation is solved and fitted accurately, and the scanning direction can be any direction, and at last, the completer line structured light vision measuring system calibrating method comprising a vector scanning step is defined and determined again. The line structured light vision measuring system complete calibrating method has double effects of improving calibrating efficiency and reducing calibrating errors.

The invention discloses a machine vision assisted laser three-dimensional scanning and marking method, comprising: distributing visual characteristic points with known spatial positions and known relative positional relation with a three-dimensional surface, acquiring images of the visual characteristic points by the aid of a calibrated industrial camera, and determining a spatial pose relation between the three-dimensional surface and the camera by using prospective-n-point theory; entering digital control signals to a marking system to form laser spots covering the three-dimensional surface, using the camera to acquire images of the laser spots, and accordingly constructing a mapping relation between laser scanning galvanometer digital control signals and three-dimensional point coordinates on the surface in a camera coordinate system; using the constructed mapping relation to solve digital control signals corresponding to the discrete three-dimensional points on a target outline curve so as to control a laser galvanometer to mark out the target outline curve on the three-dimensional surface. Field real-time calibration ensures precision and reliability of each single use, and the whole marking operation is convenient.

The invention relates to the technical field of computers and discloses a multicamera system and laser radar combined calibration method. A particularly generated calibration plate is used, as long as two adjacent cameras can simultaneously shoot a part of the calibration plate, the internal reference and the external reference of the multicamera can be solved, when the cameras of the multicamera system meet the requirement that two adjacent cameras can shoot the calibration plate at the same time, the calibration of the multicamera system can be completed, and the calibration of the multicamera system and the laser radar is completed in combination with the calibration of a single camera and the laser radar, thereby omitting the steps that the laser radar and the cameras are used for collecting data and selecting point cloud, simplifying the calibration step, saving the time and process for calibration on the premise of guaranteeing the precision, and solving the problem that the calibration of the multicamera system cannot be completed under the condition that the adjacent cameras do not have a common view field or the common view field is small.

The invention discloses a zero calibration method of a five-axis numerical control machine tool. The method can be used for completing calibration through three steps that first, a return-to-zero calibration tool is installed; second, a linear shaft is subjected to return-to-zero calibration; and third, a rotating shaft is subjected to return-to-zero calibration. The calibration tool is simple instructural design, the linear shaft and the rotating shaft of the five-axis numerical control machine tool can be subjected to return-to-zero calibration, an actual rotating angle value of a C shaft is calculated according to the moving track so as to complete calibration, and in a similar way, return-to-zero calibration of an A shaft is achieved by utilizing a calibration surface c. The zero calibration method is simple in tool structure and simple in calibration step, a related calculating method is simple, and the problems in the prior art are well solved.

The invention provides a displacement sensor calibration device based on an air-floating platform. The displacement sensor calibration device comprises a marble platform and an air-floating linear platform installed on the marble platform. A closed-loop high-precision control system composed of a grating ruler and a linear motor is arranged on the air-floating linear platform. The grating ruler is fixed to the air-floating linear platform in the length direction of the air-floating linear platform. A laser interferometer, a spectroscope, a retroreflector and a displacement sensor which are located on the same axis are sequentially arranged in the length direction of the air-floating linear platform. The retroreflector is installed on an air-floating slider. The air-floating slider is arranged on the air-floating linear platform in a slidable mode, connected with a linear motor, and driven by the linear motor to slide along the air-floating linear platform and be locked. By means of the displacement sensor calibration device, the return errors, mechanical vibration, climbing and other situations in the calibration process are greatly reduced, and the calibration precision is greatly improved.

A method and a system for measuring and calibrating an imaging magnetic field in a magnetic resonance apparatus are provided. The method includes: providing the imaging magnetic field, where the imaging magnetic field is adapted for scanning an object; sampling a signal corresponding to the imaging magnetic field; processing the signal to obtain an actual magnetic field intensity; and calibrating based on a difference between the actual magnetic field intensity and a target magnetic field intensity. The system includes: a magnetic component, adapted for scanning an object to be imaged; a sampling unit, adapted for sampling a signal corresponding to the imaging magnetic field; a processing unit, adapted for processing the signal to obtain an actual magnetic field intensity; a calibration unit, adapted for calibrating based on a difference between the actual magnetic field intensity and a target magnetic field intensity; and a control unit, adapted for controlling the system.

The invention provides a 3D automobile wheel positioner multi-camera calibration system and method. The 3D automobile wheel positioner multi-camera calibration system and method are mainly used for conducting production and maintenance field calibration on the 3D automobile wheel positioner multi-camera system. The information of the relative positions of two target boards is obtained through a calibration camera, two measurement cameras each obtain the position information of one target board, and finally the relative position relation of the second measurement camera relative to the first measurement camera is calculated. An extra target board is not needed in the calibration system, a calibration rod does not need to be used for rigid connection of the two target boards, calibration results are high in accuracy, the size and the weight of the calibration system are greatly reduced, maintainers can conveniently carry the system, the calibration steps are simple, operation is convenient, and relevant cost is reduced.

An optical products optimization system for use with a public communication network includes an optimization center, a posting platform, and a calibration device. The optimization center has a database which contains a plurality of digital spectacle frame images of a plurality of spectacle frames for the user to select. The posting platform is communicatively linked to the database for the user posting a facial image thereof on the posting platform through the public communication network. The calibration device calibrates the frame scale with two pupil marks located at two pupils of the user on the facial image respectively to fittingly overlap the spectacle frame image selected by the user on the facial image for simulating a virtual appearance of the user wearing the respective spectacle frame.

The invention provides a method and equipment for calibrating a fighter weapon system by a fiber-optic gyroscope. The equipment comprises an azimuth and posture determining instrument and fighter vertical axis azimuth determining equipment, wherein the azimuth and posture determining instrument comprises an azimuth and posture regulator, a second fiber-optic gyroscope module is mounted on the azimuth and posture regulator, a computer for analyzing azimuth angle data is embedded into the second fiber-optic gyroscope module, an electronic optical aligner and a display are mounted on the second fiber-optic gyroscope module, both an integral solving module of the second fiber-optic gyroscope module and the display are connected with the computer through data transmission interfaces, the computer is connected with an integral solving module of a first fiber-optic gyroscope module through a data transmission interface, and the fighter vertical axis azimuth determining equipment can measure the current vertical axis direction of the fighter and indicate the direction through a cross line of sight, displayed in a level eyepiece. The method and the equipment have the advantages that steps in the process for calibrating fighter weapons can be effectively simplified, the calibrating efficiency can be effectively improved and the affect of natural factors can be prevented.

The invention discloses a method for calibrating the spectral wavelength of an optical grating rotary light splitting spectrograph. The method is characterized in that a relation between the optical wavelength and reading of an optical encoder is derived by using an optical grating equation working under a Littrow condition, and a theoretical calibration model is established; spectral wavelength calibration is carried out by using a two-point equation solving method; and finally, initial wavelength positioning is carried out by using calibration parameters in order to ensure the consistency in target position when different spectrographs measure gratings with the same wavelength. The method disclosed by the invention has the advantages that (1) the calibration steps are simple and effective, and the calibration workload and the calculation amount are reduced under the premise of ensuring the calibration precision; (2) the calibration work can be completed by only using two standard light sources with different wavelengths under the premise of ensuring the accuracy of the wavelength, the calibration time is short, the calibration efficiency is high, and the calibration cost is low; and (3) the calibration model is established through known theories, curve fitting is not required to be adopted, factors, which influence calibration, among different spectrographs are considered comprehensively, calibration is carried out more reasonably and more feasibly, and the calibration precision is higher.

The invention discloses an inclined hole correction method of logging information. The inclined hole correction method of the logging information comprises the steps of (a) at first, assuming the curvature of each hole section of an inclined hole required to be corrected as a constant; (b) assuming a hole deviation angle at a depth point as alpha and regarding a small-enough section dh of the inclined hole as a linear section; and (c) taking a section from a No. n point to a NO. n+1 point of the drill hole as a length unit and using an average value of the hole deviation angles at the No. n point and the NO. n+1 point as an average hole deviation angle of the hole section to obtain a vertical depth calculation formula, working out each inclined depth point H(n) and each corresponding vertical depth Hz(n) based on the formula, assigning logging data which correspond to H(n) to Hz(n) and simultaneously performing equal interval operations on newly generated data from Hz(n) to Vz log to form the logging data equivalent to the logging data of a straight hole. With the adoption of the inclined hole correction method of the logging information, the inclined hole correction of the logging information can be completed fast; and moreover, the correction result is precise, the correction steps are simple and the correction cost is lowered greatly.

The invention provides a camera calibration method of a parking system. The method comprises: S1, a shooting blind zone boundary line is drawn on a pavement according to a minimum parking space identification distance L; S2, the angle of a parking camera is adjusted to be at a predetermined angle theta; S3, a calibration grid is drawn in a preset pavement range; S4, the calibration grid is converted into an image coordinate system; and S5, a relationship between a position of a sub calibration grid unit C'mn corresponding to a sub calibration grid unit Cmn in the image coordinate system and a corresponding distance value is determined and is stored. Using the method, steps for camera calibration are simplified and the efficiency is improved.

The invention discloses a multi-antenna testing system calibration method and device. A calibration opening of an RRU (Radio Remote Unit) of a base station which is arranged in a multi-antenna testing system is connected with a radio frequency cable, wherein the radio frequency cable is arranged in the multi-antenna testing system and used for connecting with terminal UE (User Equipment) to be calibrated. The multi-antenna testing system calibration method comprises obtaining the downstream channel parameter change information of a calibration sequence signal after the calibration sequence signal is transferred to the calibration opening from every downstream radio frequency channel and obtaining the upstream channel parameter change information of the calibration sequence signal after the calibration sequence signal is transferred to every upstream radio frequency channel from the calibration opening, wherein the downstream channel parameter change information and the upstream channel parameter change information comprise the phase and the time delay respectively and the calibration sequence signal is a ZC sequence; performing calibration on every downstream radio frequency channel based on the downstream channel parameter change information; performing calibration on every upstream radio frequency channel based on the upstream channel parameter change information. According to the multi-antenna testing system calibration method and device, the calibration steps are simplified, a connection cable does not need to be changed to achieve the calibration on the channels, and the calibration accuracy is improved.

The invention discloses a linearity calibration method of a small depth-of-field linear frequency-modulated continues wave radar. The linearity calibration method comprises the following steps of 1, acquiring a medium-frequency echo signal S'b(n) of a metal plate target; 2, performing Fourier conversion and benchmark removal processing on the S'b(n) according to a non-linear effect of each devicein the radar system so as to obtain a phase jittering error c(n, Tau) caused by non-uniform linearity, and accumulating the phase jittering error c(n, Tau) to complete estimation of a non-linear erroritem Xi (n, Tau); 3, correcting a medium-frequency echo signal Sb(n) of a tested target to be calibrated according to the non-linear error item Xi (n, Tau) so as to obtain a corrected medium-frequency echo signal Sb2(n); and 4, calibrating the corrected medium-frequency echo signal Sb2(n) to obtain a medium-frequency echo signal Sb4(n), and completing linearity calibration. By the linearity calibration method, non-linear calibration of medium-frequency echoes of all targets in a distance direction can be accurately and effectively completed, and the detection resolution and the detection capability of the radar distance direction are improved.

An image forming device, has an image carrier on which a latent image is formed, and a development device to which a plurality of development units for containing developer with the same color are detachably installed, and development is performed by attaching the developer of the development unit on the latent image of the image carrier. And the image forming device further has calibration control unit for forming the latent image of a predetermined patch pattern on the image carrier, developing the image by the developer of the development unit, detecting the developed patch pattern and deciding control parameters, and the calibration control unit performs calibration by only a part of the development units or by one development unit out of the plurality of development units.

The invention discloses a robot, a hand-eye calibration method for fixing a camera of the robot at the tail end of the robot, and a storage medium. The method comprises the steps of building a visual template, and demonstrating at least three point locations in the visual field range of the camera of the robot; correspondingly obtaining a target coordinate data set obtained after the robot drives the camera to move among the at least three point locations; calculating a pixel equivalent initial value and a camera tool initial value by utilizing the pixel coordinate data set and the robot tail end coordinate data set; calculating coordinate data of the template center under a robot base coordinate system through the pixel equivalent initial value and the camera tool initial value; and constructing a nonlinear optimization model according to the relationship that the coordinates of the template in the robot base coordinate system are always unchanged, taking the pixel equivalent initial value and the camera tool initial value as iterative initial values, and performing iterative optimization by using a nonlinear optimization algorithm to obtain the optimal pixel equivalent and the camera tool. According to the scheme, the calibration precision can be effectively improved, and the calibration operation steps are simplified.

The invention discloses a spherical video image correction method, which belongs to the technical field of video processing, and is characterized by comprising the following steps of: a, determining adisplay field angle parameter of each channel; b, generating a multi-channel rectangular graph, and synchronously outputting the multi-channel rectangular graph to a rear-end graph corrector for geometric correction of the graph from a plane to a spherical surface; c, converting each channel image into a curved surface image by the graph corrector; d, storing the graphic correction parameters inFLASH; and e, projecting the pre-deformed image onto a hemispherical projection screen by the projector model for presenting a real target image. Geometric transformation from a plane image to a spherical image can be achieved by loading the parameters through hardware electrification, and image acquisition, grid correction, feature point acquisition and calculation of a limited display area are not needed; effective pixels of a video image are fully utilized, real-time correction processing of the video image is achieved, reusability of parameters between channels is enhanced, and secondary correction of later maintenance is avoided.

The invention relates to a mask graph, a method for manufacturing a mask, and a method for correcting the mask graph. The mask graph comprises a design graph for forming a product graph according to an exposure and development process, and an auxiliary graph of which the size does not exceed exposure resolution, wherein an area for compensating the exposure loss of the design graph is formed in the auxiliary graph after the auxiliary graph is exposed. By setting the auxiliary graph, the exposure distortion of the design graph is effectively compensated, so that the critical size of the obtained product is increasingly close to the expected size, a large amount of time and energy for comparing and debugging are saved, production efficiency is improved, and production cost is saved.

The invention provides a technique for eliminating vertical parallax of multi-viewpoint stereo image. The technique comprises the steps of putting a reference flat plate with a rectangle pattern in a photographing scene, using a camera array to photograph the reference flat plate and calibrating four vertexes of the rectangle, calculating the coordinate mapping relationship of the same object point corresponding to different image photographing points one point by one point according to the four vertexes of the rectangle photographed by each camera, then moving the reference flat plate away and photographing other scenes by the camera array, rearranging the pixel of the image photographed by each camera according to the coordinate mapping relationship, so as to obtain the image of each viewpoint with vertical parallax eliminated. The technique is also used for multi-viewpoint free stereo display.

The invention provides a method for acquiring load pull parameters of a radio frequency power amplifier. The method adopts finished products to test, and comprises the following steps: judging whether at least one finished product in N finished products that are configured with the same radio frequency power amplifier belongs to determined high-quality products; if yes, determining a load impedance value of the radio frequency power amplifier of each determined high-quality product by using an impedance parameter system, and measuring the electrical parameters of the radio frequency power amplifier of each determined high-quality product under active conditions by using an electrical parameter system as the load pull parameters of the radio frequency power amplifier; and otherwise, selecting one of the finished products as a finished product to be tested, and changing the matching network parameters of the finished product to be tested to find a set of load pull parameters that meet the use requirements. According to the method provided by the invention, the finished products are adopted to test, a test printed circuit board customized for each DUT is not required, the test cycle can be shortened, resources can be saved, and the additional environmental pollution can be avoided.

The invention discloses a method and apparatus for calibrating an off-axis amount of an off-axis parabolic mirror based on a grating ruler and a theodolite. The method comprises: a step of approximately alignment and modulation of a light path, a step of determining a focus position of an interferometer, a step of measuring an edge lint position of a feature point of a surface of an off-axis parabolic mirror, a step of measuring a distance between a crossed point of a cross curve of a second plane reflection mirror and the edge lint position of the feature point of the surface of the off-axis parabolic mirror, and a step of calculating an off-axis amount of the off-axis parabolic mirror. The feature position of the off-axis parabolic mirror is found out by using a second plant reflection mirror with the crossed curve. On the basis of cooperation of a grating ruler and a theodolite, the distance between the two feature points is measured precisely and the distance between the cross curve and the second plane mirror edge is measured; and then calculation is carried out to obtain the value of the off-axis amount of the off-axis parabolic mirror in detection. If the deviation between the value of the off-axis amount and the theoretical off-axis amount does not meet the standard, the position of the off-axis parabolic mirror is adjusted until the position is correct. The method has advantages of high calibration precision and simple calibration steps.