46 results about "Perspective camera" patented technology

This invention provides a system and method for determining correspondence between camera assemblies in a 3D vision system implementation having a plurality of cameras arranged at different orientations with respect to a scene involving microscopic and near microscopic objects under manufacture moved by a manipulator, so as to acquire contemporaneous images of a runtime object and determine the pose of the object for the purpose of guiding manipulator motion. At least one of the camera assemblies includes a non-perspective lens. The searched 2D object features of the acquired non-perspective image, corresponding to trained object features in the non-perspective camera assembly can be combined with the searched 2D object features in images of other camera assemblies, based on their trained object features to generate a set of 3D features and thereby determine a 3D pose of the object.

A catadioptric camera having a perspective camera and multiple curved mirrors, images the multiple curved mirrors and uses the epsilon constraint to establish a vertical parallax between points in one mirror and their corresponding reflection in another. An ASIFT transform is applied to all the mirror images to establish a collection of corresponding feature points, and edge detection is applied on mirror images to identify edge pixels. A first edge pixel in a first imaged mirror is selected, its nearest feature points are identified, and a rigid transform is applied to them. The rigid transform is fitted to corresponding feature points in a second imaged mirror. The closest edge pixel to the expected location as determined by the fitted rigid transform is identified, and its distance to the vertical parallax is determined. If the distance is not greater than predefined maximum, then it is deemed correlate to the edge pixel in the first imaged mirror.

The invention discloses a method for calibrating parameters of an identical-axis-distance equal-luminous-flux catadioptric camera distance measuring system. According to the method, a central symmetrical axis of a rotary body mirror face is collinear with an optical axis of a perspective camera, a to-be-measured object is arranged below the rotary body mirror face, incidence light is reflected by the mirror face to be imaged by the perspective camera, and the rotary body mirror face has a mirror face profile with equal-luminous-flux characteristic. The method comprises the following steps of establishing a plurality of different simulation environments by adopting the camera distance measuring system, gradually increasing the distance from a to-be-measured object spatial point in each simulation environment to the optical axis, respectively acquiring luminous flux of the to-be-measured object spatial point in each simulation environment on an acquisition image of the perspective camera, and re-fitting the relation between the axis distance and the luminous flux. According to the method, the system is subjected to the parameter calibration, the influence of the processing precision and installation precision on the characteristics of the mirror face can be alleviated under the non-ideal configuration situation of the system, and the distance measuring precision can be improved. Compared with the traditional external parameter calibration method, the method is simpler, more convenient and more effective.

The invention relates to an intelligent military infrared night vision cloud mirror, comprising a main body, an infrared perspective lens and a recorder lens arranged on the front of the main body, and a control interface arranged on the back of the main body; the two ends of the recorder lens are respectively provided with angle adjustment mechanism, the angle adjustment mechanism includes a drive assembly and a steering shaft, one end of the steering shaft is fixed to the lens of the recorder, and the other end of the steering shaft is connected to the drive assembly, and the intelligent military infrared night vision cloud mirror is driven The gear controls the rotation of the driven gear, and then it can control the rotation of the steering shaft, realizing the up and down rotation of the recorder lens; at the same time, the drive gear can be limited by the four limit components in the annular groove, which improves the recorder lens. The reliability of angle adjustment; not only that, when the fixed block is installed in the annular groove, the spring and the ball can be embedded in the annular groove on the fixed block, which improves the flexibility of loading and unloading of the limit unit and improves the practicality of the equipment. sex.

The invention provides an airborne panoramic rotor pyramidal angle measurement device, which consists of a framing module, a perspective imaging module, a protective module and a panoramic image embedded treatment module, wherein the framing module is connected with the protective module through a connector; the protective module is connected and fixedly arranged on a rotor hub through a flange; the perspective imaging module and the panoramic image embedded treatment module are arranged in the protective module; the framing module comprises a hyperboloidal mirror arranged in a protective glass tube and a hyperboloidal mirror connector arranged on the top end of the protective glass tube; the perspective imaging module consists of a high-frame rate scientific-grade camera, a perspective camera and a Cameralink video transmission line; and the panoramic image embedded treatment module consists of a Cameralink viceo input and output interface, an image processing unit and a data output interface. The measurement device has the characteristics of simplicity of structure, convenience for regulation, simplicity and quickness of installation and maintenance, operation stability and reliability, and is used for helicopter rotor pyramidal angle measurement.

The invention discloses a single-chart self-calibration method of a catadioptric omnibearing camera mirror plane pose, comprising the following steps: firstly, calculating to obtain two candidate poses by using an ellipse fit by image points on the outer edge of the mirror plane in a collected image; respectively generating two groups of predicted formed images of the edge of a perspective cameraby the two candidate poses; and comparing the two groups of predicted formed images with a practical lens formed image, wherein a candidate pose corresponding to the predicated formed image with small difference is a practical mirror plane pose, and necessary distance between a camera projection center and a practical lens edge in the calibration process is obtained by using an optimized search method. By using the method, the deficiency of the existing calibration method is overcome; under the condition that the mirror plane parameter and the perspective camera parameter are known, a rotary matrix and a translation vector between a reflection mirror surface and the perspective camera can be estimated only by one self-shooting image of the catadioptric omnibearing camera without other calibration objects. The calibration method has the characteristics of strong anti-interference performance and higher precision and is simple to operate.

This invention provides a system and method for training and performing runtime 3D pose determination of an object using a plurality of camera assemblies in a 3D vision system. The cameras are arranged at different orientations with respect to a scene, so as to acquire contemporaneous images of an object, both at training and runtime. Each of the camera assemblies includes a non-perspective lens that acquires a respective non-perspective image for use in the process. The searched object features in one of the acquired non-perspective image can be used to define the expected location of object features in the second (or subsequent) non-perspective images based upon an affine transform, which is computed based upon at least a subset of the intrinsics and extrinsics of each camera. The locations of features in the second, and subsequent, non-perspective images can be refined by searching within the expected location of those images. This approach can be used in training, to generate the training model, and in runtime operating on acquired images of runtime objects. The non-perspective cameras can employ telecentric lenses.

The invention discloses a same-axis-center-distance equal-optical-flow catadioptric camera distance measurement system and a distance measurement method thereof. A center symmetry axis of a rotating body mirror plane and the optical axis of a perspective camera are collinear and have a fixed distance; a measured object is placed below the rotating body mirror plane, incident light of a measured object space point is reflected through the mirror plane and then imaged to the perspective camera, and the rotating body mirror plane has a mirror plane contour with an equal-optical-flow characteristic. The method comprises the steps: firstly building a simulation environment, and setting system parameters to obtained a relational expression between the axis center distance and the optical flow value; then actually measuring the distance, and after the camera acquires an image, calculating the optical flow value of the measured object space point at an imaged position on a camera imaging plane; and calculating the axis center distance from the measured object space point to the camera optical axis by using the relational expression, and thus achieving the distance measurement. With utilization of the equal-optical-flow characteristic of the rotating body mirror plane, the corresponding relationship is formed among the measured object space point, the camera optical axis and the optical flow, and thus the distance of a scene can be directly measured; and the system and the method can be used for unmanned aerial vehicle navigation and collision avoidance, and detect the height to the ground and the distance to obstacles.