148 results about "Virtual coordinate systems" patented technology

Described herein is a method of calibrating a three-dimensional imaging system. During calibration, a position and an orientation of the three-dimensional imaging system is determined with respect to a first parameter comprising a real world vertical direction (Vw) and to a second parameter comprising an origin of a three-dimensional scene captured by the imaging system. The first and second parameters are used to derive a calibration matrix (MC2w) which is used to convert measurements from a virtual coordinate system (Mc) of the three-dimensional imaging system into a real coordinate system (Mw) related to the real world. The calibration matrix (MC2w) is used to rectify measurements prior to signal processing. An inverse calibration matrix (Mw2c) is also determined. Continuous monitoring and adjustment of the setup of the three-dimensional imaging system is carried out and the calibration matrix (Mc2w) and its inverse (Mw2c) are adjusted accordingly.

Systems and methods that improve predictions of network latency in network coordinate systems (NCS) based on combining Internet topology information therewith. Topology information can be incorporated into the NCS by system / methodologies represented by geographic bootstrapping; autonomous system (AS) correction; history prioritization; symmetric updates or a combination thereof. Such can improve latency estimation between nodes when using a virtual coordinate system based on latency measurements between nodes.

A computer system for managing multiple distinct perspectives within a mixed-reality design environment loads a three-dimensional architectural model into memory. The three-dimensional architectural model is associated with a virtual coordinate system. The three-dimensional architectural model comprises at least one virtual object that is associated with an independently executable software object that comprises independent variables and functions that are specific to a particular architectural element that is represented by the at least one virtual object. The computer system associates the virtual coordinate system with a physical coordinate system within a real-world environment. The computer system transmits to each device of multiple different devices rendering information. The rendering information comprises three-dimensional image data for rendering the three-dimensional architectural model and coordinate information that maps the virtual coordinate system to the physical coordinate system.

In a broad aspect of the invention, the master printed form is scanned and processed according to a forms definition program to produce a virtual form file comprising a virtual layout of the significant regions such as bubble targets of printed material on the form, on a virtual coordinate system. Production forms that have been marked by subjects (e.g., students, voters, survey respondents, etc.), are then scanned to produce a marked form file of gray scale darkness values for each marked form. The marked form file and the virtual form file, are compared and processed to determine the location and spatial relationships of the marks on the marked form, in relation to the virtual coordinate system of the virtual form. The raw scan of each marked form is also processed to determine whether darkened areas on the marked form image should be interpreted as intentional responses from the subject, at the virtual coordinates where targets are located on the virtual form.

The invention discloses a method for positioning a binocular non-calibrated space, which comprises the following steps of: acquiring position data of a center point of a moving target by a background differencing method; by a camera imaging principle, calculating angle and directional data of the moving target in a scene relative to a shooting optical axis of a current analysis picture so as to obtain coordinates of a moving point and a shooting point; establishing a virtual coordinate system in the shooting scene and obtaining values of an angle a and an angle c between optical axes of cameras and an edge parallel to the longitudinal axis of the virtual coordinate system according to imaging target surfaces and focal length parameters of the cameras; and according to a distance BC between two cameras and the values of the angle a and the angle c, solving a coordinate value of the moving point E relative to a coordinate origin O of the virtual coordinate system and then according to the coordinates of the shooting point, calculating angles and directions of the moving point E relative to the two cameras. According to the method, position data of the moving target can be accurately acquired and the focal length stretching shooting can be carried out in the shooting process.

The invention discloses a vertical parking path planning design method. The vertical parking path planning design method comprises the following steps of S1, calculating a desired minimum parking space length according to vehicle parameters and environment information; S2, comparing an actual parking space length with the minimum parking space length; S3, selecting a parking mode according to a comparison result in the step 2; if the actual parking space length is larger than or equal to the minimum parking space length, using a path planning design of parking in place at one time; and if theactual parking space length is less than or equal to the minimum parking space length, using a path planning design of parking in place in multiple steps. According to the vertical parking path planning design method, path planning of a vehicle is specifically designed according to position information of the vehicle under a virtual coordinate system and a vehicle body attitude angle information obtained through a vehicle CAN signal so as to reduce the pressure of a driver.

An indoor AGV wireless navigation method and a device therefor are disclosed. The method includes collecting in advance indoor overall scene image information including a plurality of marking characteristic points, positioning actual coordinates of the marking characteristic points, building an indoor plane-coordinate system, determining a correlation between the plane-coordinate system and a virtual coordinate system of the scene image information, extracting a safety area of an image according to the scene image information, determining an actual indoor AGV barrier-free travelling safe area according to the correlation between the plane-coordinate system and the virtual coordinate system of the scene image information, detecting present coordinates of an object in real time, and performing route planning in the safe area. The method and the device can automatically recognize route and surrounding environment information, can automatically navigate a vehicle without the need of paving any route information or mark information, and are flexible and free in route planning and high in regulating speed.

Embodiments of the invention disclose an image-guided virtuality and reality fusion processing method and apparatus. The method comprises the steps of obtaining to-be-processed images, and preprocessing the to-be-processed images to obtain plane position information of sub-objects of a target object; obtaining image data of the target image, and performing calculation according to the image data to obtain three-dimensional position information of the sub-objects of the target object; according to the plane position information and the three-dimensional position information, building a virtualmodel of the target object; and according to the virtual model, establishing a mapping relationship between a real coordinate system of augmented reality glasses and a virtual coordinate system of thevirtual model, and realizing virtuality and reality fusion of the target object according to the mapping relationship. The virtuality and reality fusion of the target object is realized in combination with the plane position information and the three-dimensional position information of the sub-objects of the target object, so that the localization after the virtuality and reality fusion is quicker and more accurate.

The disclosed embodiments provide a system that drives a first display and a second display with a higher pixel density than the first display from a computer system. During operation, the system provides a set of backing stores for windows in the computer system. Next, the system enables a first set of clients to draw to the backing stores using a virtual coordinate system. Finally, the system uses the backing stores to drive the first and second displays so that a given distance in the virtual coordinate system is substantially the same size on the first and second displays.

A method and apparatus for performing registration of medical images includes mapping a virtual coordinate system used by a first medical apparatus and a virtual coordinate system used by a second medical apparatus to one another. The coordinate systems are associated with a real-time medical image captured by the first medical apparatus and a three-dimensional (3D) medical image previously captured by the second medical apparatus, respectively. The method further includes detecting a position of a probe of the first medical apparatus from a coordinate system used by the second medical apparatus, based on a result of the mapping, determining a volume image corresponding to the detected position of the probe from the previously captured 3D medical image, and extracting from the determined volume image a cross-sectional image corresponding to the real-time medical image, where the real-time medical image changes according to a patient's physical movement.

The invention provides an eye interaction method and an eye interaction system for a video conference; the method comprises the following steps that (100) a colored image is acquired by a color camera, and a depth image which is in alignment with the colored image is acquired by a depth camera; (200) the colored image and the depth image are processed preliminarily, three-dimensional information under a virtual coordinate system is acquired, and the three-dimensional information is projected to the plane of a virtual camera to acquire an eye correction image; and (300) the median of the eye correction image is filtered, and a direct eye image is acquired. According to the eye interaction method and the an eye interaction system for the video conference, the operation is convenient, the real-time performance is high, different positions of video conference attendees are adapted to automatically, the realization is simple, and the attention to the video conference can be enhanced.

A method for certifying and calibrating a multi-axis coordinate measuring machine includes the steps of loading a check standard into a means for holding of the multi-axis coordinate measuring machine; measuring a virtual location of each of a plurality of apertures of the check standard within a virtual coordinate system using a touch probe of the multi-axis coordinate measuring machine; measuring an actual location of each of the apertures and simultaneously verifying the accuracy of the virtual coordinate system of the check standard using an optical probe of the multi-axis coordinate measuring machine; and calculating a deviation between the actual location of each of the apertures and a virtual location of each of the apertures of the virtual coordinate system.

The invention provides a three-dimensional registration method for augmented reality, and the method comprises the steps: S1, obtaining CT image data of a spine sample, building a three-dimensional model of the spine outer surface, and carrying out the calculation, and obtaining a statistical shape model of the spine outer surface; S2, placing a marker on the reference part, obtaining CT image data of the reference part, and creating a three-dimensional model of the spine outer surface of the reference part; and calculating according to the statistical shape model of the spine outer surface to obtain repair data of the spine of the reference part. Based on the invention, a self-made marker and an NDI POLARIS high-precision optical positioning system can be used; virtual restoration of skeletal data of a patient part and three-dimensional accurate registration of a virtual-real coordinate system between a real coordinate (an actual coordinate system) of a patient in a skeletal spine augmented reality operation and a three-dimensional model coordinate (a virtual coordinate system) reconstructed based on a CT image are realized.

The invention discloses an augmented reality method for dental surgery and a device thereof. The method includes: acquiring a position and a posture of a first visual marker and a second visual marker; obtaining a transformation matrix between a second coordinate system and a first coordinate system according to the position and posture of the first visual marker and the second visual marker; obtaining an coordinate set of an object to-be-located at the first coordinate system according to the coordinate set of the object to-be-located in a virtual coordinate system, a transformation matrix between the virtual coordinate system and the second coordinate system, and the transformation matrix between the second coordinate system and the first coordinate system; obtaining a pixel coordinate set of the object to-be-located according to the coordinate set of the object to-be-located in the first coordinate system and a projection matrix of the first coordinate system to the pixel coordinatesystem, and displaying the object to-be-located on a two-dimensional image according to the pixel coordinate set. The augmented reality method and the device for dental surgery provided by the embodiments of the present invention improve the positioning accuracy of the object to-be-located.

The invention relates to a registration and navigation method based on a three-dimensional point cloud of bones, which is characterized in that: based on DICOM data images, a virtual coordinate system of X, Y, and Z three-dimensional point clouds is formed. At the same time, the robot can pass through the probe to achieve balanced data collection on both sides of the bone, and establish the X, Y, Z three-dimensional midpoint cloud world coordinate system. In the X, Y, Z three-dimensional point cloud virtual coordinate system and the world coordinate system dynamic fast registration navigation calculation, including acceleration for rigid registration and flexible registration. Finally, the parameters such as navigation position and angle are corrected. As a result, the robot can realize dynamic registration and navigation of X, Y, and Z three-dimensional point clouds, solve the current problems of unsatisfactory registration accuracy and excessive ray exposure, improve navigation accuracy and efficiency, and make the registration and navigation accuracy of orthopedic robots ≤ 0.5 mm, can avoid radiation exposure and further improve navigation accuracy. The method provided by the invention can be realized by cooperating with software programming, which meets the requirement of automatic implementation and adjustment.

The present invention is related to an apparatus for marking an irradiation field on the surface of the patient's body, which was produced by means of a virtual 3D model of a patient's body, with a laser system for determining the coordinates of at least two reference points on the surface of the patient's body in a local coordinate system assigned to the apparatus, with an analysing and control unit which is realised to determine a transformation matrix for the transformation of arbitrary coordinates from the virtual coordinate system into the local coordinate system from the coordinates of the reference points in the local coordinate system and from coordinates of the reference points in a virtual coordinate system of the virtual 3D model of the patient's body, and wherein the analysing and control unit is further realised to transform coordinates from the virtual coordinate system into the local coordinate system with the transformation matrix, and to provide the transformed coordinates to the laser system. In addition, the present invention is also related to a corresponding method.

The invention discloses a registration method for visual navigation of dental implant surgery and an electronic device. The method includes the following steps: obtaining a target tooth registration 3D model, a target tooth registration solid model and a second target tooth model; obtaining the position and attitude matrix of the target tooth registration 3D model in a virtual coordinate system according to the coordinates of at least three points on a base 3D model obtained after the registration of the target tooth registration 3D model in the virtual coordinate system; and installing the target tooth registration solid model on a registration standard board, obtaining the position and attitude matrix of the target tooth registration solid model in a visual coordinate system according tothree optical markers and the points on the target tooth registration solid model corresponding to the at least three points, and obtaining the corresponding relationship between the virtual coordinate system and the visual coordinate system according to the two position and attitude matrixes. By using the registration method for visual navigation of dental implant surgery and the electronic device provided by the invention, the accuracy of registration between the two coordinate systems is improved.

The invention discloses a virtual coordinate system construction method and device, terminal equipment and a readable storage medium. When the virtual coordinate system is constructed, the first coordinates of the first mark point and the second coordinates of the second mark point on the mark rod in the imaging picture of the mark rod acquired by an image sensor are determined, then a first coordinate system of the visual sensor angle of view is constructed according to the first coordinates and the second coordinates and a second coordinate system of the display screen angle of view is constructed according to the third coordinates of a plurality of vertical contact positions of the mark rod on the display screen acquired from the display screen, then the relative relationship between the first coordinate system and the second coordinate system in the three-dimensional space is calculated according to the principle of homography transformation and finally a virtual coordinate systemwhich can realize high-precision tracking of the operation action and accurately calibrate the coordinates of the position of the interactive device in the three-dimensional space can be constructed according to the calculated relative relationship and thus the human-computer interaction effect can be greatly enhanced.

The invention relates to a multi-camera correcting and positioning method and a glass laser cutting device. The multi-camera correcting and positioning method comprises the following steps that firstly, an XY virtual coordinate system is established, a mobile platform is moved to the middle position, and the mobile platform moves by plus a and minus a in the X-axis direction and moves by plus b and minus b in the Y-axis direction; secondly, the initial position of the mobile platform is marked with a pattern, pattern marking is conducted after movement every time, a pattern distributed like the speed dial is formed, and the coordinate m0 of the center of the pattern is recorded; thirdly, a new mobile platform coordinate system (x, y) with the m0 as the null point is established, and the mapping relationship between the mobile platform coordinate system and the XY virtual coordinate system is established; fourthly, the pattern is moved to the position under each camera, the positions, existing when the cameras can shoot the whole pattern, of the mobile platform are recorded, and the mapping relationship between the coordinate system (x, y) and a camera coordinate system is established; fifthly, the mapping relationship between the virtual coordinate system and the current camera coordinate system is established; and sixthly, the camera coordinates of the edge of a target are obtained through the multiple cameras, and the camera coordinates are mapped into the virtual coordinate system.

The invention discloses an optical machine positioning survey method of an intersection survey system. The optical machine positioning survey method comprises the steps: respectively establishing a reference mirror A coordinate system O(ASM)X(ASM)Y(ASM)Z(ASM), a reference mirror B coordinate system O(BSM)X(BSM)Y(BSM)Z(BSM), a first reflector mirror virtual coordinate system O(ANM)X(ANM)Y(ANM)Z(ANM) and a second reflector mirror virtual coordinate system O(BNM)X(BNM)Y(BNM)Z(BNM) by adopting six theodolites respectively, resolving a rotation matrix CA of the coordinate system O(ANM)X(ANM)Y(ANM)Z(ANM) to the coordinate system O(ASM)X(ASM)Y(ASM)Z(ASM), resolving a rotation matrix CB of the coordinate system O(BNM)X(BNM)Y(BNM)Z(BNM) to the coordinate system O(BSM)X(BSM)Y(BSM)Z(BSM); resolving vectors RA and RB according to the rotation matrixes CA and CB; obtaining a rotation matrix C1 between a virtual coordinate system of a camera A and the reference mirror A coordinate system according to the RA; obtaining a rotation matrix C2 between a virtual coordinate system of a camera B and the reference mirror B coordinate system according to the RB and a mirror image equation; completing relative relationship testing of the reference mirror A coordinate system and the reference mirror B coordinate system to obtain a rotation matrix C3; and determining a rotation matrix C4 between the virtual coordinate systems of the two cameras according to the C1, the C2 and the C3. The optical machine positioning survey method is simple to operate, high in precision, and capable of reducing the configuration requirement on hardware.

The embodiments of the invention provide a virtual scene display method, apparatus and system. The method comprises the following steps: obtaining position coordinates of a human head in a virtual coordinate system corresponding to a preset virtual scene; based on the position coordinates, determining a visual coordinate system, and obtaining a mapping relation between the visual coordinate system and the virtual coordinate system; based on the visual coordinate system and a preset visual focal length, determining a first visual area of people in the visual coordinate system; according to the mapping relation and the first visual area, determining a second visual area in the preset virtual scene; and displaying the second visual area. Through such a scheme, consumers can experience stereo and real virtual shopping environment.

The invention discloses a manipulator locating and guiding method and a calibration method based on machine vision cooperation. The calibration method comprises the steps of grabbing a product through a manipulator, so that a certain feature point of the product is located in the visual field of a camera, the product is driven by the manipulator to move for nine times in a nine-square mode, and the moving distance is delta d; taking any one of nine points as a central origin, and calculating actual coordinates of the other eight points; shooting once with a camera when the manipulator is moved once, capturing feature points of the product, calculating the pixel coordinates of the feature points, and finally forming the pixel coordinates of the nine points; and calculating a coordinate conversion relationship between pixel coordinates and actual coordinates by using a visual nine-point calibration algorithm. The calibration method is simple in calibration process, calibration blocks are not needed, and calibration is carried out only through the corresponding relation between image points. According to the guiding method, the offset of a locating point can be calculated according to the rotating center point calculated in a virtual coordinate system, and therefore the manipulator can be guided to adjust the grabbing position of the product.

The invention relates to a method for horizontal measurement of a guided missile with a laser tracker. The guided missile is put on a fixed position and located under a virtual coordinate system of the laser tracker, coordinates of all points under the virtual coordinate system are calculated by positioning a target ball on all the horizontal measurement points of the guided missile, the horizontal measurement points on a missile body are used for fitting a virtual reference plane, the height difference, relative to the virtual reference plane, of every two points on a pneumatic face is calculated, and then an installation error is determined. High-precision positioning equipment is adopted for horizontal measurement, and high precision of the advanced equipment can be sufficiently utilized for improving the precision and efficiency of horizontal measurement of the guided missile. Meanwhile, traditional horizontal measurement equipment is reduced, and cost is lowered.

The invention provides a virtual coordinate system constructing method of a CDN-P2P (Content Distribution Network-Peer-to-Peer) network. The method comprises the following steps that a tracker firstly selects a plurality of CDN edge servers as reference nodes and a basic coordinate system is constructed by utilizing a GNP (Global Network Positioning) virtual coordinate algorithm according to time delay information among the CDN edge servers which are used as the reference nodes; and then, adding various CDN edge servers which are not used as the reference nodes and various peer nodes into the constructed virtual coordinate system by utilizing the GNP virtual coordinate algorithm. The invention further provides a routing method of the CDN-P2P network. The method comprises the following steps that the tracker redirects a resource service request of a client to the CDN edge server which has the closest geometrical distance from the client according to coordinates of all the nodes in the network; and the CDN edge server redirects the resource service request of the client to a service node which has the closest geometrical distance from the client. The routing method can accurately redirect a client request in the CDN-P2P network to the optimal service node, is simple to realize and has smaller time delay and measurement expenses.

Described herein is a method of calibrating a three-dimensional imaging system. During calibration, a position and an orientation of the three-dimensional imaging system is determined with respect to a first parameter comprising a real world vertical direction (Vw) and to a second parameter comprising an origin of a three-dimensional scene captured by the imaging system. The first and second parameters are used to derive a calibration matrix (MC2w) which is used to convert measurements from a virtual coordinate system (Mc) of the three-dimensional imaging system into a real coordinate system (Mw) related to the real world. The calibration matrix (MC2w) is used to rectify measurements prior to signal processing. An inverse calibration matrix (Mw2c) is also determined. Continuous monitoring and adjustment of the setup of the three-dimensional imaging system is carried out and the calibration matrix (Mc2w) and its inverse (Mw2c) are adjusted accordingly.

The invention relates to a calibration method of an XYtheta platform machine vision alignment system. The XYtheta platform machine vision alignment system comprises an image acquisition device A, a platform A, an image acquisition device B and a platform B, calibration plates are adsorbed on the platform A and the platform B, each calibration plate is provided with a plurality of circular targetsarranged transversely and longitudinally, and the circular targets are distributed at equal intervals. In the calibration method, a fixed virtual coordinate system relative to image coordinates is established by applying the high-precision calibration plates, and the coordinate system serves as an intermediate transformation factor. The controlled platform moves for a fixed distance; obtaining reference point image coordinate changes and platform coordinate changes on the calibration plate; the coordinate transformation relation among the image, the virtual coordinate system and the platform coordinate system is calculated, calibration of the platform is completed, the problem that the precision error is large due to the fact that the platform is installed in a split mode and cannot move in the X-Y coordinate direction on respective image planes to achieve precise calibration is solved, and high adaptability and extremely high precision are achieved.

The invention discloses a space Jacobian matrix establishing method for robot parameter identification. The method includes the steps of S100, establishing a robot kinematic model; S200, analyzing robot joint differential movement characteristics on the basis of the robot kinematic model, and establishing a homogeneous transformation matrix in a coordinate system under the differential movement conditions; S300, establishing a virtual coordinate system corresponding to a joint on the basis of assuming that differential movements happen to a certain joint coordinate system, establishing a transformation matrix between the joint and the coordinate system, then calculating the attained pose of the tail end of the robot relative to a base coordinate system, comparing the attained pose with anexisting theoretical pose to obtain the pose error, caused by the movement quantity error of the joint coordinate system, of the tail end of the robot relative to the base coordinate system, and establishing a space Jacobian matrix of the robot. The robot space Jacobian matrix establishing method based on the differential movement principle and the virtual coordinate system method has lower time consumption and can rapidly establish the space Jacobian matrix of the robot.

The invention discloses a skiing dead zone display system based on AR. Map information of a ski resort, a ski resort boundary and a deceleration zone boundary around the ski resort are automatically or manually recognized and mapped into a virtual coordinate, spatial position information of all wearers is mapped into the virtual coordinate system, marking is performed in the map; information of sliders around a trail where the wearer is located is acquired in real time, marking color of the sliders which may collide with the wearer in the map is changed, a position where the wearer collides with the adjacent slider and a sliding track before collision is recorded; and the information of the ski resort boundary and the deceleration zone boundary around the ski resort, and position information and color information of the wearer and surrounding sliders are displayed via VR glasses. Therefore, the view of the wearer is expanded, so that the wearer has enough time to adjust the direction and convert the trail, and the security of skiing is increased. The invention synchronously provides a skiing dead zone display method based on AR.