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公开(公告)号：US12008779B2
公开(公告)日：2024-06-11
申请号：US17604588
申请日：2020-03-05
发明人： Wei Zhong , Hong Zhang , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo , Shengquan Li
IPC分类号： G06T7/593 , G06T3/4076 , G06V10/40 , G06V10/44
CPC分类号： G06T7/593 , G06T3/4076 , G06V10/40 , G06V10/443 , G06T2207/20084
摘要： The present invention discloses a disparity estimation optimization method based on upsampling and exact rematching, which conducts exact rematching within a small range in an optimized network, improves previous upsampling methods such as neighbor interpolation and bilinear interpolation for disparity maps or cost maps, and works out a propagation-based upsampling method by the way of network so that accurate disparity values can be better restored from disparity maps in the upsampling process.
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2.发明授权公开(公告)号：US11575873B2
公开(公告)日：2023-02-07
申请号：US17283772
申请日：2020-03-05
发明人： Wei Zhong , Haojie Li , Boqian Liu , Zhihui Wang , Risheng Liu , Zhongxuan Luo , Xin Fan
IPC分类号： H04N13/246 , G06T7/80 , G06T7/33 , H04N13/254 , G06K9/62 , G06T5/00 , G06T7/20
摘要： The present invention discloses a multispectral stereo camera self-calibration algorithm based on track feature registration, and belongs to the field of image processing and computer vision. Optimal matching points are obtained by extracting and matching motion tracks of objects, and external parameters are corrected accordingly. Compared with an ordinary method, the present invention uses the tracks of moving objects as the features required for self-calibration. The advantage of using the tracks is good cross-modal robustness. In addition, direct matching of the tracks also saves the steps of extraction and matching the feature points, thereby achieving the advantages of simple operation and accurate results.
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3.发明授权公开(公告)号：US11350073B2
公开(公告)日：2022-05-31
申请号：US17283119
申请日：2020-03-05
发明人： Xin Fan , Risheng Liu , Zhuoxiao Li , Wei Zhong , Zhongxuan Luo
IPC分类号： H04N13/156 , H04N13/239 , H04N13/246 , G06T7/11 , G06T7/80 , H04N13/15
摘要： The present invention discloses a disparity image stitching and visualization method based on multiple pairs of binocular cameras. A calibration algorithm is used to solve the positional relationship between binocular cameras, and the prior information is used to solve a homography matrix between images; internal parameters and external parameters of the cameras are used to perform camera coordinate system transformation of depth images; the graph cut algorithm has high time complexity and depends on the number of nodes in a graph; the present invention divides the images into layers, and solutions are obtained layer by layer and iterated; then the homography matrix is used to perform image coordinate system transformation of the depth images, and a stitching seam is synthesized to realize seamless panoramic depth image stitching; and finally, depth information of a disparity image is superimposed on a visible light image.
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公开(公告)号：US11830222B2
公开(公告)日：2023-11-28
申请号：US17282662
申请日：2020-03-05
发明人： Risheng Liu , Xin Fan , Jinyuan Liu , Wei Zhong , Zhongxuan Luo
CPC分类号： G06T7/80 , G06T5/50 , G06T7/90 , G06T2207/10024 , G06T2207/10048 , G06T2207/20221
摘要： The present invention proposes a bi-level optimization-based infrared and visible light fusion method, adopts a pair of infrared camera and visible light camera to acquire images, and relates to the construction of a bi-level paradigm infrared and visible light image fusion algorithm, which is an infrared and visible light fusion algorithm using mathematical modeling. Binocular cameras and NVIDIA TX2 are used to construct a high-performance computing platform and to construct a high-performance solving algorithm to obtain a high-quality infrared and visible light fusion image. The system is easy to construct, and the input data can be acquired by using stereo binocular infrared and visible light cameras respectively; the program is simple and easy to implement; and the fusion image is divided into an image domain and a gradient domain for fusion by means of mathematical modeling according to different imaging principles of infrared and visible light cameras.
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公开(公告)号：US11315318B2
公开(公告)日：2022-04-26
申请号：US17278583
申请日：2020-03-05
发明人： Wei Zhong , Shenglun Chen , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo
IPC分类号： G06T17/05 , H04N13/239
摘要： The present invention discloses a method for constructing a grid map by using a binocular stereo camera. A high-performance computing platform is constructed by using a binocular camera and a GPU, and a high-performance solving algorithm is constructed to obtain a high-quality grid map containing three-dimensional information. The system in the present invention is easy to construct, so the input data may be collected by using the binocular stereo camera; the program is simple and easy to implement. According to the present invention, the grid height is calculated by using spatial prior information and statistical knowledge, so that a three-dimensional result is more robust; and according to the present invention, the adaptive threshold of grids is solved by using spatial geometry, filtering and screening of the grids are completed, and thus the generalization ability and robustness of the algorithm are improved.
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公开(公告)号：US11948333B2
公开(公告)日：2024-04-02
申请号：US17604288
申请日：2020-03-05
发明人： Wei Zhong , Hong Zhang , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo , Shengquan Li
CPC分类号： G06T7/85 , G06F17/12 , G06T5/50 , G06T2207/20221 , G06T2207/20228
摘要： A disparity image fusion method for multiband stereo cameras belongs to the field of image processing and computer vision. The method obtains pixel disparity confidence information by using the intermediate output of binocular disparity estimation. The confidence information can be used to judge the disparity credibility of the position and assist disparity fusion. The confidence acquisition process makes full use of the intermediate output of calculation, and can be conveniently embedded into the traditional disparity estimation process, with high calculation efficiency and simple and easy operation. In the disparity image fusion method for multiband stereo cameras proposed by the method, the disparity diagrams participating in the fusion are obtained according to the binocular images of the corresponding bands, which makes full use of the information of each band and simultaneously avoiding introducing uncertainty and errors.
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公开(公告)号：US11783446B2
公开(公告)日：2023-10-10
申请号：US17282635
申请日：2020-03-05
发明人： Wei Zhong , Yuankai Xiang , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo
CPC分类号： G06T3/4038 , G06T5/40 , G06T7/80 , G06T2207/20021 , G06T2207/20221
摘要： The present invention discloses a large-field-angle image real-time stitching method based on calibration. First, a calibration algorithm is used to solve the positional relationship between cameras, and the prior information is used to solve a homography matrix between images. The system is easy to build, and the program is simple and easy to implement; an overlapping area ROI of images can be calculated by the homography matrix between images, and an energy model thereof can be built and solved with a graph cut algorithm; the graph cut algorithm has high time complexity and depends on the number of nodes in a graph; here, images are divided into layers, and solutions are obtained layer by layer and iterated; and finally, a stitched image is further optimized by simple linear fusion of stitching seams and histogram equalization of the stitched image.
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8.发明授权公开(公告)号：US11238602B2
公开(公告)日：2022-02-01
申请号：US16649322
申请日：2019-01-07
发明人： Xinchen Ye , Wei Zhong , Haojie Li , Lin Lin , Xin Fan , Zhongxuan Luo
摘要： The present invention provides a method for estimating high-quality depth map based on depth prediction and enhancement sub-networks, belonging to the technical field of image processing and computer vision. This method constructs depth prediction subnetwork to predict depth information from color image and uses depth enhancement subnetwork to obtain high-quality depth map by recovering the low-resolution depth map. It is easy to construct the system, and can obtain the high-quality depth map from the corresponding color image directly by the well-trained end to end network. The algorithm is easy to be implemented. It uses high-frequency component of color image to help to recover the lost depth boundaries information caused by down-sampling operators in depth prediction sub-network, and finally obtains high-quality and high-resolution depth maps. It uses spatial pyramid pooling structure to increase the accuracy of depth map prediction for multi-scale objects in the scene.
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公开(公告)号：US12094152B2
公开(公告)日：2024-09-17
申请号：US17442937
申请日：2020-03-05
发明人： Weiqiang Kong , Deyun Lv , Wei Zhong , Risheng Liu , Xin Fan , Zhongxuan Luo
摘要： The present invention discloses a method for fully automatically detecting chessboard corner points, and belongs to the field of image processing and computer vision. Full automatic detection of chessboard corner points is completed by setting one or a plurality of marks with colors or certain shapes on a chessboard to mark an initial position, shooting an image and conducting corresponding processing, using a homography matrix H calculated by initial pixel coordinates of a unit grid in a pixel coordinate system and manually set world coordinates in a world coordinate system to expand outwards, and finally spreading to the whole chessboard region. The method has the advantages of simple procedure and easy implementation; the principle of expanding outwards by a homography matrix is used, so that the running speed of the algorithm is fast; and the corner points obtained by a robustness enhancement algorithm is more accurate, so that the situation of inaccurate corner point detection in the condition of complex illumination is avoided.
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公开(公告)号：US11783457B2
公开(公告)日：2023-10-10
申请号：US17284394
申请日：2020-03-05
发明人： Wei Zhong , Haojie Li , Boqian Liu , Zhihui Wang , Risheng Liu , Zhongxuan Luo , Xin Fan
CPC分类号： G06T5/006 , G06T5/40 , G06T5/50 , G06T7/73 , G06T7/80 , G06T2207/10021 , G06T2207/10024 , G06T2207/10048 , G06T2207/10052 , G06T2207/20016 , G06T2207/20164
摘要： A multispectral camera dynamic stereo calibration algorithm is based on saliency features. The joint self-calibration method comprises the following steps: step 1: conducting de-distortion and binocular correction on an original image according to internal parameters and original external parameters of an infrared camera and a visible light camera. Step 2: Detecting the saliency of the infrared image and the visible light image respectively based on a histogram contrast method. Step 3: Extracting feature points on the infrared image and the visible light image. Step 4: Matching the feature points extracted in the previous step. Step 5: judging a feature point coverage area. Step 6: correcting the calibration result. The present invention solves the change of a positional relationship between an infrared camera and a visible light camera due to factors such as temperature, humidity and vibration.
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