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公开(公告)号：US11908152B2
公开(公告)日：2024-02-20
申请号：US17603856
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： G06T7/596 , G06T7/85 , G06T2207/10012 , G06T2207/20228
摘要： The present invention belongs to the field of image processing and computer vision, and discloses an acceleration method of depth estimation for multiband stereo cameras. In the process of depth estimation, during binocular stereo matching in each band, through compression of matched images, on one hand, disparity equipotential errors caused by binocular image correction can be offset to make the matching more accurate, and on the other hand, calculation overhead is reduced. In addition, before cost aggregation, cost diagrams are transversely compressed and sparsely matched, thereby reducing the calculation overhead again. Disparity diagrams obtained under different modes are fused to obtain all-weather, more complete and more accurate depth information.
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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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公开(公告)号：US11315273B2
公开(公告)日：2022-04-26
申请号：US17604239
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
摘要： The present invention discloses a disparity estimation method for weakly supervised trusted cost propagation, which utilizes a deep learning method to optimize the initial cost obtained by the traditional method. By combining and making full use of respective advantages, the problems of false matching and difficult matching of untextured regions in the traditional method are solved, and the method for weakly supervised trusted cost propagation avoids the problem of data label dependency of the deep learning method.
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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：US11210803B2
公开(公告)日：2021-12-28
申请号：US16650331
申请日：2019-01-07
发明人： Xinchen Ye , Wei Zhong , Zhihui Wang , Haojie Li , Lin Lin , Xin Fan , Zhongxuan Luo
摘要： The present invention provides a method of dense 3D scene reconstruction based on monocular camera and belongs to the technical field of image processing and computer vision, which builds the reconstruction strategy with fusion of traditional geometry-based depth computation and convolutional neural network (CNN) based depth prediction, and formulates depth reconstruction model solved by efficient algorithm to obtain high-quality dense depth map. The system is easy to construct because of its low requirement for hardware resources and achieves dense reconstruction only depending on ubiquitous monocular cameras. Camera tracking of feature-based SLAM provides accurate pose estimation, while depth reconstruction model with fusion of sparse depth points and CNN-inferred depth achieves dense depth estimation and 3D scene reconstruction; The use of fast solver in depth reconstruction avoids solving inversion of large-scale sparse matrix, which improves running speed of the algorithm and ensures the real-time dense 3D scene reconstruction based on monocular camera.
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6.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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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：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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公开(公告)号：US11302105B2
公开(公告)日：2022-04-12
申请号：US17280745
申请日：2020-03-05
发明人： Wei Zhong , Shenglun Chen , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo
摘要： The present invention discloses a grid map obstacle detection method fusing probability and height information, and belongs to the field of image processing and computer vision. A high-performance computing platform is constructed by using a GPU, and a high-performance solving algorithm is constructed to obtain obstacle information in a map. The system is easy to construct, the program is simple, and is easy to implement. The positions of obstacles are acquired in a multi-layer grid map by fusing probability and height information, so the robustness is high and the precision is high.
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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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