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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
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Wei Zhong , Shenglun Chen , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo
IPC: G06T17/05 , H04N13/239
Abstract: 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：US12094152B2
公开(公告)日：2024-09-17
申请号：US17442937
申请日：2020-03-05
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Weiqiang Kong , Deyun Lv , Wei Zhong , Risheng Liu , Xin Fan , Zhongxuan Luo
Abstract: 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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Patent Agency Ranking
公开(公告)号：US11783457B2
公开(公告)日：2023-10-10
申请号：US17284394
申请日：2020-03-05
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Wei Zhong , Haojie Li , Boqian Liu , Zhihui Wang , Risheng Liu , Zhongxuan Luo , Xin Fan
CPC classification number: G06T5/006 , G06T5/40 , G06T5/50 , G06T7/73 , G06T7/80 , G06T2207/10021 , G06T2207/10024 , G06T2207/10048 , G06T2207/10052 , G06T2207/20016 , G06T2207/20164
Abstract: 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
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Wei Zhong , Shenglun Chen , Haojie Li , Zhihui Wang , Risheng Liu , Xin Fan , Zhongxuan Luo
Abstract: 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：US12108022B2
公开(公告)日：2024-10-01
申请号：US17442967
申请日：2020-03-05
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Weiqiang Kong , Deyun Lv , Wei Zhong , Risheng Liu , Xin Fan , Zhongxuan Luo
IPC: G06K9/00 , G06T7/155 , G06V10/28 , H04N13/271
CPC classification number: H04N13/271 , G06T7/155 , G06V10/28 , G06T2207/10048 , G06V2201/07
Abstract: The present invention discloses a method for infrared small target detection based on a depth map in a complex scene, and belongs to the field of target detection. An infrared image is collected, the image is binarized by using priori knowledge of a to-be-detected target and adopting a pixel value method, the binary image is further limited based on deep priori knowledge, then static and dynamic scoring strategies are formulated to score a candidate connected component in the morphologically processed image, and an infrared small target in a complex scene is detected finally. The method can screen out targets within a specific range, has high reliability; has strong robustness; is simple in program and easy to implement, can be used in sea, land, and air, and has a significant advantage under a complex jungle background.
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公开(公告)号：US11823363B2
公开(公告)日：2023-11-21
申请号：US17282597
申请日：2020-03-05
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Risheng Liu , Xin Fan , Jinyuan Liu , Wei Zhong , Zhongxuan Luo
CPC classification number: G06T5/50 , G06T3/4053 , G06T5/10 , G06T7/30 , G06T7/80 , G06T7/90 , G06T2207/10024 , G06T2207/10048 , G06T2207/20221
Abstract: The present invention provides an infrared and visible light fusion method, and belongs to the field of image processing and computer vision. The present invention adopts a pair of infrared binocular camera and visible light binocular camera to acquire images, relates to the construction of a fusion image pyramid and a significant vision enhancement algorithm, and is an infrared and visible light fusion algorithm using multi-scale transform. The present invention uses the binocular cameras and NVIDIATX2 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 present invention constructs an image pyramid by designing a filtering template according to different imaging principles of infrared and visible light cameras, obtains image information at different scales, performs image super-resolution and significant enhancement, and finally achieves real-time performance through GPU acceleration.
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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
Applicant: DALIAN UNIVERSITY OF TECHNOLOGY
Inventor： Xinchen Ye , Wei Zhong , Zhihui Wang , Haojie Li , Lin Lin , Xin Fan , Zhongxuan Luo
Abstract: 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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