公开(公告)号：US10447992B1

公开(公告)日：2019-10-15

申请号：US16104143

申请日：2018-08-17

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Cihui Pan ,  Shengqi Tan ,  Xianji Wang ,  Jianxin Pang

IPC: H04N13/221 ,  G06T1/00 ,  H04N13/296 ,  G06T7/174 ,  H04N13/00

Abstract: The present disclosure discloses a method and a system for image processing. The method includes: obtaining images of a target environment captured by a robot in a preset movement trajectory according to a predefined condition; combining every two of the images having a same region into a corresponding image pair based on an initial position estimation of each of the images; producing an image seed based on the image pair; performing position optimization on the image seed; producing an image subset based on the image seed after the position optimization; and performing position optimization on the image subset based on the image seeds in the image subset. It can effectively reduce the computational complexity of image matching, reduce the calculation time, and improve the accuracy of image processing.

公开(公告)号：US20190206117A1

公开(公告)日：2019-07-04

申请号：US16231978

申请日：2018-12-25

Applicant: UBTECH ROBOTICS CORP.

Inventor： Youjun XIONG ,  Shengqi Tan ,  Cihui Pan ,  Xianji Wang ,  Jianxin Pang

IPC: G06T15/20 ,  G06T5/00 ,  G06T7/194 ,  G06T5/50

CPC classification number: G06T15/205 ,  G06T5/002 ,  G06T5/50 ,  G06T7/194 ,  G06T2207/10028 ,  G06T2207/20221

Abstract: The present disclosure provides an image processing method, an intelligent terminal, and a storage device. The image processing method may include: obtaining an original image, and obtaining mask information of a target object from the original image, wherein the mask information includes classification information for foreground and background of the target object; denoising the original image to obtain a denoised image of the original image; and obtaining a target image from the denoised image according to the mask information of the target object. The present disclosure can improve the quality of the image by denoising the original image, and the obtained target image can be a minimum-sized image including all the information of the target object. Because the size of the image is reduced without losing valid information, the calculation amount of the 3D synthesis can be greatly reduced.

公开(公告)号：US20190197735A1

公开(公告)日：2019-06-27

申请号：US16205348

申请日：2018-11-30

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Shengqi Tan ,  Cihui Pan ,  Xianji Wang ,  Jianxin Pang

IPC: G06T7/80 ,  H04N13/271 ,  H04N13/257 ,  H04N13/246

CPC classification number: G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20024 ,  G06T2207/20076 ,  H04N13/246 ,  H04N13/257 ,  H04N13/271

Abstract: The present disclosure provides a method and an apparatus for image processing, and a robot using the same. The method includes: obtaining a depth map and a color map of a target object in a predetermined scene; filtering the depth map based on the color map to obtain a first depth filter map; detecting pixel values of pixels in the first depth filter map to obtain one or more first pixels, and forming a black dot cavity area based on the one or more first pixels; re-assigning a depth value of each of the one or more first pixels in the black dot cavity area according to a preset rule to obtain the depth map after repair; and filtering the depth map after repair to obtain a second depth filter map. The present disclosure is capable of improving the quality of the depth map.