公开(公告)号：US11948333B2

公开(公告)日：2024-04-02

申请号：US17604288

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY ,  PENG CHENG LABORATORY

Inventor： Wei Zhong ,  Hong Zhang ,  Haojie Li ,  Zhihui Wang ,  Risheng Liu ,  Xin Fan ,  Zhongxuan Luo ,  Shengquan Li

IPC: G06T7/80 ,  G06F17/12 ,  G06T5/50

CPC classification number: G06T7/85 ,  G06F17/12 ,  G06T5/50 ,  G06T2207/20221 ,  G06T2207/20228

Abstract: 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.

公开(公告)号：US12008779B2

公开(公告)日：2024-06-11

申请号：US17604588

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY ,  PENG CHENG LABORATORY

Inventor： Wei Zhong ,  Hong Zhang ,  Haojie Li ,  Zhihui Wang ,  Risheng Liu ,  Xin Fan ,  Zhongxuan Luo ,  Shengquan Li

IPC: G06T7/593 ,  G06T3/4076 ,  G06V10/40 ,  G06V10/44

CPC classification number: G06T7/593 ,  G06T3/4076 ,  G06V10/40 ,  G06V10/443 ,  G06T2207/20084

Abstract: 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.

公开(公告)号：US11908152B2

公开(公告)日：2024-02-20

申请号：US17603856

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY ,  PENG CHENG LABORATORY

Inventor： Wei Zhong ,  Hong Zhang ,  Haojie Li ,  Zhihui Wang ,  Risheng Liu ,  Xin Fan ,  Zhongxuan Luo ,  Shengquan Li

IPC: G06T7/593 ,  G06T7/80

CPC classification number: G06T7/596 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/20228

Abstract: 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.

公开(公告)号：US11900634B2

公开(公告)日：2024-02-13

申请号：US17604185

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY ,  PENG CHENG LABORATORY

Inventor： Wei Zhong ,  Deyun Lv ,  Weiqiang Kong ,  Risheng Liu ,  Xin Fan ,  Zhongxuan Luo ,  Shengquan Li

IPC: G06T7/80 ,  H04N17/00 ,  G06V10/75

CPC classification number: G06T7/80 ,  G06V10/75 ,  H04N17/002

Abstract: The present invention discloses a method for adaptively detecting chessboard sub-pixel level corner points. Adaptive detection of chessboard sub-pixel level corner points is completed by marking position of an initial unit grid on a chessboard, using a homography matrix H calculated by pixel coordinates of four corner points of the initial unit grid in a pixel coordinate system and world coordinates in a world coordinate system to expand outwards, adaptively adjusting size of an iteration window in the process of expanding outwards, and finally spreading to the whole chessboard region.

公开(公告)号：US11315273B2

公开(公告)日：2022-04-26

申请号：US17604239

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY ,  PENG CHENG LABORATORY

Inventor： Wei Zhong ,  Hong Zhang ,  Haojie Li ,  Zhihui Wang ,  Risheng Liu ,  Xin Fan ,  Zhongxuan Luo ,  Shengquan Li

IPC: G06T7/55 ,  G06T5/00 ,  G06N20/00 ,  G06T5/20 ,  G06K9/62

Abstract: 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.

公开(公告)号：US11783446B2

公开(公告)日：2023-10-10

申请号：US17282635

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Wei Zhong ,  Yuankai Xiang ,  Haojie Li ,  Zhihui Wang ,  Risheng Liu ,  Xin Fan ,  Zhongxuan Luo

IPC: G06T3/40 ,  G06T7/80 ,  G06T5/40

CPC classification number: G06T3/4038 ,  G06T5/40 ,  G06T7/80 ,  G06T2207/20021 ,  G06T2207/20221

Abstract: 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.

公开(公告)号：US11830222B2

公开(公告)日：2023-11-28

申请号：US17282662

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Risheng Liu ,  Xin Fan ,  Jinyuan Liu ,  Wei Zhong ,  Zhongxuan Luo

IPC: G06K9/00 ,  G06T7/80 ,  G06T7/90 ,  G06T5/50

CPC classification number: G06T7/80 ,  G06T5/50 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/10048 ,  G06T2207/20221

Abstract: 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.

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.

公开(公告)号：US11575873B2

公开(公告)日：2023-02-07

申请号：US17283772

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

IPC: H04N13/246 ,  G06T7/80 ,  G06T7/33 ,  H04N13/254 ,  G06K9/62 ,  G06T5/00 ,  G06T7/20

Abstract: 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.

公开(公告)号：US11350073B2

公开(公告)日：2022-05-31

申请号：US17283119

申请日：2020-03-05

Applicant: DALIAN UNIVERSITY OF TECHNOLOGY

Inventor： Xin Fan ,  Risheng Liu ,  Zhuoxiao Li ,  Wei Zhong ,  Zhongxuan Luo

IPC: H04N13/156 ,  H04N13/239 ,  H04N13/246 ,  G06T7/11 ,  G06T7/80 ,  H04N13/15

Abstract: 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.