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公开(公告)号：US12118748B2
公开(公告)日：2024-10-15
申请号：US18248361
申请日：2020-10-30
发明人： Rengao Zhou
IPC分类号： G06T7/80
CPC分类号： G06T7/80 , G06T2207/30208
摘要： A unified calibration method between a DVS and a camera, in which a special calibration board is set up which consists of a calibration grid pattern and LEDs attached to the corners of the calibration grids. The camera finds the corners of calibration grid by capturing the image, and the DVS finds the same corners by detecting the intensity changes of the LEDs at the corners, to establish a unified world coordinate system as a reference coordinate system. After performing the calibration and coordinate system transformations, an extrinsic matrix between the DVS and the camera can be obtained.
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公开(公告)号：US20240137663A1
公开(公告)日：2024-04-25
申请号：US18546080
申请日：2021-03-28
发明人： Rengao Zhou
摘要： A method and system for generating frames for a DVS is disclosed. The method comprises: receiving DVS pixels of an object from a DVS; initializing a timespan to a timespan value; generating a frame by integrating DVS pixels captured within a timespan; evaluating a moving speed of the object; combining a plurality of consecutive frames into one combined frame when the evaluated moving speed is lower than a first threshold value. The system comprises a DVS configured to capture DVS pixels of an object; and a processor configured to receive the DVS pixels from the DVS and performed the method.
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公开(公告)号：US20240236518A9
公开(公告)日：2024-07-11
申请号：US18546080
申请日：2021-03-29
发明人： Rengao Zhou
摘要： A method and system for generating frames for a DVS is disclosed. The method comprises: receiving DVS pixels of an object from a DVS; initializing a timespan to a timespan value; generating a frame by integrating DVS pixels captured within a timespan; evaluating a moving speed of the object; combining a plurality of consecutive frames into one combined frame when the evaluated moving speed is lower than a first threshold value. The system comprises a DVS configured to capture DVS pixels of an object; and a processor configured to receive the DVS pixels from the DVS and performed the method.
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公开(公告)号：US20240153291A1
公开(公告)日：2024-05-09
申请号：US18547138
申请日：2021-03-26
发明人： Rengao Zhou
摘要： The disclosure provides a method, a system and an apparatus for auto-labeling dynamic vision sensor (DVS) frame. The method may comprise generating a pair of camera frames by a pair of cameras within an interval, and generating at least one DVS frame by a DVS within the interval. The method may further calculate a disparity frame based on the pair of camera frames, and obtain 3D information of the pair of camera frames based on the calculated disparity frame. The method may use a deep leaning model to determine an object area for auto-labeling, and may obtain 3D points based on the 3D information and the determined object area. And then, the method may re-project the 3D points towards the at least one DVS frame to generate re-projected points on the at least one DVS frame. The method may further generate at least one auto-labeled result on the at least one DVS frame by combining the re-projected points on the at least one DVS frame.
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公开(公告)号：US20240153098A1
公开(公告)日：2024-05-09
申请号：US18547144
申请日：2021-03-29
发明人： Rengao Zhou
CPC分类号： G06T7/13 , G06T3/40 , G06T5/30 , G06V10/46 , G06T2207/20164
摘要： A chessboard corner detection method on a camera image of the DVS-camera unified calibration board is provided. The method detects the multiple corners of the chessboard in the camera image by expanding the areas in color opposite to the binarized blob to eliminate the blob and separates the squares in the image, wherein the outer edge of the chessboard with the same color as the binarized spots needs to be filled with the opposite color in advance. Each corner can be marked then at the middle point of the line connecting the separated adjacent squares.
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