Baidu Online Network Technology (beijing) Co., Ltd.

Beijing Nana Tesla Technology Co. Ltd

Yuan Lin

Yongjie Zhang

Sili Chen

Zhongqin Wu

Hongwu Zhang

Yingchao Li

Yuhua Dong

Binbin Zheng

Yijie Yan

Yue Hua Zhang

Zhaoliang Liu

Panpan Li

Chenxiao Cao

A monocular vision tracking method, apparatus, and a non-volatile computer-readable storage medium are provided. The method includes: acquiring a first camera pose by using a wireless tracker; capturing calibration board images by using a camera, and selecting a set of images from the captured calibration board images according to image sharpness and camera pose difference; calculating a second camera pose in the camera calibration algorithm according to the selected set of images; obtaining a conversion parameter between the first camera pose and the second camera pose; and converting a first capturing pose into a second capturing pose by means of the conversion parameter when a scenario is captured, wherein the first capturing pose is acquired by the wireless tracker and the second capturing pose corresponds to a pose of the camera.

Monocular vision tracking method, apparatus and non-transitory computer-readable storage medium

The present application provides a method and an apparatus for three-dimensional object pose estimation, a device and a storage medium. The method includes: calculating a graph of a previous frame and a graph of a current frame for a target three-dimensional object; performing a matching calculation on the graph of the previous frame and the graph of the current frame using a graph matching algorithm to obtain a vertex correspondence relationship between the graph of the previous frame and the graph of the current frame; calculating a pose of the target three-dimensional object in the current frame according to the vertex correspondence relationship, a pose of the target three-dimensional object in the previous frame and a PnP algorithm. The matching accuracy of feature points is effectively improved, and thereby the accuracy of three-dimensional object pose estimation is improved.

Method and apparatus for three-dimensional object pose estimation, device and storage medium

A monocular vision tracking method, apparatus and a non-volatile computer-readable storage medium are provided. The method includes: acquiring a first camera pose by using a wireless tracker; capturing calibration board images by using a camera, and calculating a second camera pose according to the captured calibration board images; obtaining a conversion parameter between the first camera pose and the second camera pose; and converting a first capturing pose into a second capturing pose by means of the conversion parameter when a scenario is captured, wherein the first capturing pose is acquired by the wireless tracker and the second capturing pose corresponds to a pose of the camera; wherein a relative position between the wireless tracker and the camera remains unchanged, in processes of acquiring the first camera pose, capturing the calibration board images and capturing the scenario.

Monocular vision tracking method, apparatus and non-volatile computer-readable storage medium

A method for determining a pose of a camera is provided, the method includes: S, acquiring an image of a marker; S, estimating a first pose of the camera according to the image of the marker by a characteristic point method; S, estimating a second pose of the camera according to the image of the marker by a direct method; and S, determining the pose of the camera based on the first pose and the second pose.

Method and device for determining pose of camera

An object tracking method, device are provided according to the disclosure. The object tracking method includes: acquiring an object image comprising an object; determining a current image with the object from images captured consecutively, according to the object image; calculating a first pose of the object in the current image using a first algorithm, and calculating a second pose of the object in the current image using a second algorithm, wherein the first algorithm has a faster calculating speed than the second algorithm; determining a pose of the object to be the first pose before a calculation of the second pose is completed; and in a case that the calculation of the second pose is completed, calculating a third pose of the object according to the first pose and the second pose; and determining the pose of the object to be the third pose.

Object tracking method, device, augmented reality system and storage medium

The present disclosure discloses a method and apparatus for constructing a three-dimensional map. A specific embodiment of the method includes: acquiring multiple frames of a monocular image containing a target object collected by a monocular camera, and constructing a three-dimensional map containing the target object and other objects in the monocular image based on the monocular image; determining an absolute scale of the target object, and determining a ratio of a relative scale corresponding to the target object to the absolute scale; and adjusting a scale of each object in the three-dimensional map to obtain a three-dimensional map meeting a preset condition based on the ratio. The method and apparatus provided by the present disclosure achieves the construction of a world coordinate system with absolute scales in a three-dimensional map constructed based on a monocular image.

Method and apparatus for constructing three-dimensional map

A rotating magnetic field range finder for measuring relative distance in drilling, comprising a permanent magnet steel drill collar (), an underground detector () and a ground interface box (). The permanent magnet steel drill collar () is fixed to the rear part of a drill bit and rotates together with the drill bit to generate a rotating magnetic field to provide a magnetic field signal source. The underground detector () comprises two tri-axial fluxgates and three accelerometers. The ground interface box () is used for processing the obtained data, and powering the underground detector. The permanent magnet steel drill collar () is an obliquely arranged one or a perpendicularly-and-parallelly assembled one. A measuring method for magnetic range measurement is also disclosed.

Rotating magnetic field range finder and its measurement method for relative separation between drilling wells

A method and apparatus for generating image information. A specific embodiment of the method includes: acquiring a rotation angle and a scaling of a target image relative to a reference image, and acquiring an intrinsic parameter of a video camera collecting the reference image; generating a projective transformation matrix based on the rotation angle, the scaling and the intrinsic parameter; generating a coordinate offset of the each neighborhood pixel of the feature point in the reference image; generating, based on a coordinate of the feature point in the reference image, the coordinate offset of the each neighborhood pixel of the feature point in the reference image and the projective transformation matrix, coordinates of the each neighborhood pixel of the feature point in the reference image; and generating a feature point descriptor of the feature point.

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Beijing, China

Yuan Lin