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1. 发明申请

US20170046855A1 METHOD FOR DETECTING HORIZONTAL AND GRAVITY DIRECTIONS OF AN IMAGE 有权
标题翻译：用于检测图像的水平和重力方向的方法
公开(公告)号：US20170046855A1
公开(公告)日：2017-02-16
申请号：US15306980
申请日：2014-04-28
申请人： Institute of Automation Chinese Academy of Sciences
发明人： Zhiqiang Cao , Xilong Liu , Chao Zhou , Min Tan , Kun Ai
IPC分类号： G06T7/60
CPC分类号： G06T7/60 , G06T7/70 , G06T2207/10004 , G06T2207/20021 , G06T2207/20084 , G06T2207/30244 , G06T2207/30252
摘要： The disclosure relates to a method for detection of the horizontal and gravity directions of an image, the method comprising: selecting equidistant sampling points in an image at an interval of the radius of the sampling circle of an attention focus detector; placing the center of the sampling circle of the attention focus detector on each of the sampling points, and using the attention focus detector to acquire attention focus coordinates and the corresponding significant orientation angle, and all the attention focus coordinates and the corresponding significant orientation angles constitute a set Ωp; using an orientation perceptron to determine a local orientation angle and a weight at the attention focus according to the gray image information, and generating a local orientation function; obtaining a sum of each of the local orientation functions as an image direction function; obtaining a function MCGCS(β), and further obtaining the horizontal and gravity identification angles.
摘要翻译：本发明涉及一种用于检测图像的水平和重力方向的方法，所述方法包括：以注意焦点检测器的取样圆的半径的间隔选择图像中的等距采样点; 将注意焦点检测器的取样圆的中心放置在每个采样点上，并使用注意焦点检测器获取注意焦点坐标和相应的重要取向角，并且所有注意焦点坐标和相应的重要取向角构成一套Ωp; 使用定向感知器来根据灰度图像信息来确定注意焦点处的局部取向角度和重量，并且产生局部取向函数; 获得每个局部取向函数的和作为图像方向函数; 获得函数MCGCS（β），并进一步获得水平和重力识别角度。

2. 发明授权

US11300664B1 LiDAR odometry method, system and apparatus based on directed geometric point and sparse frame 有权
公开(公告)号：US11300664B1
公开(公告)日：2022-04-12
申请号：US17450693
申请日：2021-10-13
申请人： INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES , Beijing EnGo Technology Co., Ltd.
发明人： Zhiqiang Cao , Zhonghui Li , Jinli Kang , Min Tan , Shuang Liang , Chengpeng Wang
IPC分类号： G01S7/48 , G01S17/42 , G06T7/73 , G01S17/89
摘要： A LiDAR odometry method based on the directed geometric point and sparse frame includes: obtaining original three-dimensional point cloud data of a surrounding environment in the coordinate system of the current frame of the LiDAR sensor; constructing and converting the first directed geometric point set and first environmental directed geometric point set into the second directed geometric point set and second environmental directed geometric point set in the world coordinate system, respectively; calculating candidate associated points in the second environmental directed geometric point set in association with each point in the second directed geometric point set, and determining the best associated point of each point in the second directed geometric point set; constructing and solving a pose optimization function to obtain an optimized pose from the coordinate system of the current frame of the LiDAR sensor to the world coordinate system; and updating directed geometric point sets of sparse frames.

3. 发明授权

US09886775B2 Method for detecting horizontal and gravity directions of an image 有权
公开(公告)号：US09886775B2
公开(公告)日：2018-02-06
申请号：US15306980
申请日：2014-04-28
申请人： Institute of Automation Chinese Academy of Sciences
发明人： Zhiqiang Cao , Xilong Liu , Chao Zhou , Min Tan , Kun Ai
IPC分类号： G06K9/00 , G06T7/60
CPC分类号： G06T7/60 , G06T7/70 , G06T2207/10004 , G06T2207/20021 , G06T2207/20084 , G06T2207/30244 , G06T2207/30252
摘要： The disclosure relates to a method for detection of the horizontal and gravity directions of an image, the method comprising: selecting equidistant sampling points in an image at an interval of the radius of the sampling circle of an attention focus detector; placing the center of the sampling circle of the attention focus detector on each of the sampling points, and using the attention focus detector to acquire attention focus coordinates and the corresponding significant orientation angle, and all the attention focus coordinates and the corresponding significant orientation angles constitute a set Ωp; using an orientation perceptron to determine a local orientation angle and a weight at the attention focus according to the gray image information, and generating a local orientation function; obtaining a sum of each of the local orientation functions as an image direction function; obtaining a function MCGCS(β), and further obtaining the horizontal and gravity identification angles.

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