CN103203760A - Camera fixing device and panoramic vision system with same - Google Patents
Camera fixing device and panoramic vision system with same Download PDFInfo
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- CN103203760A CN103203760A CN201210013437XA CN201210013437A CN103203760A CN 103203760 A CN103203760 A CN 103203760A CN 201210013437X A CN201210013437X A CN 201210013437XA CN 201210013437 A CN201210013437 A CN 201210013437A CN 103203760 A CN103203760 A CN 103203760A
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- 230000000007 visual effect Effects 0.000 claims description 19
- 230000000694 effects Effects 0.000 abstract description 8
- 238000009434 installation Methods 0.000 description 18
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The invention discloses a camera fixing device. The camera fixing device comprises a top plate, a supporting framework and a mounting component, wherein a reflecting mirror is fixedly connected with the lower end face of the top plate; the height of the mounting component can be adjusted; the top plate is fixedly arranged on the upper end face of the supporting framework so that the reflecting mirror is positioned in the supporting framework; a camera is fixedly arranged at the upper end of the mounting component; and the upper end of the mounting component is fixedly connected with the lower end face of the supporting framework, so that the camera and the reflecting mirror are on the same axial line. The invention also discloses a panoramic vision system. The panoramic vision system comprises the camera fixing device. By the camera fixing device, the problem that the camera and the reflecting mirror are not easily kept on the same axial line is effectively solved. The camera fixing device is simple in whole structure, convenient to assemble, relatively light in weight and low in price. The panoramic vision system with the camera fixing device is not affected by the skill level of a mounting worker, and the using effect of the panoramic vision system is guaranteed.
Description
Technical field
The present invention relates to a kind of fixture, particularly relate to a kind of camera fixing device and comprise its overall view visual system, be applicable to the mobile robot.
Background technology
At present, overall view visual system is widely used in the mobile robot field.Overall view visual system in use, camera observes 360 ° ambient image on every side by the projection of curved reflector, has more wide visual field scope than common non-overall view visual system.
Yet this overall view visual system is very strict for the installation site relation requirement of camera and speculum, and camera and speculum must keep certain distance, and on same axis.In the prior art, directly camera and speculum are installed in mobile robot's wound, this mounting means is easy to make the installation site of camera and speculum that deviation takes place, thereby has a strong impact on picture quality, makes the overall view visual system effect have a greatly reduced quality.
In addition, have the overall view visual system that camera position is adjusted function, though can adjust according to installation situation, high for the installation personnel requirement, often be difficult to satisfy.And in use owing to situations such as unavoidable existence vibrations in the moveable robot movement, the precision that makes camera install is difficult to keep.
In addition, for different overall view visual systems, because installation personnel operant level difference, also can directly influence the installation accuracy of camera, cause camera and speculum disalignment, the overall view visual system that makes different operating person installation, the effect difference is very big, has had a strong impact on the effect of overall view visual system.
Summary of the invention
The technical problem to be solved in the present invention is in order to overcome the prior art camera and the speculum installation difficulty is big, can't to guarantee the defective of installation accuracy, a kind of camera fixing device is provided and comprises its overall view visual system.
The present invention solves above-mentioned technical problem by following technical proposals: a kind of camera fixing device, and its characteristics are that it comprises: the top board of the affixed speculum in a lower surface, a support frame and a height-adjustable installing component; Described top board is fixed in the upper surface of described support frame, makes described speculum be arranged in described support frame; A camera is fixed in the upper end of described installing component, fixedlys connected with the lower surface of described support frame in the upper end of described installing component, and described camera and described speculum are positioned on the same axis.
Preferably, described installing component comprises a mounting seat and a Camera fixing seat, and a boss with internal thread is set on the described mounting seat, and the outer surface of described Camera fixing seat is provided with external screw thread, and described Camera fixing seat is threaded with described mounting seat.
Preferably, described Camera fixing seat is that a upper end diameter is greater than the cylinder of bottom diameter, described external screw thread is positioned at the lower end of described Camera fixing seat, and described boss is a cylindrical cavity, is fitted with described cylindrical cavity is inboard in the outside, upper end of described Camera fixing seat; The lower surface of described Camera fixing seat is provided with several screwed holes, makes described Camera fixing seat and described mounting seat screw locking.
Preferably, the bottom of described cylindrical cavity is three sections cannelure through holes.
Preferably, offer one on the upper surface of described Camera fixing seat for the installing hole that described camera is installed, make described camera over against described speculum.
Preferably, described installing hole is a square opening, offers a groove respectively on four drift angles of described square opening, and the side of described Camera fixing seat is provided with some screwed holes, and described camera is connected with described Camera fixing seat screw.
Preferably, described support frame comprises a upper head plate, a bottom plate and three support columns that are fixed between described upper head plate and the described bottom plate, and described support column evenly distributes around the axis of described upper head plate and described bottom plate.
Preferably, described upper head plate and described bottom plate are a ring; Perhaps described upper head plate is a middle plate of offering one first through hole, and described bottom plate is a middle plate of offering one second through hole, and described first through hole is relative with described second through hole.
Preferably, the center, lower surface of described top board arranges a lug boss that offers a third through-hole vertically, and the outside of described lug boss and the described first through hole inboard fit.
Preferably, the lower end of described speculum is a curved mirror, and the upper end is provided with a threaded post, and described threaded post is passed upper end and the described top board applying and fixing that described third through-hole makes described speculum.
Preferably, also be provided with a reference column between the upper surface of described threaded post and described speculum.
Preferably, described camera fixing device comprises that also one fits in the shadow shield of described top board upper surface, and the area of described shadow shield is greater than the area of described top board.
Preferably, the mid portion of described support column is thinner than two end portions.
Preferably, have one first flange and one second flange on the described mounting seat, the inboard outside with described first flange of described second through hole on the described bottom plate fits, and described bottom plate is fixedlyed connected with described second flange.
Preferably, the upper surface of described top board, described support frame, the lower surface of described support frame and described mounting seat are fitted successively, and connect by bolt.
The present invention also provides a kind of overall view visual system, and its characteristics are that it comprises aforesaid camera fixing device.
Among the present invention, but above-mentioned optimum condition any combination on the basis that meets this area general knowledge namely gets each preferred embodiment of the present invention.
Positive progressive effect of the present invention is: camera fixing device of the present invention fixes by installation frame aims at speculum and camera, guarantees installation accuracy by machining accuracy, efficiently solves camera and speculum and is difficult to the problem that keeps coaxial.Its overall structure is simple, and is easy to assembly, and weight is lighter, low price.By structural optimal design, adopt the overall view visual system of this camera fixing device not to be subjected to the influence of installation personnel level, guaranteed the result of use of overall view visual system.
Description of drawings
Fig. 1 is the assembling schematic diagram one of the preferred embodiment of camera fixing device of the present invention.
Fig. 2 is the assembling schematic diagram two of the preferred embodiment of camera fixing device of the present invention.
Fig. 3 is the cutaway view of the preferred embodiment of camera fixing device of the present invention.
The specific embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to describe technical scheme of the present invention in detail.
As Fig. 1, Fig. 2 and shown in Figure 3, camera fixing device of the present invention comprises: a top board 1, a support frame 2, a speculum 3, a camera 4 and a height-adjustable installing component, top board 1, support frame 2 and described installing component are fixedly connected sequentially.Wherein, speculum 3 is fixed in the lower surface of top board 1, and top board 1 is fixed on the upper surface of support frame 2, makes speculum 3 be arranged in support frame 2.The fixing camera 4 in the upper end of described installing component, fixedly connected with the lower surface of support frame 2 in the upper end of described installing component, camera 4 and speculum 3 are positioned on the same axis.So just can guarantee imaging effect, and not be subjected to the influence of installation personnel operation.
Preferably, described installing component comprises a mounting seat 5 and a Camera fixing seat 6, in mounting seat 5 boss 51 with internal thread is set.Correspondingly, the outer surface of Camera fixing seat 6 is provided with external screw thread, during assembling Camera fixing seat 6 is screwed in mounting seat 5, and both are threaded mutually.Wherein, Camera fixing seat 6 can be the cylinder of a upper end 61 diameters greater than bottom 62 diameters.At this moment, external screw thread is positioned at the bottom 62 of Camera fixing seat 6.Further, boss 51 is a cylindrical cavity, makes 61 outsides, upper end of Camera fixing seat 6 and the inboard of described cylindrical cavity fit mutually.And the lower surface of Camera fixing seat 6 is provided with several screwed holes 63, and Camera fixing seat 6 and mounting seat 5 are locked by screw thread.This connected mode can further lock Camera fixing seat 6, prevents the position skew of camera 4.
In assembling process, Camera fixing seat 6 is screwed in the described cylindrical cavity of mounting seat 5,61 outsides, upper end of Camera fixing seat 6 and the inwall of described cylindrical cavity fit.Camera fixing seat 6 is threaded into the distance of the described cylindrical cavity of mounting seat 5 and can adjusts according to the focal length of camera, so the distance between camera 4 and the speculum 3 is adjustable.Especially, the bottom of described cylindrical cavity can be one three sections cannelure through holes 511 (as shown in Figure 3).The inwall of the first section cannelure in top of the upper end 61 of Camera fixing seat 6 and three sections cannelure through holes 511 is fitted, and the internal thread of the threaded portion of the bottom 62 of Camera fixing seat 6 and second section cannelure is complementary, and bottom 62 parts are plugged to the 3rd section cannelure.The mounting or dismounting of Camera fixing seat 6 are convenient in the setting of three sections cannelure through holes 511, on the basis that guarantees tautness, reduce the thread segment that screws, and can effectively simplify assembly and disassembly Camera fixing seat 6.
In addition, offer one for the installing hole 611 that camera 4 is installed in the upper surface of Camera fixing seat 6, installing hole 611 is a square opening usually, camera 4 is plugged be fixed in the installing hole 611, and guarantee camera 4 over against speculum 3, make camera 4 and speculum 3 remain on the same axis.Further, on four drift angles of described square opening, offer a groove respectively, be plugged in camera 4 in the described square opening after, screw in the corresponding groove with screw again, can prevent effectively that like this camera 4 from moving up and down, and avoids taking place the upper-lower position shift phenomenon.Especially, can also some screwed holes 621 be set in the side of the bottom 62 of Camera fixing seat 6, camera 4 is fixed in the Camera fixing seat 6 by being threaded from the side further fixedly, can effectively prevent camera 4 move left and right like this, firmly fix its position, avoided any position shift phenomenon.
Wherein, support frame 2 comprises a upper head plate 21, a bottom plate 23 and three support columns 22 that are fixed between upper head plate 21 and the bottom plate 23, and support column 22 evenly distributes around the axis of upper head plate 21 and bottom plate 23.Especially, support column 22 is set to mid portion than two end portions thin (as depicted in figs. 1 and 2), the wide bearing capacity that can effectively strengthen support column 22 in two ends, middle carefully can as far as possible the minimizing the blocking of light, thus improve the integrality that speculum 3 is gathered images.Adopt three support columns 22 in the present embodiment, and be evenly distributed on whole fixture around, the load-bearing of the support frame that can evenly distribute prevents bending support column 22.
Preferably, upper head plate 21 and bottom plate 23 can be a ring; Perhaps upper head plate 21 is a middle plate of offering one first through hole 211, bottom plate 23 is a middle plate of offering one second through hole 231, and first through hole 211 is relative with second through hole 231, thereby after guaranteeing that whole fixture assembling is finished, speculum 3 and camera 4 are on same axis.
Particularly, the center, lower surface of top board 1 arranges a lug boss 12 (as shown in Figure 2) that offers a third through-hole 11 vertically, make the outside of lug boss 12 and the inboard of first through hole 211 fit, thereby the position of stationary mirror 3 firmly, and the installation site is unique, can not occur different installation sites because of operating personnel's difference.
In addition, top board 1 adopts aluminium sheet usually, and the lightweight aluminium sheet can reduce the pressure to supporting frame 2, improves the whole steadiness of described fixture.Top board 1 can be circle, and when its cover-up surface during greater than the upper surface of support frame 2, top board 1 can also serve as the effect of shadow shield.Taking cost into account, the area of also can fitting in the upper surface of top board 1 is greater than the shadow shield 7 of the area of top board 1, and shadow shield 7 can adopt except aluminium sheet, can also adopt plastic plate, thereby significantly reduces cost.Certainly shadow shield 7 also can extend out from the periphery of top board 1, can further reduce cost.
Further, have one first flange 52 and one second flange 53 on the mounting seat 5.During assembling, second through hole, the 231 inboard outsides with first flange 52 on the bottom plate 23 fit, and bottom plate 23 is fixedlyed connected for example bolt connection with second flange 53.Arranging of first flange 52 and second flange 53 can strengthen bonding strength; protection mounting seat 5 avoids installing wearing and tearing; and second through hole 231 can improve the tautness that is connected with the socket of first flange 52, prevent that the mounting means under different situations from be offset support frame 2.In addition, the convenient processing of said structure, and help to improve assembly precision.
In addition, in order to obtain imaging effect preferably, the lower end of speculum 3 is a curved mirror in the present embodiment.Be provided with a threaded post 31 in the upper end of speculum 3, make threaded post 31 pass upper end and top board 1 applying and fixing that third through-hole 11 makes speculum 3 during assembling.Preferably, can also a reference column 32 be set between the upper surface of threaded post 31 and speculum 3, make the outer surface of reference column 32 and the inner surface of third through-hole 11 fit tightly and fix, help to improve the installation accuracy of speculum 3.The cylinder that reference column 32 herein can adopt cylinder or circular cone post etc. to be convenient to locate.In addition, between the upper surface of reference column 32 and speculum 3 secure component 33 can also be set, secure component 33 is a polygon prism, is convenient to spanner and clamps the back to speculum 3 further fastening location.
According to the camera fixing device of said structure, its concrete assembling mode is as follows: at first, in the installing hole 611 on the camera 4 insertion Camera fixing seats 6, camera 4 is fixed in the Camera fixing seat 6.Its fixing concrete mode is by four grooves fastening camera 4 of screw on the installing hole 611, and its upper-lower position is fixed; And on the side of Camera fixing seat 6, by three fastening cameras 4 of screw, make its left and right sides fixed-site.
Then, Camera fixing seat 6 screws in the inner chamber of its boss 51 along the axis direction of mounting seat 5, by regulating the degree of screwing of screw thread, adjust the distance that Camera fixing seat 6 screws in boss 51 inner chambers according to the focal length of camera, thereby realize that the distance between camera and the speculum is what adjust.
Then, the uniform three sections cannelure through holes 511 in the bottom of mounting seat 5 inner chambers, adopt screw to pass three sections interior cannelure through holes 511 of boss 51 inner chambers, and in the screwed hole 63 on screw-in Camera fixing seat 6 lower surfaces, thereby Camera fixing seat 6 is tightened on the mounting seat 5.The position that so both can realize camera 4 is adjusted and is fastening.
Then, in mounting seat 5 is packed second through hole 231 of bottom plate 23 of support frame 2 into along axis direction.At this moment, make second through hole, 231 inboards of bottom plate 23 of the side of second flange 53 of mounting seat 5 and support frame 2 fit.Pass through hole on first flange 52 of mounting seat 5 with three screws again, tighten (as shown in Figures 2 and 3) with the screwed hole on the bottom plate 23 of support frame 2.
Then, top board 1 is inserted in first through hole 211 of upper head plate 21 of support frame 2, and the outside and first through hole, 211 inboards of the lug boss 12 at top board 1 center are fitted, pass the upper head plate 21 of support frame 2 and the screwed hole on the top board 1 by three screws again, top board 1 is fastened with support frame 2 is in the same place.
Secondly, the axis direction of speculum 3 along top board 1 inserted in the top board 1, the threaded post 31 of speculum 3 rear ends is passed the third through-hole 11 at top board 1 center, is locked by nut.
At last, around uniform three screwed holes of axis, its position is relative with three screwed holes on the top board 1, by three screws shadow shield 7 and top board 1 is fastened together at shadow shield 7.So just finished the assembling of whole camera fixing device.
Certainly, fit successively between top board 1, support frame 2 and the mounting seat 5, and its mutual fixedly connected mode is not limited to screw and connects, can also adopt bolt to connect or rivet connects or bonding etc., as long as can fix the position of each parts, and make them all keep coaxial line to get final product.In addition, top board 1, upper head plate 21 and bottom plate 23 all can adopt arbitrary shape.
Above-mentioned camera fixing device is mainly used in a kind of overall view visual system, and it can accurately observe 360 ° ambient image on every side, and the visual field is wide more.And whole system is not limited by the installation of this camera fixing device, can satisfy various situations, as the vibration situation that exists in the moveable robot movement, effectively guarantees the precision of camera installation and the shooting effect of panorama system.
Though more than described the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is limited by appended claims.Those skilled in the art can make numerous variations or modification to these embodiments under the prerequisite that does not deviate from principle of the present invention and essence, but these changes and modification all fall into protection scope of the present invention.
Claims (16)
1. a camera fixing device is characterized in that it comprises: the top board of the affixed speculum in a lower surface, a support frame and a height-adjustable installing component; Described top board is fixed in the upper surface of described support frame, makes described speculum be arranged in described support frame; A camera is fixed in the upper end of described installing component, fixedlys connected with the lower surface of described support frame in the upper end of described installing component, and described camera and described speculum are positioned on the same axis.
2. camera fixing device as claimed in claim 1, it is characterized in that, described installing component comprises a mounting seat and a Camera fixing seat, one boss with internal thread is set on the described mounting seat, the outer surface of described Camera fixing seat is provided with external screw thread, and described Camera fixing seat is threaded with described mounting seat.
3. camera fixing device as claimed in claim 2, it is characterized in that, described Camera fixing seat is that a upper end diameter is greater than the cylinder of bottom diameter, described external screw thread is positioned at the lower end of described Camera fixing seat, described boss is a cylindrical cavity, is fitted with described cylindrical cavity is inboard in the outside, upper end of described Camera fixing seat; The lower surface of described Camera fixing seat is provided with several screwed holes, makes described Camera fixing seat and described mounting seat screw locking.
4. camera fixing device as claimed in claim 3 is characterized in that, the bottom of described cylindrical cavity is three sections cannelure through holes.
5. camera fixing device as claimed in claim 2 is characterized in that, offers one on the upper surface of described Camera fixing seat for the installing hole that described camera is installed, and makes described camera over against described speculum.
6. camera fixing device as claimed in claim 5, it is characterized in that described installing hole is a square opening, offer a groove respectively on four drift angles of described square opening, the side of described Camera fixing seat is provided with some screwed holes, and described camera is connected with described Camera fixing seat screw.
7. camera fixing device as claimed in claim 1, it is characterized in that, described support frame comprises a upper head plate, a bottom plate and three support columns that are fixed between described upper head plate and the described bottom plate, and described support column evenly distributes around the axis of described upper head plate and described bottom plate.
8. camera fixing device as claimed in claim 7 is characterized in that, described upper head plate and described bottom plate are a ring; Perhaps described upper head plate is a middle plate of offering one first through hole, and described bottom plate is a middle plate of offering one second through hole, and described first through hole is relative with described second through hole.
9. camera fixing device as claimed in claim 8 is characterized in that, the center, lower surface of described top board arranges a lug boss that offers a third through-hole vertically, and the outside of described lug boss and the described first through hole inboard fit.
10. camera fixing device as claimed in claim 8 is characterized in that, the lower end of described speculum is a curved mirror, and the upper end is provided with a threaded post, and described threaded post is passed upper end and the described top board applying and fixing that described third through-hole makes described speculum.
11. camera fixing device as claimed in claim 10 is characterized in that, also is provided with a reference column between the upper surface of described threaded post and described speculum.
12. camera fixing device as claimed in claim 1 is characterized in that, described camera fixing device comprises that also one fits in the shadow shield of described top board upper surface, and the area of described shadow shield is greater than the area of described top board.
13. camera fixing device as claimed in claim 7 is characterized in that, the mid portion of described support column is thinner than two end portions.
14. camera fixing device as claimed in claim 8, it is characterized in that, have one first flange and one second flange on the described mounting seat, the inboard outside with described first flange of described second through hole on the described bottom plate fits, and described bottom plate is fixedlyed connected with described second flange.
15., it is characterized in that the upper surface of described top board, described support frame, the lower surface of described support frame and described mounting seat are fitted successively, and connect by bolt as each described camera fixing device of claim 1-14.
16. an overall view visual system is characterized in that, it comprises each described camera fixing device as above-mentioned claim 1-15.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013437.XA CN103203760B (en) | 2012-01-17 | 2012-01-17 | Camera fixing device and panoramic vision system with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013437.XA CN103203760B (en) | 2012-01-17 | 2012-01-17 | Camera fixing device and panoramic vision system with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103203760A true CN103203760A (en) | 2013-07-17 |
| CN103203760B CN103203760B (en) | 2015-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210013437.XA Expired - Fee Related CN103203760B (en) | 2012-01-17 | 2012-01-17 | Camera fixing device and panoramic vision system with same |
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| Country | Link |
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| CN (1) | CN103203760B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108366224A (en) * | 2017-12-31 | 2018-08-03 | 北京机械设备研究所 | Panoramic imaging device |
| CN109685758A (en) * | 2018-10-29 | 2019-04-26 | 中国化学工程第六建设有限公司 | Weld seam vision positioning method based on multi-template matching |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1975554A (en) * | 2006-12-14 | 2007-06-06 | 上海交通大学 | Overall view visual system based on double-curve viewfinder |
| CN101183208A (en) * | 2007-11-21 | 2008-05-21 | 张洪 | Panoramic displaying device and panoramic displaying method |
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2012
- 2012-01-17 CN CN201210013437.XA patent/CN103203760B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1975554A (en) * | 2006-12-14 | 2007-06-06 | 上海交通大学 | Overall view visual system based on double-curve viewfinder |
| CN101183208A (en) * | 2007-11-21 | 2008-05-21 | 张洪 | Panoramic displaying device and panoramic displaying method |
Non-Patent Citations (2)
| Title |
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| 上海未来伙伴机器人有限公司: "AS-ROII用户手册", 《AS-ROII用户手册》 * |
| 星光设计官方网站: "2009机器人大赛曁robocup公开赛", 《美与时代》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108366224A (en) * | 2017-12-31 | 2018-08-03 | 北京机械设备研究所 | Panoramic imaging device |
| CN108366224B (en) * | 2017-12-31 | 2020-09-11 | 北京机械设备研究所 | Panoramic imaging device |
| CN109685758A (en) * | 2018-10-29 | 2019-04-26 | 中国化学工程第六建设有限公司 | Weld seam vision positioning method based on multi-template matching |
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| Publication number | Publication date |
|---|---|
| CN103203760B (en) | 2015-06-17 |
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