CN105141912A - Method and device for relocating signal lamp - Google Patents
Method and device for relocating signal lamp Download PDFInfo
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- CN105141912A CN105141912A CN201510505999.XA CN201510505999A CN105141912A CN 105141912 A CN105141912 A CN 105141912A CN 201510505999 A CN201510505999 A CN 201510505999A CN 105141912 A CN105141912 A CN 105141912A
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Abstract
This invention discloses a method for relocating a signal lamp. The method comprises the following steps: acquiring initial coordinate information of the signal lamp in a picture of a monitoring equipment, and a physical posture offset obtained by comparing current time and initial installation time of the monitoring equipment; according to the mapping relation of the preset coordinate offset of the signal lamp in the monitoring picture and the physical posture offset of the monitoring equipment, acquiring a coordinate offset value relative to the initial coordinate of the signal lamp in the monitoring picture, and relocating the position of the signal lamp in the monitoring picture. This invention further discloses a device for relocating the signal lamp. The device comprises an information module, a processing module and a relocating module. The method and the device for relocating the signal lamp provided in the invention are simple, steady, reliable and effective, and are capable of eliminating the disturbance due to environmental factors and relocating the signal lamp precisely.
Description
Technical field
The present invention relates to a kind of method and apparatus of signal lamp reorientation.
Background technology
The utilization of watch-dog in electronic police system is extensive, in existing traffic surveillance and control system, the color that watch-dog carrys out monitoring traffic signals lamp is set usually, know the lighting lamp state of signal lamp, judge whether vehicle can pass through with this, thus provide triggering signal of capturing violating the regulations to electronic police system.When signal lamp is initially installed, the usual accuracy that can ensure grab signal lamp state, but in long use procedure, the position of signal lamp in monitored picture can offset, if system does not redefine the position of signal lamp in monitored picture, or carry out judging to cause the lighting lamp state of signal lamp accurately to know according to the signal lamp position of original record, thus directly affect the normal use of electronic police system.And to cause signal lamp to move main cause in the offset of monitored picture meta be the skew causing watch-dog bar and watch-dog relative initial position by artificial or environmental factor (strong wind, expand with heat and contract with cold) impact, its immediate cause is all because the skew of watch-dog relative initial position.
In prior art, the signal lamp reorientation occurring in monitored picture to offset needs to carry out graphical analysis to the Probability Area in the monitored picture of signal lamp place, image analysis method algorithm is comparatively complicated, mainly comprise rim detection, binary conversion treatment etc., finally again obtain the accurate location of signal lamp in monitored picture.Above-mentioned signal lamp method for relocating, not only there is the problem of algorithm complexity, and be easy to the impact of monitored image sole mass, such as under the impact of the factor such as bad weather, high light, monitoring image can thicken thus affect above-mentioned image analysis process, and after making to reorientate, the positional information of signal lamp is unreliable.
Summary of the invention
Because the above-mentioned defect of prior art, the object of this invention is to provide a kind of stable, reliable, effective signal lamp method for relocating, the method effectively can remove the anomalous effects that environmental factor causes, and realizes the accurate reorientation in monitored picture of signal lamp.
For achieving the above object, the invention provides a kind of signal lamp method for relocating, the method comprises:
Obtain signal lamp initial coordinate information in watch-dog picture;
Obtain watch-dog current time and the physical gestures side-play amount of initially installing compared with the moment;
According to the mapping relations of signal lamp coordinate offset value in the watch-dog physical gestures side-play amount preset and monitored picture, obtain the coordinate offset value of described signal lamp relative initial coordinate in monitored picture;
According to described coordinate offset value, reorientate the position of described signal lamp in monitored picture.
Preferably, described mapping relations comprise at least one in the mapping relations of the pivot offset amount of watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value, the shift offset of watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value, the pivot offset amount of watch-dog vertical direction and the mapping relations of signal lamp coordinate offset value, the shift offset of watch-dog vertical direction and signal lamp coordinate offset value.
Preferably, if the pivot offset in described watch-dog occurred level direction, the physical gestures side-play amount then obtained is the angle of watch-dog horizontal direction pivot offset, and the pivot offset amount of described watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value are: signal lamp horizontal direction coordinate offset value is diff
1=w × (θ/S); Wherein w is the width pixel count of watch-dog display image, and S is the horizontal view angle of watch-dog when initially installing, and θ is that watch-dog horizontally rotates deviation angle.
Preferably, if the displacement bias in described watch-dog occurred level direction, the physical gestures side-play amount then obtained is the side-play amount of watch-dog horizontal direction translation, and the shift offset of described watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value are: signal lamp horizontal direction coordinate offset value is
wherein w is the width pixel count of watch-dog display image, and d1 is watch-dog horizontal displacement side-play amount, and D is watch-dog when initially installing and the horizontal range of signal lamp, and S is the horizontal view angle of watch-dog when initially installing.
Preferably, if the pivot offset of described watch-dog generation vertical direction, the physical gestures side-play amount then obtained is the angle of watch-dog vertical direction pivot offset, and the pivot offset amount of described watch-dog vertical direction and the mapping relations of signal lamp coordinate offset value are: signal lamp vertical direction coordinate offset value is diff
3=h × (γ/Z); Wherein h is the height pixel count of watch-dog display image, and Z is the vertical angle of view of watch-dog when initially installing, and γ is watch-dog vertical rotation deviation angle.
Preferably, if the displacement bias of described watch-dog generation vertical direction, the physical gestures side-play amount then obtained is the side-play amount of watch-dog vertical direction translation, and the shift offset of described watch-dog vertical direction and the mapping relations of signal lamp coordinate offset value are: signal lamp vertical direction coordinate offset value is
wherein h is the height pixel count of watch-dog display image, d2 is watch-dog vertical displacement side-play amount, β is initial installation position vertical field of view angle center line and horizontal angle, and D is the spacing of the initial installation position of watch-dog and signal lamp, and Z is the vertical angle of view of watch-dog when initially installing.
Preferably, if the position of the described signal lamp of reorientating exceeds the current monitor picture scope of described watch-dog, then error message is reported.
Preferably, the physical gestures side-play amount of described watch-dog is also obtained by calculating by the physical gestures information of Posture acquisition module acquires watch-dog.
Preferably, signal lamp method for relocating also comprises and chooses posting according to the display areas imaging of described signal lamp in monitored picture; According to described signal lamp coordinate offset value in monitored picture, the position of posting described in adjustment current time, the scope of posting and the signal lamp areas imaging in monitored picture.
Present invention also offers a kind of signal lamp reorientation equipment, comprising: information module, processing module, reorientation module;
Described information module is for obtaining signal lamp initial coordinate information and equipment current time in watch-dog picture and the physical gestures side-play amount of initially installing compared with the moment;
Described processing module is used for, according to the mapping relations of signal lamp coordinate offset value in the watch-dog physical gestures side-play amount preset and monitored picture, obtaining the coordinate offset value of described signal lamp relative initial coordinate in monitored picture;
Described reorientation module is for reorientating the position of signal lamp in monitored picture.
Preferably, described information module comprises Posture acquisition module, and described Posture acquisition module is used for acquisition monitoring device physical gestures information.
The present invention has following beneficial effect:
(1) signal lamp method for relocating provided by the invention, in monitored picture, the main cause offset is there is for causing signal lamp, make use of the watch-dog physical gestures side-play amount that can accurately obtain, owing to there are inevitable mapping relations with the physical gestures information of watch-dog and this mapping relations can by calculating in the coordinate information of signal lamp in monitored picture, so utilize watch-dog physical gestures side-play amount can release signal lamp coordinate offset value relative to initial condition in monitored picture, the present invention is namely according to above-mentioned mapping relations, realize signal lamp the reorientating in monitored picture to there is skew, the image analysis method based on monitored picture adopted compared to existing technology, obvious the inventive method wants simple a lot, and the also impact of the image quality of not monitored picture own, effectively can remove the interference of environmental factor, realize signal lamp accurately reorientating in monitored picture,
(2) for the physical gestures information of watch-dog, each provide when watch-dog in the horizontal direction or vertical direction occurs offset when optimization method, guarantee that signal lamp reorientation is accurate.
(3) method provided by the invention is by the judgement to signal lamp coordinate offset value in monitored picture, effectively can judge whether signal lamp exceeds current monitor picture scope, situation signal lamp being exceeded to monitoring current picture scope carries out the process that reports an error, to correct the shooting angle of watch-dog in time.
(4) the present invention additionally provides a kind of signal lamp reorientation equipment corresponding to signal lamp method for relocating, possesses stronger exploitativeness.
Accompanying drawing explanation
Fig. 1 is the flow chart of signal lamp method for relocating of the present invention;
Fig. 2 is the attitude schematic diagram of watch-dog wherein on a coordinate plane;
Fig. 3 a, Fig. 3 b are the schematic diagrames of watch-dog initial position;
Fig. 4 is the schematic diagram offset that watch-dog horizontal direction rotates;
Fig. 5 is schematic diagram watch-dog horizontal direction being subjected to displacement skew;
Fig. 6 is the schematic diagram offset that watch-dog vertical direction rotates;
Fig. 7 is schematic diagram watch-dog vertical direction being subjected to displacement skew.
Wherein w is the width pixel count of watch-dog display image, and S is the horizontal view angle of watch-dog when initially installing, and θ is that watch-dog horizontally rotates deviation angle, d
1for watch-dog horizontal displacement side-play amount, D is watch-dog when initially installing and the horizontal range of signal lamp, and S is the horizontal view angle of watch-dog when initially installing, and h is the height pixel count of watch-dog display image, and γ is watch-dog vertical rotation deviation angle, d
2for watch-dog vertical displacement side-play amount, β is equipment vertical direction and the axial inclination angle of N, and Z is the vertical angle of view of watch-dog when initially installing, and K is the visual field one half width, M, N are the acceleration of watch-dog both direction, and H is watch-dog vertical height to ground when initially installing.
Embodiment
Below with reference to accompanying drawing, design of the present invention, embodiment are further illustrated, to understand object of the present invention, characteristic sum effect fully.
As shown in Figure 1, signal lamp method for relocating provided by the invention, flow process is as follows:
First signal lamp initial coordinate information in watch-dog picture is obtained, the obtain manner of this signal lamp initial coordinate information is generally that the information by configuring on operation interface is determined, in the present embodiment, a posting is determined with the indication range of signal lamp in monitored picture, the scope of posting and the indication range of signal lamp in watch-dog picture, the coordinate information of this posting is clear and definite, generally getting posting left upper apex coordinate time initial is signal lamp initial coordinate, thus precisely determines signal lamp initial coordinate information;
Then watch-dog current time and the physical gestures side-play amount of initially installing compared with the moment is obtained, the acquisition of the physical gestures information of watch-dog also has various ways, in the present embodiment, because the acquisition of the physical gestures information of this watch-dog should adopt automatic acquisition mode, so arrange Posture acquisition module, specifically can adopt attitude transducer (i.e. six axle sensors), also or the combination of several transducer;
Again according to the mapping relations of signal lamp coordinate offset amount and watch-dog physical gestures side-play amount in the monitored picture preset, obtain the coordinate offset value of described signal lamp relative initial coordinate in monitored picture;
Last according to described coordinate offset value, reorientate the position of described signal lamp in monitored picture, owing to setting posting before to determine the indication range of signal lamp in monitored picture, so reorientate the position of process actually by adjustment posting of signal lamp.
Above-mentioned signal lamp localization method moves in circles according to setting-up time and carries out, and guarantees the accurate positioning of signal lamp in monitored picture.
The determining program of abnormal conditions is also provided with in above-mentioned signal lamp localization method process, namely the picture scope whether signal lamp is monitored beyond current monitor equipment in the skew of monitored picture is judged, if after exceeding, then cannot carry out for signal lamp reorientating in monitored picture, the process so should report an error, so that the shooting angle of correcting watch-dog in time.
Cause signal lamp that the reason offset occurs in monitored picture, likely that the physical location of signal lamp itself there occurs movement, also be likely that the physical location of watch-dog there occurs movement, in the supervisory control system of reality, signal lamp and watch-dog distant, therefore the physical location of signal lamp own moves the coordinate offset causing it in monitored picture and often can ignore, but the position of watch-dog is moved and is then produced larger impact to the coordinate offset value of signal lamp in monitored picture, namely watch-dog physical gestures side-play amount is make use of to the coordinate offset value of signal lamp in monitored picture of deriving in present embodiment, image analysis method compared to existing technology will simplify a lot, certainly also eliminate because of the interference of monitored picture quality problems for signal lamp repositioning process.
See Fig. 2, Fig. 3 a and Fig. 3 b, for the ease of further illustrating the physical gestures change under watch-dog generation drift condition, the initial condition first for this watch-dog describes as follows:
Attitude transducer is selected to read three-dimensional 3-axis acceleration and the angular speed of video camera, with the MN plane place coordinate in Fig. 2 be example, M, N are the acceleration of equipment both direction, wherein M, N directly accurately can be obtained by attitude transducer, therefore obtains equipment vertical direction and the axial angle of inclination beta=tan of N
-1(M/N), vertical direction can be obtained by geometrical principle analysis equal with horizontal direction angle with the center line of the angle of visual field that equipment is initially installed with the axial angle of inclination beta of N; Other two axles in like manner, do not repeat them here; Record Current camera positional information, if watch-dog picture traverse pixel count is w, picture altitude pixel count is h, equipment initial configuration information (as shown in Figure 3 a, 3 b): D is that equipment is when initially installing and the horizontal range of signal lamp, S is the horizontal view angle of equipment when initially installing, H is equipment vertical height to ground when initially installing, and Z is the vertical angle of view of equipment when initially installing, and above-mentioned physical parameter all gets by the attitude transducer be arranged in watch-dog; (2) determine the coordinate information (x, y) of current demand signal lamp in equipment picture, this signal lamp coordinate information corresponds to the coordinate information of described posting.
See Fig. 4 and in conjunction with above-mentioned watch-dog initial condition, when watch-dog occurred level direction rotational variations, a kind of execution mode of signal lamp method for relocating, first calculates the mapping relations of signal lamp coordinate offset value in the pivot offset amount of establishing watch-dog horizontal direction and watch-dog picture:
Obtain the attitude angle of current device, for: θ=Σ gyro integration angle=angular speed × dt,
Signal lamp coordinate offset value: diff
1=w × (θ/S),
Then the reorientation of signal lamp in monitored picture is carried out, with the above-mentioned diff calculated
1for foundation adjusts in monitored picture described posting, namely the overall coordinate of posting should become (x+diff
1, y), so supervisory control system have also been made for the position of signal lamp in monitored picture and reorientates, and so namely completes because the signal lamp repositioning process of watch-dog occurred level direction rotation.
See Fig. 5 and in conjunction with above-mentioned watch-dog initial condition, when watch-dog occurred level direction offset deviation, a kind of execution mode of signal lamp method for relocating, first calculates the mapping relations of signal lamp coordinate offset value in the shift offset of establishing watch-dog horizontal direction and watch-dog picture:
If the horizontal displacement skew that equipment occurs is d
1, i.e. the physical location of equipment after skew and the difference of initial physical location;
The actual visual field width of equipment is: W
0=(D × tan (S/2)) × 2,
Signal lamp coordinate offset value diff
2=w × d
1/ W
0,
Then the reorientation of signal lamp in monitored picture is carried out, with the above-mentioned diff calculated
2for foundation adjusts in monitored picture described posting, namely the overall coordinate of posting should become (x+diff
2, y), so supervisory control system have also been made for the position of signal lamp in monitored picture and reorientates, and so namely completes because the signal lamp repositioning process of watch-dog occurred level direction displacement.
See Fig. 6 and in conjunction with above-mentioned watch-dog initial condition, when watch-dog generation vertical direction rotational variations, a kind of execution mode of signal lamp method for relocating, first calculates the mapping relations of signal lamp coordinate offset value in the pivot offset amount of establishing watch-dog vertical direction and watch-dog picture:
If γ is equipment vertical shift angle, same level rotates, γ=Σ gyro integration angle=angular speed × dt,
Signal lamp coordinate offset value: diff
3=h × (γ/Z),
So reorientation signal lamp position, only need do the correction of above-mentioned coordinate offset value to signal lamp coordinate, the signal lamp coordinate after that is correcting is (x, y+diff
3);
Then the reorientation of signal lamp in monitored picture is carried out, with the above-mentioned diff calculated
3for foundation adjusts in monitored picture described posting, namely the overall coordinate of posting should become (x, y+diff
3), so supervisory control system have also been made for the position of signal lamp in monitored picture and reorientates, and so namely completes because the signal lamp repositioning process of watch-dog generation vertical direction rotation.
See Fig. 7 and in conjunction with above-mentioned watch-dog initial condition, when watch-dog generation vertical direction rotational variations, a kind of execution mode of signal lamp method for relocating, first calculates the mapping relations of signal lamp coordinate offset value in the shift offset of establishing watch-dog vertical direction and watch-dog picture:
If d
2for equipment vertical displacement skew, i.e. the physical location of equipment after skew and the difference of initial physical location;
The visual field one half width:
Displacement d
2mapping length m=d on K line
2× cos β,
Signal lamp coordinate offset value: diff
4=h × m/ (K × 2)
Then the reorientation of signal lamp in monitored picture is carried out, with the above-mentioned diff calculated
4for foundation adjusts in monitored picture described posting, namely the overall coordinate of posting should become (x, y+diff
4), so supervisory control system have also been made for the position of signal lamp in monitored picture and reorientates, and so namely completes because the signal lamp repositioning process of watch-dog generation vertical direction displacement.
It may be noted that, above-mentioned four kinds of situation analysis for watch-dog generation skew are all only only aimed at signal lamp reorientation execution mode when its initial position single direction occurs to offset, but in real process, the skew of watch-dog often multiple directions occurs to offset together, but no matter how watch-dog offsets, can be obtained by the combination of above-mentioned four kinds of situations, the combination in this article for above-mentioned four kinds of situations repeats no more.
In addition, according to the coordinate offset value (diff of above-mentioned signal lamp in monitored picture
1, diff
2, diff
3, diff
4) can judge whether signal lamp offsets out watch-dog current monitor picture scope, whether the posting coordinate after namely reorientating exceeds watch-dog image respective number of pixels, signal lamp initial coordinate is (x, y), namely the coordinate information of posting is (x, y), certainly also there is the coordinate figure of posting slightly large or be slightly smaller than the possibility of coordinate figure of signal lamp, select the two consistent in the present embodiment, by above-mentioned signal lamp method for relocating, the coordinate information of posting wants the coordinate offset value (diff of superposed signal lamp after reorientating
1, diff
2, diff
3, diff
4), concrete stacked system, see above-mentioned statement, may superpose one or more of above-mentioned four coordinate offset values certainly, as long as occur that superposition coordinate offset value makes posting exceed monitored picture scope and is namely judged to make mistakes and the process that reports an error.
Present invention also offers a kind of execution mode of signal lamp reorientation equipment, comprising: information module, processing module, reorientation module;
Described information module is for obtaining signal lamp initial coordinate information and equipment current time in watch-dog picture and the physical gestures side-play amount of initially installing compared with the moment; As optimal way, described information module comprises Posture acquisition module, and described Posture acquisition module is used for acquisition monitoring device physical gestures information.
Described processing module is used for, according to the mapping relations of signal lamp coordinate offset value in the watch-dog physical gestures side-play amount preset and monitored picture, obtaining the coordinate offset value of described signal lamp relative initial coordinate in monitored picture;
Described reorientation module is for reorientating the position of signal lamp in monitored picture.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all technical staff in the art, all should by the determined protection range of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. a signal lamp method for relocating, is characterized in that, the method comprises:
Obtain signal lamp initial coordinate information in watch-dog picture;
Obtain watch-dog current time and the physical gestures side-play amount of initially installing compared with the moment;
According to the mapping relations of signal lamp coordinate offset value in the watch-dog physical gestures side-play amount preset and monitored picture, obtain the coordinate offset value of described signal lamp relative initial coordinate in monitored picture;
According to described coordinate offset value, reorientate the position of described signal lamp in monitored picture.
2. signal lamp method for relocating as claimed in claim 1, it is characterized in that, described mapping relations comprise at least one in the mapping relations of the pivot offset amount of watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value, the shift offset of watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value, the pivot offset amount of watch-dog vertical direction and the mapping relations of signal lamp coordinate offset value, the shift offset of watch-dog vertical direction and signal lamp coordinate offset value.
3. signal lamp method for relocating as claimed in claim 2, it is characterized in that, if the pivot offset in described watch-dog occurred level direction, the physical gestures side-play amount then obtained is the angle of watch-dog horizontal direction pivot offset, and the pivot offset amount of described watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value are: signal lamp horizontal direction coordinate offset value is diff
1=w × (θ/S); Wherein w is the width pixel count of watch-dog display image, and S is the horizontal view angle of watch-dog when initially installing, and θ is that watch-dog horizontally rotates deviation angle.
4. signal lamp method for relocating as claimed in claim 2, it is characterized in that, if the displacement bias in described watch-dog occurred level direction, the physical gestures side-play amount then obtained is the side-play amount of watch-dog horizontal direction translation, and the shift offset of described watch-dog horizontal direction and the mapping relations of signal lamp coordinate offset value are: signal lamp horizontal direction coordinate offset value is
wherein w is the width pixel count of watch-dog display image, d
1for watch-dog horizontal displacement side-play amount, D is watch-dog when initially installing and the horizontal range of signal lamp, and S is the horizontal view angle of watch-dog when initially installing.
5. signal lamp method for relocating as claimed in claim 2, it is characterized in that, if the pivot offset of described watch-dog generation vertical direction, the physical gestures side-play amount then obtained is the angle of watch-dog vertical direction pivot offset, and the pivot offset amount of described watch-dog vertical direction and the mapping relations of signal lamp coordinate offset value are: signal lamp vertical direction coordinate offset value is diff
3=h × (γ/Z); Wherein h is the height pixel count of watch-dog display image, and Z is the vertical angle of view of watch-dog when initially installing, and γ is watch-dog vertical rotation deviation angle.
6. signal lamp method for relocating as claimed in claim 2, it is characterized in that, if the displacement bias of described watch-dog generation vertical direction, the physical gestures side-play amount then obtained is the side-play amount of watch-dog vertical direction translation, and the shift offset of described watch-dog vertical direction and the mapping relations of signal lamp coordinate offset value are: signal lamp vertical direction coordinate offset value is
wherein h is the height pixel count of watch-dog display image, d
2for watch-dog vertical displacement side-play amount, β is watch-dog initial installation position vertical field of view angle center line and horizontal angle, and D is the spacing of the initial installation position of watch-dog and signal lamp, and Z is the vertical angle of view of watch-dog when initially installing.
7. signal lamp method for relocating as claimed in claim 1, is characterized in that, if the position of the described signal lamp of reorientating exceeds the current monitor picture scope of described watch-dog, then report error message.
8. signal lamp method for relocating as claimed in claim 1, is characterized in that, the physical gestures side-play amount of described watch-dog is also obtained by calculating by the physical gestures information of Posture acquisition module acquires watch-dog.
9. signal lamp method for relocating as claimed in claim 1, is characterized in that, comprise and choose posting according to the display areas imaging of described signal lamp in monitored picture; According to described signal lamp coordinate offset value in monitored picture, the position of posting described in adjustment current time, the scope of posting and the signal lamp areas imaging in monitored picture.
10. a signal lamp reorientation equipment, is characterized in that, comprising: information module, processing module, reorientation module;
Described information module is for obtaining signal lamp initial coordinate information and equipment current time in watch-dog picture and the physical gestures side-play amount of initially installing compared with the moment;
Described processing module is used for, according to the mapping relations of signal lamp coordinate offset value in the watch-dog physical gestures side-play amount preset and monitored picture, obtaining the coordinate offset value of described signal lamp relative initial coordinate in monitored picture;
Described reorientation module is for reorientating the position of signal lamp in monitored picture.
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| CN109035331B (en) * | 2017-06-12 | 2020-11-17 | 浙江宇视科技有限公司 | Position correction method and device for signal lamp group |
| CN109035331A (en) * | 2017-06-12 | 2018-12-18 | 浙江宇视科技有限公司 | A kind of aligning method and apparatus of signal lamp group |
| CN110298880A (en) * | 2018-03-23 | 2019-10-01 | 苏州启铭臻楠电子科技有限公司 | A kind of stage Adjustable head lamp sports coordination analysis method based on intelligent monocular vision |
| CN108615248A (en) * | 2018-04-27 | 2018-10-02 | 腾讯科技（深圳）有限公司 | Method for relocating, device, equipment and the storage medium of camera posture tracing process |
| CN108615248B (en) * | 2018-04-27 | 2022-04-05 | 腾讯科技（深圳）有限公司 | Method, device and equipment for relocating camera attitude tracking process and storage medium |
| US11481923B2 (en) | 2018-04-27 | 2022-10-25 | Tencent Technology (Shenzhen) Company Limited | Relocalization method and apparatus in camera pose tracking process, device, and storage medium |
| WO2022127576A1 (en) * | 2020-12-16 | 2022-06-23 | 华为技术有限公司 | Site model updating method and system |
| CN112581534A (en) * | 2020-12-24 | 2021-03-30 | 济南博观智能科技有限公司 | Signal lamp repositioning method and device, electronic equipment and storage medium |
| CN112581534B (en) * | 2020-12-24 | 2023-01-13 | 济南博观智能科技有限公司 | Signal lamp repositioning method and device, electronic equipment and storage medium |
| CN113034947A (en) * | 2021-01-30 | 2021-06-25 | 上海鋆挚智能科技有限公司 | Interim traffic light device |
| CN113034947B (en) * | 2021-01-30 | 2022-06-03 | 深圳市维的美光电有限公司 | Interim traffic light device |
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