CN110221403A - A kind of big visual field multiband stereoscopic vision auxiliary pilot - Google Patents
A kind of big visual field multiband stereoscopic vision auxiliary pilot Download PDFInfo
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/001—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
- G02B13/0015—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/001—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
- G02B13/008—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras designed for infrared light
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/14—Picture signal circuitry for video frequency region
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Abstract
The present invention discloses a kind of big visual field multiband stereoscopic vision auxiliary pilot, it is characterised in that: including low-light lens group, infrared lens group, cover board group, shell group, master control board group, low-light bracket, infrared bracket, gigabit network interface, socket communication；Low-light lens group, infrared lens group, cover board group, master control board group are fixed in shell group, low-light lens group and infrared lens group horizontal field of view angle are all larger than equal to 120 °, 4 tunnel imaging systems are shared, it is horizontally arranged in shell group by low-light lens group-infrared lens group-low-light lens group-infrared lens group mode.With stereoscopic vision, exportable target range information can be by the selection video output such as visible light, thermal imaging, two waveband natural sense color integration and black and white fusion, the vehicle assistant drive instrument that can be worked under country round the clock.It is made of non-refrigeration infrared detector machine core and low-light (level) CMOS machine core, is assigned in weapon system, driver can be assisted to drive armored vehicle, discovery living aim, barrier.
Description
Technical field
The present invention relates to vehicle DAS (Driver Assistant System) corollary equipment technical field, in particular to a kind of big visual field multiband is vertical
Body vision auxiliary pilot
Background technique
Infrared thermal imaging technique-body surface temperature is if it exceeds absolute zero can give off electromagnetic wave, with temperature
Variation, the radiation intensity of electromagnetic wave are also changed correspondingly with distribution character.Infrared thermal imaging technique is actually a kind of wavelength convert
Technology converts the signal into the visible visible light of human vision, utilizes field with photoelectric technology detection object infrared emanation
The difference of scape itself and each component part infra-red radiation obtains target image, overcomes active infrared night-viewing and is easy self-betrayal
The shortcomings that, and compensate for passive lll night vision and place one's entire reliance upon naturally noctilucence and the unglazed deficiency that cannot be imaged.Therefore, red
Outer thermal imaging has the advantages that " complete passive " and " round-the-clock ".In recent years, Chinese non refrigerating infrared imaging technology development is fast
Speed, all kinds of high-performance infrared machine cores emerge one after another, and keep its application field more extensive.
Cmos imaging technology-CMOS is a kind of imaging sensor, is to develop faster novel image device, core in recent years
Per unit pixel is by a photosensitive electrode, an electric signal converting unit, a signal transmission transistor on core structure, and
One signal amplifier is formed.The electric signal that the light that CMOS is experienced generates after photoelectric conversion is by CMOS from one by one
It sequentially extracts in pixel to chip record processed is interpreted to image again on external analog-digital converter.First by water when specific works
Flat transport part acquires signal, then sends out whole signals by vertical transfer section, therefore cmos sensor can be in each pixel basis
Signal amplification is carried out, quick data scanning can be carried out in this way, the other information handling rate of millions can be competent at,
Have many advantages, such as small in size, light-weight, low in energy consumption, easily controllable.
Image fusion technology-image fusion technology refer to by multi-source channel the collected image about same target
Data extract the advantageous information in each self-channel by image procossing and computer technology etc. to greatest extent, finally integrate at
The image of high quality, to improve utilization rate, improvement computer interpretation precision and the reliability of image information, promote original image
Spatial resolution and spectral resolution.Image co-registration circuit needs just to be able to achieve multi-source channel images by certain algorithm
Fusion display, currently, multiband color fusion algorithms substantially have several types: a, multi-band image color space directly map
Method；B, the pyramid blending algorithm of multi-band image；C, the natural sense color night vision Processing Algorithm based on human-eye visual characteristic；d,
Natural sense color night vision Processing Algorithm based on color transmitting.Image co-registration is divided into three levels from low to high: Pixel-level fusion,
Thus feature-based fusion, decision level fusion derive a variety of blending algorithms, are had according to different demands, different application scene
Different algorithms, difficult point are the optimization design of algorithm, how to improve blending image clarity, reduce noise, is sharp to greatest extent
Useful information with each channel is the technological difficulties that image co-registration needs to continue research.
Image registration techniques-are more mature with the method for registering of source images at present, but since image co-registration belongs to pixel
Grade fusion, must also accuracy registration low-light and infrared image, this heterologous image registration algorithm needs further increase.It is being registrated
In terms of algorithm, generallys use and infrared image is spliced based on improved SIFT feature matching algorithm, it is red to complete big visual field
The acquisition of outer image.SIFT feature algorithm is classical, robustness a scale invariant feature algorithm, scale, rotation,
Noise, brightness change etc. all show good invariance, and it is to SIFT mostly that there are many new algorithms to propose again later
The improvement done.If PCA-SIFT is to have changed principal component analysis method into the method for histogram in SIFT, SURF is to pass through product
Component, box filter these steps and the speed of feature extraction are made to increase, and other innovatory algorithms also consider affine-invariant features
ASIFT, the CSIFT for being considered as colouring information etc..These algorithms belong to more mature method.
The outstanding stereo imaging system of stereo vision camera parameter calibration technology-needs accurately smaller camera parameter mark
Fixed, the classical camera parameter scaling method of Zhang Zhengyou can reach required precision for general stereo vision imaging system, but
If camera lens uses bugeye lens, very big barrel distortion is just had compared with normal image, although Zhang Zhengyou camera
Parameter calibration method also proposes corresponding method to wide-angle lens distortion correction, but in order to reach obtaining for high accuracy depth information
It takes, needs to study that precision is higher, for the camera parameter scaling method of fish eye images.Such as traditional camera calibration all uses
The gridiron pattern of square pattern carries out parameter calibration, and for fish eye images, since radial distortion is larger, use circle
Image gridiron pattern carries out calibration to parameter and has better effect.
Summary of the invention
The invention solves main problem be: for black and white/forming monochrome image mould existing for traditional night auxiliary pilot
Formula, visual field are narrow and lack body formula sense etc. using limitation, and what a suitable modern times vehicle-mounted night auxiliary of design drove has big regard
The auxiliary pilot of the functions such as field, multiband, stereoscopic vision, ranging.
In order to solve the above technical problems, the present invention provides a kind of big visual field multiband stereoscopic vision auxiliary pilot, it is special
Sign is: including low-light lens group (A), infrared lens group (B), cover board group (C), shell group (D), master control board group (E), low-light branch
Frame (15), infrared bracket (16), gigabit network interface (17), socket communication (18)；Low-light lens group (A) is connected to by screw (21)
On low-light bracket (15), low-light bracket (15) is connected to the bottom shell group (D) by screw (21) again, and front end passes through pressing ring 6
(20) it compresses；Infrared lens group (B) is connected on infrared bracket (16) by screw (21), and infrared bracket (16) passes through screw again
(21) it is connected to the bottom shell group (D), front end is fixed by screw (21)；Master control board group (E) is supported using insulation padding pole (19),
It is fixed on shell group (D) by screw (21) and washer (22)；Cover board group (C) is connect by screw (21) with shell group (D)；
Low-light lens group (A) and infrared lens group (B) horizontal field of view angle are all larger than equal to 120 °, 4 tunnel imaging systems are shared, by low-light mirror
Head group-infrared lens group-low-light lens group-infrared lens group mode it is horizontally arranged on shell group (D), have image co-registration,
The functions such as stereoscopic vision, object ranging.
Gigabit network interface (17) is fixed on cover board group (C) by screw (21)；Socket communication (18) by screw (21) and
Flange (42) is fixed on cover board group (C)；
Specific structure: low-light lens group (A) is by the first lens of object lens (1), the second lens of object lens (2), object lens the third lens
(3), the first balsaming lens of object lens (4), the second balsaming lens of object lens (5), diaphragm piece (6), object lens third balsaming lens (7), object
The tenth lens (8) of mirror, the 11st lens (9) of object lens, pressing ring 1 (23), shank (24), spacer ring 1 (28), spacer ring 2 (27), spacer ring 3
(26), spacer ring 4 (25), pressing ring 2 (29), the 5th group of lens frame (30), spacer ring 5 (31), spacer ring 6 (32), pressing ring 3 (33), low photograph
Spend CMOS machine core (34) composition.Each lens are attached separately on shank, are separated lens by spacer ring, are finally compressed with pressing ring, low
Illumination CMOS machine core (34) is with shank (24) by being threadedly engaged.The second balsaming lens of object lens (5) is more sensitive, designs in structure
Several apertures keep the image quality of imaging more preferable by dialling these apertures.
Infrared lens group (B) is by the first lens of infrared objective (10), the second lens of infrared objective (11), infrared objective third
Lens (12), the 4th lens (13) of infrared objective, the 5th lens (14) of infrared objective, preceding objective tube (35), pressing ring 4 (36), mirror
Cylinder (37), pressing ring 5 (38), roll adjustment spacer ring (39), rear objective tube (40), infrared detector machine core (41) composition.Infrared objective
One lens (10), the second lens of infrared objective (11) and preceding objective tube (35) form lens front group, the 5th lens of infrared objective
(14) and rear objective tube (40) forms lens rear group, and infrared objective the third lens (12), the 4th lens (13) of infrared objective are respectively
It is soft to be mounted on lens barrel (37), it after lens front group is attached to lens barrel (37), is compressed by pressing ring 4 (36), lens rear group is attached to lens barrel
(37) it after, is compressed by pressing ring 5 (38), infrared detector machine core (41) is mounted on lens barrel (37) by screw (21), by repairing
Cut lens front group, the frame of lens rear group guarantees optical interval.
Particular technique performance indicator of the present invention is as follows:
1 optical property
The key technical indexes of infrared channel (infrared lens group):
1) horizontal field of view angle: >=120 °；
2) horizontal ranging range: >=120 °；
3) range error: being better than 30cm (distance 15m), is better than 2.0m (distance 30m)；
4) detector pixel: >=1024 × 768；
5) detector NETD :≤50mk；
The key technical indexes in low-light channel (low-light lens group):
1) horizontal field of view angle: >=120 °；
2) horizontal ranging range: >=120 °；
3) range error: being better than 20cm (distance 15m), is better than 1.0m (distance 30m)；
4) detector pixel: >=1920 × 1080；
Merge the key technical indexes in channel:
1) horizontal field of view angle: >=120 °；
2) data fusion；The resolution ratio for exporting blending image is not less than 640 × 480, can customize (maximum 1920 according to demand
×1080)；
3) output interface: gigabit networking interface+HDMI interface.
4) output frame: >=25 frames/second.
2 available machine times :≤30S；
3 operating modes: infrared, low-light, fusion Three models；
4 power supplys: operating voltage is 26V ± 4V, nominal total power≤20W；
5 baseline length :≤100cm；
6 volumes :≤0.01 cubic metre；
7 weight :≤5kg；
The present invention has stereoscopic vision, and exportable target range information can be by visible light, thermal imaging, two waveband natural sense
The selection video output such as color integration and black and white fusion, can export comprising RGB, depth, 5 infrared channel multispectral image numbers
According to the vehicle assistant drive instrument that can be worked under country round the clock.Using non-refrigeration infrared detector cartridge assemblies and low
Illumination CMOS cartridge assemblies are made, and are assigned in weapon system, and driver can be assisted to drive armored vehicle, discovery living aim, obstacle
Object etc..The present invention has 2 road twilight images, 2 road infrared images, and frame mode presses low-light lens group-infrared lens group-low-light camera lens
Group-infrared lens group mode is horizontally arranged on shell group (D), and each road imaging system horizontal field of view angle is not less than 120 °, water
Flat ranging range is not less than 120 °.
Detailed description of the invention
With reference to the accompanying drawing, a specific embodiment of the invention is described in further detail.
Fig. 1 is overall optical system figure of the invention；
Fig. 2 is low-light lens optical system figure of the invention；
Fig. 3 is infrared lens optical system diagram of the invention；
Fig. 4 is pilot external form schematic diagram of the invention；
Fig. 5 is pilot composition figure of the invention；
Fig. 6 is low-light lens set structure figure of the invention；
Fig. 7 is infrared lens group structure chart of the invention；
Fig. 8 is the schematic three dimensional views of cover board of the invention；
Fig. 9 is the schematic three dimensional views of shell of the invention；
Wherein: A, low-light lens group；B, infrared lens group；C, cover board group；D, shell group；E, master control board group；1, low-light object
The first lens of mirror；, 2, the second lens of Weak light；3, Weak light the third lens；4, the first balsaming lens of Weak light；5, micro-
The second balsaming lens of light object lens；6, aperture diaphragm, 7, Weak light third balsaming lens；8, the tenth lens of Weak light；9, micro-
The 11st lens of light object lens；10, the first lens；11, the second lens of infrared objective；12, infrared objective the third lens；13, infrared
The 4th lens of object lens；14, the 5th lens of infrared objective；15, low-light bracket；16, infrared bracket；17, gigabit network interface；18, it communicates
Socket；19, insulation padding pole；20, pressing ring 6；21 screws,；22, washer；23, pressing ring 1；24, shank；25, spacer ring 4；26, spacer ring 3；
27, spacer ring 2；28, spacer ring 1；29, pressing ring 2；30, the 5th group of lens frame；31, spacer ring 5；32, spacer ring 6；33, pressing ring 3；34, low photograph
Spend CMOS machine core；35, preceding objective tube；36, pressing ring 4；37, lens barrel；38, pressing ring 5；39, roll adjustment spacer ring；40, rear objective tube；41,
Infrared detector machine core；42, flange.
Specific embodiment
As shown in 1,4,5,8,9, a kind of big visual field multiband stereoscopic vision auxiliary pilot, it is characterised in that: including micro-
Light lens group A, infrared lens group B, cover board group C, shell group D, master control board group E, low-light bracket 15, infrared bracket 16, kilomega network
Mouth 17, socket communication 18；Low-light lens group A is connected on low-light bracket 15 by screw 21, and low-light bracket 15 passes through screw again
21 are connected to the bottom shell group (D), and front end is compressed by pressing ring 6 20；Infrared lens group B is connected to infrared branch by screw 21
On frame 16, infrared bracket 16 is connected to the bottom shell group D by screw 21 again, and front end is fixed by screw 21；Master control board group E makes
It is supported with insulation padding pole 19, is fixed on shell group D by screw 21 and washer 22；Cover board group C passes through screw 21 and shell group D
Connection；Low-light lens group A and infrared lens group B horizontal field of view angle are all larger than equal to 120 °, 4 tunnel imaging systems are shared, by low-light
Lens group-infrared lens group-low-light lens group-infrared lens group mode is horizontally arranged on shell group (D), melts with image
The functions such as conjunction, stereoscopic vision, object ranging.
Gigabit network interface 17 is fixed on cover board group C by screw 21；Socket communication 18 is solid by screw 21 and flange (42)
It is scheduled on cover board group C；
As shown in Figure 2,6, low-light lens group A is by the first lens of object lens 1, the second lens of object lens 2, object lens the third lens 3, object
The first balsaming lens of mirror 4, the second balsaming lens of object lens 5, diaphragm piece 6, object lens third balsaming lens 7, the tenth lens 8 of object lens, object
The 11st lens 9 of mirror, pressing ring 1 23, shank 24, spacer ring 1 28, spacer ring 2 27, spacer ring 3 26, spacer ring 4 25, pressing ring 2 29,
Five groups of lens frames 30, spacer ring 5 31, spacer ring 6 32, pressing ring 3 33, low-light (level) CMOS machine core 34 form.Each lens are attached separately to mirror
With, lens are separated by spacer ring, are finally compressed with pressing ring, low-light (level) CMOS machine core 34 is with shank 24 by being threadedly engaged.
The second balsaming lens of object lens 5 compares sensitive, and several apertures are arranged in structure, by dialling these apertures, keeps the image quality of imaging more preferable.
As shown in Fig. 3,7, infrared lens group B is by the first lens of infrared objective 10, the second lens of infrared objective 11, infrared object
Mirror the third lens 12, the 4th lens 13 of infrared objective, the 5th lens 14 of infrared objective, preceding objective tube 35, pressing ring 4 36, lens barrel
37, pressing ring 5 38, roll adjustment spacer ring 39, rear objective tube 40, infrared detector machine core 41 form.It is the first lens of infrared objective 10, red
Outer the second lens of object lens 11 and preceding objective tube 35 form lens front group, the 5th lens 14 of infrared objective and 40 constituent of rear objective tube
Group after mirror, infrared objective the third lens 12, the 4th lens 13 of infrared objective are distinguished soft on the lens barrel 37, and lens front group is attached to mirror
It after cylinder 37, is compressed by pressing ring 4 36, after lens rear group is attached to lens barrel 37, is compressed by pressing ring 5 38, infrared detector machine core
41 are mounted on lens barrel 37 by screw 21, and the frame guarantee optical interval of lens front group, lens rear group is cut by repairing.
The operation principle of the present invention is that: under daytime or night round-the-clock situation, Weak light is by natural light (sunlight, star
Light, moonlight etc.) irradiation target imaging on cmos detector target surface, detector converts optical signals into electric signal, through over-discharge
After big and processing, output digital video signal；Infrared objective receives the infra-red radiation of observed target, and detector is by infra-red radiation
Electric signal is converted to, after amplification and processing, output digital video signal.Master control borad under unified synchronization signal driving,
The digital video signal of receiving front-end four road CMOS camera and uncooled ir camera is regarded by two module numbers by calibration
Frequency image data completes low-light (level) low-light stereoscopic vision and ranging, infrared stereoscopic vision and ranging, two waveband natural sense are colored/black
The processing of white night visible image, and according to the instruction of operator select low-light (level) low-light, infrared thermal imaging and two waveband natural sense it is colored/
Black white image output mode provides subsequent image application.
Claims (5)
1. a kind of big visual field multiband stereoscopic vision auxiliary pilot, it is characterised in that: including low-light lens group (A), infrared mirror
Head group (B), cover board group (C), shell group (D), master control board group (E), low-light bracket (15), infrared bracket (16), gigabit network interface
(17), socket communication (18)；Low-light lens group (A) is connected on low-light bracket (15) by screw (21), low-light bracket (15)
It is connected to the bottom shell group (D) by screw (21) again, front end is compressed by pressing ring 6 (20)；Infrared lens group (B) passes through screw
(21) it is connected on infrared bracket (16), infrared bracket (16) is connected to the bottom shell group (D) by screw (21) again, and front end is logical
It is fixed to cross screw (21)；Master control board group (E) is supported using insulation padding pole (19), is fixed on shell by screw (21) and washer (22)
In body group (D)；Cover board group (C) is connect by screw (21) with shell group (D)；Low-light lens group (A) and infrared lens group (B) water
Head-up rink corner is all larger than equal to 120 °, shares 4 tunnel imaging systems, red by low-light lens group-infrared lens group-low-light lens group-
Outer camera lens prescription formula is horizontally arranged on shell group (D).
2. a kind of big visual field multiband stereoscopic vision auxiliary pilot according to claim 1, it is characterised in that: kilomega network
Mouth (17) is fixed on cover board group (C) by screw (21)；Socket communication (18) is fixed on by screw (21) and flange (42)
In cover board group (C).
3. a kind of big visual field multiband stereoscopic vision auxiliary pilot according to claim 1, it is characterised in that: low-light mirror
Head group (A) by the first lens of object lens (1), the second lens of object lens (2), object lens the third lens (3), the first balsaming lens of object lens (4),
The second balsaming lens of object lens (5), diaphragm piece (6), object lens third balsaming lens (7), the tenth lens (8) of object lens, object lens the 11st
Lens (9), pressing ring 1 (23), shank (24), spacer ring 1 (28), spacer ring 2 (27), spacer ring 3 (26), spacer ring 4 (25), pressing ring 2 (29),
5th group of lens frame (30), spacer ring 5 (31), spacer ring 6 (32), pressing ring 3 (33), low-light (level) CMOS machine core (34) composition.Each lens
It is attached separately on shank, lens is separated by spacer ring, are finally compressed with pressing ring, low-light (level) CMOS machine core (34) and shank (24)
By being threadedly engaged.
4. a kind of big visual field multiband stereoscopic vision auxiliary pilot according to claim 1, it is characterised in that: infrared mirror
Head group (B) is by the first lens of infrared objective (10), the second lens of infrared objective (11), infrared objective the third lens (12), infrared
The 4th lens (13) of object lens, the 5th lens (14) of infrared objective, preceding objective tube (35), pressing ring 4 (36), lens barrel (37), pressing ring 5
(38), roll adjustment spacer ring (39), rear objective tube (40), infrared detector machine core (41) composition.It is the first lens of infrared objective (10), red
Outer the second lens of object lens (11) and preceding objective tube (35) form lens front group, the 5th lens (14) of infrared objective and rear objective tube
(40) lens rear group is formed, infrared objective the third lens (12), the 4th lens (13) of infrared objective are soft respectively to be mounted in lens barrel (37)
On, after lens front group is attached to lens barrel (37), is compressed by pressing ring 4 (36), after lens rear group is attached to lens barrel (37), pass through pressing ring 5
(38) compress, infrared detector machine core (41) by screw (21) on lens barrel (37), by after repairing and cutting lens front group, object lens
The frame of group guarantees optical interval.
5. a kind of big visual field multiband stereoscopic vision auxiliary pilot according to claim 3, it is characterised in that: object lens
Two balsaming lens (5) setting designs several apertures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910547183.1A CN110221403B (en) | 2019-06-24 | 2019-06-24 | Large-view-field multiband stereoscopic vision auxiliary driver |
Applications Claiming Priority (1)
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| CN110221403B (en) | 2024-06-21 |
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