WO2020114189A1 - 数据集采集器 - Google Patents

数据集采集器 Download PDF

Info

Publication number
WO2020114189A1
WO2020114189A1 PCT/CN2019/116369 CN2019116369W WO2020114189A1 WO 2020114189 A1 WO2020114189 A1 WO 2020114189A1 CN 2019116369 W CN2019116369 W CN 2019116369W WO 2020114189 A1 WO2020114189 A1 WO 2020114189A1
Authority
WO
WIPO (PCT)
Prior art keywords
wide
checkerboard
angle lens
angle
data set
Prior art date
Application number
PCT/CN2019/116369
Other languages
English (en)
French (fr)
Inventor
王文琦
廉士国
南一冰
Original Assignee
深圳前海达闼云端智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳前海达闼云端智能科技有限公司 filed Critical 深圳前海达闼云端智能科技有限公司
Publication of WO2020114189A1 publication Critical patent/WO2020114189A1/zh

Links

Classifications

    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/08—Trick photography
    • 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
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/08—Trick photography
    • G03B15/10—Trick photography using back-projection, i.e. blending artificial background with real foreground

Definitions

  • the present disclosure relates to the field of deep learning, and in particular, to a data set collector.
  • a wide-angle lens is a special lens with a larger angle of view and a shorter focal length than a standard lens. Due to its own structural characteristics such as wide angle of view and short focal length of wide-angle lens, the images it collects are distorted and cannot be directly applied to various traditional visual algorithms.
  • the purpose of the present disclosure is to provide a data set collector that enables images collected by a wide-angle lens to be directly applied to various traditional vision algorithms.
  • a data set collector including: a base provided with a checkerboard designed according to the distortion characteristics of a wide-angle lens; a turntable; a lens holder, the wide-angle lens is fixed to the The lens holder; the control unit is used to control the object carrying the image information to be collected by the turntable to move to a corresponding position on the checkerboard according to the distortion effect of the checkerboard in the wide-angle lens viewing angle range, so that The wide-angle lens can photograph the object at the corresponding position.
  • the turntable includes a rotating shaft and a tray, wherein: the tray is used to accommodate the object that needs to be captured image information; the rotating shaft is used to move the tray to the destination under the control of the control unit The corresponding position on the checkerboard.
  • the lens holder is retractable and movable, and the control unit is further configured to control the lens holder to adjust to an appropriate height and position according to the distortion effect of the checkerboard within the angle of view of the wide-angle lens .
  • control unit is further configured to control the turntable to rotate a preset angle in place, so that the wide-angle lens can capture 360-degree image information of the object.
  • channels are provided between the checkerboard grids, and the turntable can move in the tunnels.
  • the wide-angle lens is detachably fixed on the lens holder.
  • the control unit can control the turntable 2 to be carried according to the distortion effect of the checkerboard 11 within the angle of view of the wide-angle lens 100
  • the object collecting image information moves to a corresponding position on the checkerboard 11 so that the wide-angle lens 100 can photograph the object at the corresponding position, so that the wide-angle lens will be considered when the data set is collected by the wide-angle lens
  • the barrel-shaped distortion feature makes the collected data set can be directly applied to traditional visual algorithms, and can also greatly reduce the workload of manual operations.
  • FIG. 1 shows a schematic block diagram of a data set collector according to an embodiment of the present disclosure.
  • FIG. 2 shows an exemplary checkerboard diagram
  • FIG. 3 shows a distortion diagram of the regular checkerboard shown in FIG. 2 in a wide-angle lens viewing angle range.
  • FIG. 4 shows a top view of the 8*8 checkerboard shown in FIG. 2.
  • the inventor of the present application found that the image collected by the wide-angle lens has the characteristics of barrel distortion. If the characteristics of the barrel distortion are taken into consideration when the data set is collected by the wide-angle lens, the data set collected by the wide-angle lens can be directly applied to traditional vision algorithm.
  • FIG. 1 shows a schematic block diagram of a data set collector according to an embodiment of the present disclosure.
  • the data set collector includes a base 1, a turntable 2, a lens holder 3, and a control unit (not shown).
  • the base 1 is provided with a checkerboard 11 designed according to the distortion characteristics of the wide-angle lens 100; the wide-angle lens 100 is fixed on the lens holder 3; the control unit is configured to check the checkerboard 11 according to the angle of view of the wide-angle lens 100
  • the distortion effect to control the object carried by the turntable 2 carrying the image information to be moved to a corresponding position on the checkerboard 11 so that the wide-angle lens 100 can photograph the object located at the corresponding position.
  • the control unit can control the turntable 2 to be carried according to the distortion effect of the checkerboard 11 within the angle of view of the wide-angle lens 100
  • the object collecting the image information moves to the corresponding position on the checkerboard 11 so that the wide-angle lens 100 can shoot the object at the corresponding position, so that the wide-angle lens will be considered when the data set is collected by the wide-angle lens
  • the barrel-shaped distortion feature makes the collected data set can be directly applied to traditional visual algorithms, and can also greatly reduce the workload of manual operations.
  • FIG. 2 shows a schematic diagram of an exemplary checkerboard
  • the checkerboard is an 8*8 regular checkerboard, which will be distorted in the angle of view of the wide-angle lens.
  • FIG. 3 shows the rules shown in FIG. 2 The distortion of the checkerboard in the range of the angle of view of the wide-angle lens.
  • the control unit can determine where the object to be captured image information is moved to the checkerboard 11 according to the distortion effect of the checkerboard within the angle of view of the wide-angle lens and the wide-angle lens 100 needs to be installed on the lens holder 3 height.
  • the turntable 2 may include a rotating shaft and a tray, wherein: the tray is used to accommodate the object that needs to be captured image information; the rotating shaft is used to carry the vehicle under the control of the control unit The tray moves to the corresponding position on the checkerboard 11. In this way, there is no need to manually move the object to the corresponding position on the checkerboard grid 11, which greatly reduces the manual workload.
  • channels can be provided between the checkerboard grids 11, and the turntable 2 can move in the passages.
  • the control unit can control the turntable 2 to move to a corresponding position by setting specific coordinates.
  • the control unit can also control the turntable 2 to rotate a preset angle in-situ, for example, it can be rotated in-situ for example every time by 90 degrees, so that the in-situ rotation can make the wide-angle lens 100 capture 360 degrees of the object Image information.
  • 4 shows a top view of the 8*8 checkerboard grid shown in FIG. 2, wherein the black squares are checkerboard grids, the white between the checkerboard grids is the rotation axis channel, and the gray circles represent the trays on the rotation axis. You can move to the specified position in the channel.
  • the lens holder 3 is retractable and movable, so that the height of the wide-angle lens 100 can be adjusted under the control of the control unit.
  • the control unit is also used to control the lens holder to adjust to an appropriate height and position according to the distortion effect of the checkerboard within the angle of view of the wide-angle lens. Since different wide-angle lenses have different viewing angle ranges, the position and distortion of the checkerboard 11 in the wide-angle lens 100 viewing angle range can be adjusted by adjusting the height of the wide-angle lens, and the real application scene of the wide-angle lens can be highly simulated by adjusting the height of the wide-angle lens 100.
  • the wide-angle lens 100 is detachably fixed to the lens holder.
  • the dark gray circle is the tray for placing the image to be collected, and the object that needs to collect image information is placed on the tray; below the tray is the rotating shaft, which can be rotated in place according to the set rotation angle to drive the object above to rotate
  • the shaft can be moved to the designated position set by the control unit through the channel between the checkerboards to collect the image information of the object at different positions under the wide-angle lens.
  • the black bold on the base is a shelf that can adjust the height and position.
  • the wide-angle lens is mounted on it. The position of the wide-angle lens can be adjusted according to the distortion of the checkerboard 11 within the wide-angle lens angle of view.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

本公开涉及一种数据集采集器，属于深度学习领域，能够使广角镜头采集到的图像被直接应用于各种传统视觉算法。该数据集采集器，包括：底座，所述底座上设置有根据广角镜头的畸变特点设计的棋盘格；转台；镜头架，所述广角镜头被固定在所述镜头架上；控制单元，用于根据所述广角镜头视角范围内所述棋盘格的畸变效果来控制所述转台携带要被采集图像信息的物体移动到所述棋盘格上的相应位置处，使得所述广角镜头能够对位于所述相应位置处的所述物体进行拍摄。

Description

数据集采集器
相关申请的交叉引用
本申请要求2018年12月03日提交的、申请号为201811468574.6的中国专利申请的优先权。
技术领域
本公开涉及深度学习领域，具体地，涉及一种数据集采集器。
 背景技术
广角镜头是比标准镜头视角更大、焦距更短的特殊镜头。由于广角镜头的视角大、焦距短等自身结构特点，导致其采集到的图像具有畸变，无法被直接应用于各种传统视觉算法。
发明内容
本公开的目的是提供一种数据集采集器，能够使广角镜头采集到的图像被直接应用于各种传统视觉算法。
根据本公开的第一实施例，提供一种数据集采集器，包括：底座，所述底座上设置有根据广角镜头的畸变特点设计的棋盘格；转台；镜头架，所述广角镜头被固定在所述镜头架上；控制单元，用于根据所述广角镜头视角范围内所述棋盘格的畸变效果来控制所述转台携带要被采集图像信息的物体移动到所述棋盘格上的相应位置处，使得所述广角镜头能够对位于所述相应位置处的所述物体进行拍摄。
可选地，所述转台包括转轴和托盘，其中：所述托盘用于容纳需要被采集图像信息的所述物体；所述转轴用于在所述控制单元的控制下携带所述托盘移动到所述棋盘格上的所述相应位置处。
可选地，所述镜头架是可伸缩和可移动的，所述控制单元还用于根据所述广角镜头视角范围内所述棋盘格的畸变效果来控制所述镜头架调整到合适的高度和位置。
可选地，所述控制单元还用于控制所述转台原地旋转预设角度，以使得所述广角镜头能够拍摄所述物体的360度图像信息。
可选地，所述棋盘格的各个格之间设置有通道，所述转台能够在所述通道中移动。
可选地，所述广角镜头可拆卸地被固定在所述镜头架上。
通过采用上述技术方案，由于棋盘格11是根据广角镜头100的畸变特点设计的，而且控制单元能够根据所述广角镜头100的视角范围内所述棋盘格11的畸变效果来控制所述转台2携带要被采集图像信息的物体移动到所述棋盘格11上的相应位置处，使得所述广角镜头100能够对位于所述相应位置处的所述物体进行拍摄，这样在利用广角镜头采集数据集时就会考虑广角镜头的桶形畸变特点，使得采集到的数据集能够被直接应用于传统视觉算法，而且还能够大大减小人工操作的工作量。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
 附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1示出根据本公开一种实施例的数据集采集器的示意框图。
图2示出了一种示例性的棋盘格示意图。
图3示出了图2所示的规则棋盘格在广角镜头视角范围中的畸变成图。
图4示出了图2所示的8*8棋盘格的顶视图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
本申请的发明人发现，广角镜头采集到的图像具有桶形畸变的特点，如果在利用广角镜头采集数据集时考虑其桶形畸变的特点，则能够使得广角镜头采集到的数据集被直接应用于传统视觉算法。
图1示出根据本公开一种实施例的数据集采集器的示意框图，如图1所示，该数据集采集器包括底座1、转台2、镜头架3和控制单元（未示出）。其中，底座1上设置有根据广角镜头100的畸变特点设计的棋盘格11；广角镜头100被固定在所述镜头架3上；控制单元，用于根据所述广角镜头100的视角范围内所述棋盘格11的畸变效果来控制所述转台2携带要被采集图像信息的物体移动到所述棋盘格11上的相应位置处，使得所述广角镜头100能够对位于所述相应位置处的所述物体进行拍摄。
通过采用上述技术方案，由于棋盘格11是根据广角镜头100的畸变特点设计的，而且控制单元能够根据所述广角镜头100的视角范围内所述棋盘格11的畸变效果来控制所述转台2携带要被采集图像信息的物体移动到所述棋盘格11上的相应位置处，使得所述广角镜头100能够对位于所述相应位置处的所述物体进行拍摄，这样在利用广角镜头采集数据集时就会考虑广角镜头的桶形畸变特点，使得采集到的数据集能够被直接应用于传统视觉算法，而且还能够大大减小人工操作的工作量。
图2示出了一种示例性的棋盘格示意图，该棋盘格是8*8的规则棋盘格，其在广角镜头的视角范围中会发生畸变，例如，图3示出了图2所示的规则棋盘格在广角镜头视角范围中的畸变成图。在采集数据集时，控制单元就可以根据广角镜头视角范围内棋盘格的畸变效果来确定将需要被采集图像信息的物体移动到棋盘格11的哪些位置以及广角镜头100需要被安装在镜头架3上的高度。
在一种可能的实施方式中，转台2可以包括转轴和托盘，其中：所述托盘用于容纳需要被采集图像信息的所述物体；所述转轴用于在所述控制单元的控制下携带所述托盘移动到所述棋盘格11上的所述相应位置处。这样就不需要人工将物体移动到棋盘格11上的相应位置处，大大减小了人工的工作量。
另外，棋盘格11的各个格之间可以设置有通道，所述转台2能够在所述通道中移动，例如控制单元可以通过设置具体坐标来控制转台2移动到相应的位置上。或者，所述控制单元还可以控制所述转台2原地旋转预设角度，例如，可以每次都原地旋转例如90度，这样原地旋转4次就能够使广角镜头100拍摄到物体的360度图像信息。图4示出了图2所示的8*8棋盘格的顶视图，其中黑色方格为棋盘格，棋盘格的各个格之间的白色为转轴通道，灰色圆形表示转轴上的托盘，转轴可以在通道中移动到设置的指定位置上。
在一种可能的实施方式中，所述镜头架3是可伸缩和可移动的，这样就能够在控制单元的控制下调整广角镜头100的高度。
所述控制单元还用于根据所述广角镜头视角范围内所述棋盘格的畸变效果来控制所述镜头架调整到合适的高度和位置。由于不同的广角镜头的视角范围不同，通过调整广角镜头的高度能够调整棋盘格11在广角镜头100的视角范围中的位置以及畸变情况，通过调整广角镜头100的高度，能够高度地模拟广角镜头真实的应用场景。
另外，所述广角镜头100可拆卸地被固定在所述镜头架上。这样，在需要更换广角镜头的情况下，能够很方便的进行更换。例如，在图1中，深灰色圆形为放置待采集图像的托盘，在托盘上放置需要采集图像信息的物体；托盘下面是转轴，转轴可以根据设置的旋转角度进行原地旋转带动上面物体旋转来采集物体同一位置不同角度的图像信息，转轴可以通过棋盘格之间的通道移动到控制单元设置好的指定位置，来采集物体在广角镜头下不同位置的图像信息。底座上面黑色加粗的是可以调整高度和位置的架子，广角镜头安装到上面，可以根据棋盘格11在广角镜头视角范围内的畸变情况来调整广角镜头的位置。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (6)

  1. 一种数据集采集器，其特征在于，包括：
    底座，所述底座上设置有根据广角镜头的畸变特点设计的棋盘格；
    转台；
    镜头架，所述广角镜头被固定在所述镜头架上；
    控制单元，用于根据所述广角镜头视角范围内所述棋盘格的畸变效果来控制所述转台携带要被采集图像信息的物体移动到所述棋盘格上的相应位置处，使得所述广角镜头能够对位于所述相应位置处的所述物体进行拍摄。
  2. 根据权利要求1所述的数据集采集器，其特征在于，所述转台包括转轴和托盘，其中：
    所述托盘用于容纳需要被采集图像信息的所述物体；
    所述转轴用于在所述控制单元的控制下携带所述托盘移动到所述棋盘格上的所述相应位置处。
  3. 根据权利要求1所述的数据集采集器，其特征在于，所述镜头架是可伸缩和可移动的，
    所述控制单元还用于根据所述广角镜头视角范围内所述棋盘格的畸变效果来控制所述镜头架调整到合适的高度和位置。
  4. 根据权利要求1所述的数据集采集器，其特征在于，所述控制单元还用于控制所述转台原地旋转预设角度，以使得所述广角镜头能够拍摄所述物体的360度图像信息。
  5. 根据权利要求1至4中任一权利要求所述的数据集采集器，其特征在于，所述棋盘格的各个格之间设置有通道，所述转台能够在所述通道中移动。
  6. 根据权利要求1所述的数据集采集器，其特征在于，所述广角镜头可拆卸地被固定在所述镜头架上。
PCT/CN2019/116369 2018-12-03 2019-11-07 数据集采集器 WO2020114189A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811468574.6 2018-12-03
CN201811468574.6A CN109712058B (zh) 2018-12-03 2018-12-03 数据集采集器

Publications (1)

Publication Number Publication Date
WO2020114189A1 true WO2020114189A1 (zh) 2020-06-11

Family

ID=66253907

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/116369 WO2020114189A1 (zh) 2018-12-03 2019-11-07 数据集采集器

Country Status (2)

Country Link
CN (1) CN109712058B (zh)
WO (1) WO2020114189A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109712058B (zh) * 2018-12-03 2022-09-30 达闼机器人股份有限公司 数据集采集器
CN114063281A (zh) * 2021-11-23 2022-02-18 辽宁中蓝光电科技有限公司 一种人工智能进行镜头光学系统的设计方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007034103A (ja) * 2005-07-29 2007-02-08 Eastman Kodak Co 広角レンズおよびカメラ
CN1995954A (zh) * 2007-01-09 2007-07-11 北京航空航天大学 节水型便器性能参数视觉测量系统及测量方法
CN206258111U (zh) * 2016-12-02 2017-06-16 上海弼智仿生高科技有限公司 一种使用远心镜头的影像测量装置
CN109712058A (zh) * 2018-12-03 2019-05-03 深圳前海达闼云端智能科技有限公司 数据集采集器

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008178051A (ja) * 2007-01-17 2008-07-31 Yamazaki:Kk 圧電式骨伝導レシーバおよびこれを用いた骨伝導通信システム
KR101482645B1 (ko) * 2013-06-28 2015-01-16 (주) 세인 Ｆｏｖ왜곡 보정 모델에 2ｄ패턴을 적용한 왜곡중심 보정 방법
CN104809739B (zh) * 2015-05-15 2019-03-22 南京大学 一种超广角镜头相机视频实时校正的方法
CN105741296B (zh) * 2016-02-02 2018-12-28 大连楼兰科技股份有限公司 一种360度全视角鸟瞰全景行车辅助标定方法
CN206039140U (zh) * 2016-09-26 2017-03-22 成都通甲优博科技有限责任公司 一种全景相机组标定装置
CN206863817U (zh) * 2017-04-19 2018-01-09 中科院微电子研究所昆山分所 摄像机图像自动采集装置及摄像机标定系统
CN206890031U (zh) * 2017-06-06 2018-01-16 滨州学院 图像处理用多角度采集装置
CN108713317B (zh) * 2018-04-27 2020-10-09 深圳前海达闼云端智能科技有限公司 一种图像采集装置
CN208421900U (zh) * 2018-07-13 2019-01-22 上海禾赛光电科技有限公司 一种摄像头系统参数标定装置
CN108900734B (zh) * 2018-07-16 2020-12-08 杭州电子科技大学 一种广角镜头畸变自动校正装置及方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007034103A (ja) * 2005-07-29 2007-02-08 Eastman Kodak Co 広角レンズおよびカメラ
CN1995954A (zh) * 2007-01-09 2007-07-11 北京航空航天大学 节水型便器性能参数视觉测量系统及测量方法
CN206258111U (zh) * 2016-12-02 2017-06-16 上海弼智仿生高科技有限公司 一种使用远心镜头的影像测量装置
CN109712058A (zh) * 2018-12-03 2019-05-03 深圳前海达闼云端智能科技有限公司 数据集采集器

Also Published As

Publication number Publication date
CN109712058B (zh) 2022-09-30
CN109712058A (zh) 2019-05-03

Similar Documents

Publication Publication Date Title
KR102500759B1 (ko) 심 없는 이미지 스티칭(Seamless image stitching)
US11586033B2 (en) High speed variable focal field lens assembly and related methods
US10904430B2 (en) Method for processing image, image processing apparatus, multi-camera photographing apparatus, and aerial vehicle
EP3356887B1 (en) Method for stitching together images taken through fisheye lens in order to produce 360-degree spherical panorama
CN104065859B (zh) 一种全景深图像的获取方法及摄像装置
JP2022528659A (ja) プロジェクタの台形補正方法、装置、システム及び読み取り可能な記憶媒体
CN108805801A (zh) 一种全景图像校正方法及系统
CN109167924A (zh) 基于混合相机的视频成像方法、系统、设备及存储介质
CN107925751A (zh) 用于多视点降噪和高动态范围的系统和方法
WO2016119301A1 (zh) 一种终端、图像拍摄方法及装置
JP4914171B2 (ja) 撮像装置の制御方法及びカメラシステム
CN103338342A (zh) 自适应投影仪
US20100321475A1 (en) System and method to quickly acquire three-dimensional images
CN105791688A (zh) 移动终端及成像方法
WO2020114189A1 (zh) 数据集采集器
AU2019212641B2 (en) Voronoi cropping of images for post field generation
CN107527336A (zh) 镜头相对位置标定方法及装置
CN113989124B (zh) 一种提升云台摄像机定位精度的系统及其控制方法
WO2021168707A1 (zh) 对焦方法、装置及设备
CN104718494B (zh) 位置调整装置和位置调整方法
KR102127764B1 (ko) 파노라마 이미지 생성 시스템 및 방법
US9667869B2 (en) Camera apparatus for automatically maintaining horizontality and method for the same
TWI695632B (zh) 音訊控制裝置及其控制方法
JP5340973B2 (ja) 浮遊立体表示装置システム
KR102017750B1 (ko) 자동 수평 유지 카메라 장치 및 이를 위한 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19892580

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19892580

Country of ref document: EP

Kind code of ref document: A1