CN107105219A - Many depth camera compact panoramic scanning equipment - Google Patents
Many depth camera compact panoramic scanning equipment Download PDFInfo
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- CN107105219A CN107105219A CN201710382353.6A CN201710382353A CN107105219A CN 107105219 A CN107105219 A CN 107105219A CN 201710382353 A CN201710382353 A CN 201710382353A CN 107105219 A CN107105219 A CN 107105219A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
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Abstract
The invention discloses a kind of many depth camera compact panoramic scanning equipment, including at least one set three depth cameras compact arranged from top to bottom, these depth cameras are connected in the side of housing cavity, and be electrically connected with a hub, the hub is electrically connected with an on-chip system again；Fixed point panoramic mosaic unit, shift position evaluation unit and the integral grid generation unit of the processing unit to depth and coloured image, i.e. electrical series are contained in the on-chip system；The on-chip system is electrically connected with a servo-driver again, and the servo-driver is electrically connected with single-axis servo turntable again, and the stator of the servo turntable is connected in the bottom surface of housing cavity.This equipment volume is small, compact overall structure, is adapted to making depth and color panoramic figure at three-dimensional panorama scanning, exportable some positions similar to narrow and small environment as car inside, and overall scenario the three-dimensional grid with color texture.
Description
Technical field
The present invention relates to a kind of 3D panoramic scannings and imaging device, especially a kind of corpusculum with multiple depth cameras
Product compact panoramic scanning device.
Background technology
It is frequently necessary to carry out the 3D full-view modelings of true environment in virtual reality (VR) technology, wherein there are many environment empty
Between narrow and small, interior such as car, the driver's cabin of aircraft.Scanning or shooting to these narrow and small environment is less square
Just.When for example using hand-held equipment, it is possible that scanning is to the human body that hold equipment, or there are some place shootings not
Situation about arriving, and operate underaction quick.
The equipment of full-view modeling is realized in VR includes panoramic camera, usually using the scheme of multiple cameras, such as public
A kind of announcement CN106506925A Chinese invention patent " panoramic shooting ball ", 360 ° of panorama is realized using multiple cameras
Shooting.This kind of panoramic camera compact conformation, can be used in narrow and small environment；But photo or video can only be typically shot, is lacked
The depth information of weary scene, not real 3D panorama models；For narrow and small environment, lacking the depth of field can cause than more serious
Distortion, is unfavorable for VR bandwagon effect.
To obtain more complete 3D depth informations, 3D laser scanners can be used.Common laser scanner has single
Individual laser, by hand-held or outfit turntable/slide unit come work, but sweep speed is slower.In order to increase durability and scanning
Speed, also has the scheme using multiple lasers, " one kind is containing more for such as notification number CN106500628A Chinese invention patent
The 3-D scanning method and scanner of individual different wave length laser ", includes at least two lasers.This kind of laser scanner is fitted
Required precision very high industrial site is closed, price is partially expensive for consumer level VR applications, and the body for narrow and small environmental scanning
Product is bigger than normal.
3D imaging devices based on depth camera (such as Kinect) have to the VR application scenarios of non-industrial class precision
There is more preferable cost performance.Common is also the scheme using single depth camera；It is then most according to multiple depth cameras
It is equipped with multiple supports to be supported, such as notification number CN202293994U Chinese invention patent " is based on three dimensional depth camera
Real-time body scans three-dimensional carving device ", three supports being vertically arranged are used, and multiple depths are installed on every support
Spend camera.Of this sort configuration is not compact enough, is not suitable for using in narrow and small environment.
The content of the invention
In order to overcome existing 3D scanning devices to be poorly suited for the full-view modeling of narrow and small environment, and panoramic camera is only
Photo or video can be panned and the problem of without 3D depth informations, the invention provides a kind of many depth camera compacts are complete
Scape scanning device, is integrated with multiple small-sized depth cameras and coordinates single-axis servo turntable to realize 3D panoramic scannings, at comprehensive
In the case of considering cost performance, make device structure as far as possible compact, be adapted to carry out 3D full-view modelings to narrow and small environment, it is easy to use.
The technical solution adopted for the present invention to solve the technical problems is：A kind of many depth camera compact panoramic scannings
Equipment, realizes that 3D is imaged using depth camera, including at least one set of three depth cameras compact arranged from top to bottom, this
A little depth cameras are connected in the side of housing cavity, and are electrically connected with a hub, the hub again with a piece
System is electrically connected with；The processing unit to depth and coloured image is contained in the on-chip system；The on-chip system again with one
Servo-driver is electrically connected with, and the servo-driver is electrically connected with single-axis servo turntable again, and scheduling for the servo turntable is connected
In the bottom surface of housing cavity.
Above-mentioned many depth camera compact panoramic scanning equipment, described depth camera is to meet compact to want
The miniaturization imaging device asked, wherein being integrated with depth transducer and color sensor, depth image and colour can be shot simultaneously
Image.The depth transducer includes infrared transmitter and infrared remote receiver, and the color sensor is felt usually using CMOS
Optical chip.The optional PrimcSense depth cameras of the present invention, or the RealSense depth cameras of Intel Company are first-class
Model；The volume of wherein RealSense depth cameras is smaller, preferably.
The mutual alignment relation of described one group of three depth camera is determined by the photocentre and optical axis of depth camera.
In the present invention, the photocentre of depth camera refers to the sensitivity centre of color sensor in depth camera；And optical axis refers to pass through
Photocentre, perpendicular to color sensor sensitized lithography and points to the ray of shooting direction.Depth transducer in depth camera
The difference of photocentre and optical axis and color sensor, but can be operated by post processing of image by deepness image registration to coloured image
On, so as to logically make two photocentres and two optical axises overlap.
The mutual alignment relation of described one group of three depth camera is：The optical axis of three depth cameras is located at same
In perpendicular, and all point to same half-plane；The optical axis of first depth camera above points to the half-plane
Obliquely downward to, point to the horizontal direction of the half-plane positioned at the optical axis of the second middle depth camera, underlying the
The optical axis of three depth cameras points to the oblique direction of the half-plane, so as to ensure that three depth cameras are having partial visual field phase
Mutually it is overlapping on the premise of, total visual field is as big as possible.The mutual alignment relation of three depth cameras will be used as depth camera leader
A part for fixed number evidence；Another part nominal data includes the intrinsic parameters such as the focal length of depth camera.
Above-mentioned many depth camera compact panoramic scanning equipment, described hub has used stelliform connection topology configuration
Each depth camera and on-chip system are connected, a depth camera Interface Expanding is taken the photograph into the depth of multiple autonomous workings
As head interface, wherein the type to depth camera interface is not limited；As the preferred scheme of the present invention, depth camera can
USB interface is used, and the hub then uses usb hub accordingly.
Above-mentioned many depth camera compact panoramic scanning equipment, described on-chip system (SoC) is exactly on chip
It is integrated with the complete embedded system including the devices such as processor, memory and peripheral circuit.It is solid in the on-chip system
The processing unit to depth/coloured image is changed.The embodiment of the on-chip system is not limited, can use based on ARM,
The on-chip system of DSP, FPGA, GPU or Intel cpu chip.As the preferred scheme of the present invention, using based on ARM and GPU
The on-chip system of chip.
Depth/color image processing unit included in the on-chip system, the fixed point for specifically including electrical series is complete
Scape concatenation unit, shift position evaluation unit and integral grid generation unit, these three units are again each and data storage
It is electrically connected with.
Fixed point panoramic mosaic unit included in the on-chip system, some place is positioned in the equipment of the present invention
When, it will be sent by on-chip system and make that equipment rotates a circle and while the instruction being scanned, utilizes the predictable anglec of rotation
And the depth camera nominal data in data storage is pre-stored in, the depth received/coloured image scan data is spelled
Pick up and, obtain depth/color panoramic figure of the fixed point, and result and original depth/cromogram panorama sketch
As data buffer storage is into data storage.
Shift position evaluation unit included in the on-chip system, is moved to one in the equipment of the present invention and new faces
Behind perigee, the panorama sketch of current point that fixed point panoramic mosaic unit will be called to be exported, and call in data storage and cache
Panorama sketch a little and depth camera nominal data, estimated by image matching operations current point and a little between
Relative position, and result cache into data storage.If can not estimate current point and a little between relative position,
Then abandon current point and be moved to a new place again.If only needing to carry out panoramic scanning, this element in one place
Do not work；
Integral grid generation unit included in the on-chip system, will call what shift position evaluation unit was exported
The position of current point, and the depth/color image data cached in data storage and position a little are called, pass through depth
The fusion of image and gridding operation generate the whole 3D grids for having scanned scene, and are used as using coloured image the table of the grid
Face texture；The 3D integral grids and surface texture of generation are stored into data storage.If only needing to carry out in one place
Panoramic scanning, then the integral grid is exactly the 3D grids that the depth that is scanned by the place and coloured image are generated.
Above-mentioned many depth camera compact panoramic scanning equipment, described servo-driver (also known as servo controller)
For controlling the rotation of servo turntable, that is, the anglec of rotation, angular speed and angular acceleration are controlled, realize high-precision transmission positioning.
The enabled instruction of servo-driver is sent by the on-chip system, and specific control logic can be pre-set, for example, be arranged to even
Speed rotates a circle, and is scanned in rotation；Or suspend and shoot after rotation fixed angle, and this process is repeated until full one
Week.
Above-mentioned many depth camera compact panoramic scanning equipment, described single-axis servo turntable, its unique rotation
Axis keeps vertical in the perpendicular where the optical axis of the depth camera.The servo turntable is fixed on housing
The stator of the bottom surface of inner chamber, i.e. turntable is connected with housing, and the rotor of turntable is then stretched out outside housing, will be external with tripod etc.
Support equipment is connected by screw；When servo turntable rotates, the equipment of the present invention will be driven relative to fixed external branch
Support equipment rotates.Level can be adjusted by the external support equipment such as tripod, make the pivot center of servo turntable close to
Perpendicular to the ground, but this be not it is enforceable, the present invention in the case of pivot center out of plumb ground still can normal work because
The fixed point part such as panoramic mosaic unit and shift position evaluation unit is based on relative angle and relative position to do computing.
Above-mentioned many depth camera compact panoramic scanning equipment, include at least one set of depth camera (i.e. at least three
Individual depth camera), and specifically organize number and be not limited, but group number can excessively increase the volume and cost of equipment.It is used as this hair
Bright preferred scheme, using one group of three depth camera.If more than one group, each group depth camera is watched with the single shaft
The pivot center for taking turntable is center of rotational symmetry, is evenly distributed in the side of housing cavity.For example there are two groups of depth cameras
When, if one of which depth camera rotates 180 ° around the pivot center of the servo turntable, taken the photograph with another group of depth
As the position coincidence of head, the rest may be inferred.If more than one group depth camera, then the interface quantity of the hub accordingly increases
Plus, and the anglec of rotation that the servo-driver is controlled then accordingly is reduced.
The beneficial effects of the invention are as follows be integrated with three depth cameras of at least one set, can splice in the present invention
Into the big visual field, coordinate the rotation of servo turntable, be adapted to do 3D panoramic scannings；Multiple depth cameras pass through foregoing particular arrangement
Mode and position relationship, make overall structure compacter；The servo turntable be single shaft, and small volume lower than the cost of twin shaft,
Whole equipment is set to can be placed in narrow and small environment, the interior of such as car：The on-chip system included in the present invention is to sweeping
The depth and coloured image retouched are handled, and calculate depth/color panoramic figure, and 3D grid of the output with color texture,
Realize the 3D full-view modelings of narrow and small environment.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is each unit electrical connection figure of the present invention；
Fig. 3 is single depth camera structural representation；
Fig. 4 is the relative position relation figure of one group of three depth camera；
Fig. 5 is on-chip system internal structure and workflow diagram；
Fig. 6 is servo turntable schematic view of the mounting position；
In figure,
1. the first depth camera, the depth transducer of 101. first depth cameras, 102. first depth cameras
Color sensor, the photocentre of 103. first depth cameras, the optical axis of 104. first depth cameras, 105. first depth cameras
The visual field of head,
2. the second depth camera, the optical axis of 204. second depth cameras, the visual field of 205. second depth cameras,
3. the 3rd depth camera, the optical axis of 304. the 3rd depth cameras, the visual field of 305. the 3rd depth cameras,
4. housing,
5. hub,
6. on-chip system, 601. fixed point panoramic mosaic units, 602. shift position evaluation units, the generation of 603. integral grids
Unit, 604. data storages,
7. servo-driver,
8. servo turntable, the pivot center of 801. servo turntables, 802. servo turntable stators, 803. servo turntable rotors.
Embodiment
【Embodiment 1】
Many depth camera compact panoramic scanning equipment, as shown in figure 1, including one group from top to bottom compact arranged
One depth camera 1, the second depth camera 2, and the 3rd depth camera 3, these depth cameras are connected in housing 4
The side of chamber, and (such as Fig. 2) is electrically connected with a hub 5, the hub 5 is electrically connected with an on-chip system 6 again；Should
The processing unit to depth and coloured image is contained in on-chip system 6；The on-chip system 6 is again electric with a servo-driver 7
Property connection, the servo-driver 7 is electrically connected with single-axis servo turntable 8 again, and the stator of the servo turntable 8 is connected in housing 4
The bottom surface of chamber.
As shown in figure 3, the first depth camera 1 is integrated with depth transducer 101 and color sensor 102, it can clap simultaneously
Take the photograph depth image and coloured image.The photocentre 103 of first depth camera refers to color sensor 102 in the first depth camera
Sensitivity centre, and the optical axis 104 of the first depth camera is by photocentre 103, perpendicular to color sensor sensitized lithography simultaneously
And point to the ray (such as Fig. 4) of shooting direction.In second depth camera 2, the structure and Fig. 3 of the 3rd depth camera 3
One depth camera 1 is identical.
The optical axis 104,204 and 304 of three depth cameras is located in same perpendicular, and all points to same
Half-plane, as shown in the side view of the invention in Fig. 4, the optical axis 104 of the first depth camera 1 above is pointed to should be partly
The obliquely downward of plane is to the optical axis 204 positioned at the second middle depth camera 2 points to the horizontal direction of the half-plane, is located at
The optical axis 304 of 3rd depth camera 3 of lower section points to the oblique direction of the half-plane, it is ensured that three depth cameras are regarded
Open country 105,205 and 305 is on the premise of overlapping, and total visual field is as big as possible, i.e. the edge of total visual field is close to housing 4
Edge.
Hub 5 has used stelliform connection topology configuration to connect depth camera 1,2,3 and on-chip system 6, as shown in Fig. 2
By a depth camera Interface Expanding on on-chip system 6 into multiple autonomous workings depth camera interface.This implementation
Depth camera uses USB interface in example, and hub 5 then uses usb hub accordingly.
As shown in figure 5, containing depth/color image processing unit in on-chip system 6, determining for electrical series is specifically included
Point panoramic mosaic unit 601, shift position evaluation unit 602 and integral grid generation unit 603, these three units are again respective
It is electrically connected with data storage 604.
Fixed point panoramic mosaic unit 601 is when the equipment of the present invention is placed in a certain place, by on-chip system 6 to servo
Driver 7 sends the instruction for making servo turntable 8 rotate a circle, and starts scanning simultaneously, utilizes the rotation of predictable servo turntable 8
Gyration and the depth camera nominal data being pre-stored in data storage 604, sweep the depth/coloured image received
Retouch data to be stitched together, obtain depth/color panoramic figure of the fixed point；And result and original depth panorama sketch
Degree/color image data is cached in data storage 604.
Shift position evaluation unit 602 calls fixed point panorama to spell after the equipment of the present invention is moved to a new place
Order member 601 exports the panorama sketch of current point, and the panorama sketch a little and depth cached in data storage 604
Camera calibration data, estimated based on image matching operations current point and a little between relative position, and result is delayed
It is stored in data storage 604.
Integral grid generation unit 603 calls the position for the current point that shift position evaluation unit 602 exported, and number
According to the depth/color image data cached in memory 604 and position a little, based on depth image fusion and gridding
Operate to generate the whole 3D grids for having scanned scene, and be used as using coloured image the surface texture of the grid；The entirety of generation
In grid and surface texture deposit data storage 604.
Servo-driver 7 is used for controlling the rotation of servo turntable 8, and the enabled instruction of servo-driver 7 is sent out by on-chip system 6
Go out.In the present embodiment, the control logic of servo-driver 7 may be configured as servo turntable 8 and rotate fixed angle (such as 60 °)
After suspend once, shot while enabling depth camera 1,2,3, then repeat this process until full one week 360.
Unique pivot center 801 of single-axis servo turntable 8 is positioned at vertical where the optical axis of three depth cameras 1,2,3
In plane, and keep vertical, as shown in the front view of the invention in Fig. 6.Servo turntable 8 is fixed on the bottom of the inner chamber of housing 4
The stator 802 in face, i.e. servo turntable is connected with housing 4, and the rotor 803 of servo turntable is then stretched out outside housing 4.
In the present embodiment, the rotor 803 of servo turntable will be fixed with tripod by screw；To support the present invention's
Equipment.When servo turntable 8 rotates, the equipment for driving the present invention is rotated relative to tripod, realized in some position
Panoramic scanning.Then tripod can be moved to next adjacent locations, and be again started up rotation and panoramic scanning process, until complete
The scanning of whole scene in pairs.
【Embodiment 2】
In the present embodiment, the rotor 803 of servo turntable will be screwed on a mobile platform, such as machine
On device people.Robot automatically or can be remotely moved to a certain position and stop, and automatic start servo controller 7, drive servo
The rotation of turntable 8 is so as to carry out the panoramic scanning at the position；Then robot is automatic or is remotely moved to next position and stops
Under, automatic start servo controller 7, repeats the process of rotation and panoramic scanning again；The rest may be inferred.
Each side in the present embodiment can be combined with any aspect not conflicted in embodiment 1, to constitute further
Embodiment, without lose the effect to be sought.
【Embodiment 3】
The present invention includes at least one set of depth camera (i.e. at least three depth cameras), and specific group number is not limited
System, will use two groups of depth cameras in the present embodiment.Each group depth camera is with the pivot center of single-axis servo turntable 8
801 be center of rotational symmetry, is evenly distributed in the side of the inner chamber of housing 4.If i.e. one of which depth camera turns around servo
The pivot center 801 of platform 8 rotates 180 °, then the position with another group of depth camera is overlapped.Because there is two groups in the present embodiment
Depth camera, then the interface quantity of hub 5 accordingly increase, that is, have six interfaces；And the rotation that servo-driver 7 is controlled
Gyration is then accordingly reduced, as long as i.e. 180 ° of half revolution.
Each side in the present embodiment can be combined with any aspect not conflicted in Examples 1 and 2, to constitute into one
The embodiment of step, without losing the effect to be sought.
【Embodiment 4】
Wireless transmission unit can be added for the equipment of the present invention in the present embodiment, for example, add WiFi or bluetooth mould
Block, the wireless transmission unit is electrically connected with the on-chip system 6, and its purpose includes but is not limited to remote observation panoramic scanning
Journey, remotely reads final panoramic scanning result, and long-range transmission telecommand etc., for example, is remotely sent to on-chip system 6
The enabled instruction of servo controller 7.But the wireless transmission unit is not required in that, realization of the invention is not rely on wirelessly
Transmission unit.
Each side in the present embodiment can be combined with any aspect not conflicted in embodiment 1,2 and 3, with constitute into
The embodiment of one step, without losing the effect to be sought.
Claims (10)
1. a kind of many depth camera compact panoramic scanning equipment, realize three-dimensional imaging, its feature exists using depth camera
In：Including at least one set three depth cameras compact arranged from top to bottom, these depth cameras are connected in housing cavity
Side, and be electrically connected with hub, the hub is electrically connected with an on-chip system again；Wrapped in the on-chip system
The processing unit to depth and coloured image is contained；The on-chip system is electrically connected with a servo-driver again, and the servo is driven
Dynamic device is electrically connected with single-axis servo turntable again, and the stator of the servo turntable is connected in the bottom surface of housing cavity.
2. many depth camera compact panoramic scanning equipment according to claim 1, it is characterised in that：Described depth
Depth transducer and color sensor are integrated with camera, can sampling depth image and coloured image.
3. many depth camera compact panoramic scanning equipment according to claim 1, it is characterised in that：Described one group three
The optical axis of individual depth camera is located in same perpendicular, and all points to same half-plane；Above first
The optical axis of depth camera points to the obliquely downward of the half-plane to being pointed to positioned at the optical axis of the second middle depth camera should be partly
The horizontal direction of plane, the optical axis of underlying 3rd depth camera points to the oblique direction of the half-plane.
4. many depth camera compact panoramic scanning equipment according to claim 1, it is characterised in that：Described upper system
System in include to depth and the processing unit of coloured image, specifically include fixed point panoramic mosaic unit, the movement of electrical series
Position estimation unit and integral grid generation unit, these three units are each electrically connected with data storage again.
5. many depth camera compact panoramic scanning equipment according to claim 4, it is characterised in that：Described upper system
Fixed point panoramic mosaic unit included in system, when this equipment is positioned over some place, by the rotation and scanning of this equipment,
The depth and color panoramic figure being spliced at the point.
6. many depth camera compact panoramic scanning equipment according to claim 4, it is characterised in that：Described upper system
Shift position evaluation unit included in system, after this equipment is moved to a new place, by image matching operations come
Estimate the relative position between current location and existing place.
7. many depth camera compact panoramic scanning equipment according to claim 4, it is characterised in that：Described upper system
Integral grid generation unit included in system, whole scanning field is generated by the fusion and gridding operation of depth image
The three-dimensional grid of scape, and it is used as using coloured image the surface texture of the grid.
8. many depth camera compact panoramic scanning equipment according to claim 1 and claim 3, its feature exists
In：The pivot center of the single-axis servo turntable is kept in the perpendicular where the optical axis of the depth camera
Vertically.
9. many depth camera compact panoramic scanning equipment according to claim 1, it is characterised in that：The single shaft is watched
The rotor for taking turntable is stretched out outside housing, and can be connected with external support equipment.
10. many depth camera compact panoramic scanning equipment according to claim 1, it is characterised in that：If including
Depth camera more than one group, then during each group depth camera is using the pivot center of the single-axis servo turntable to be rotationally symmetrical
The heart, is evenly distributed in the side of housing cavity.
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| CN201710382353.6A CN107105219A (en) | 2017-05-26 | 2017-05-26 | Many depth camera compact panoramic scanning equipment |
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| CN201710382353.6A CN107105219A (en) | 2017-05-26 | 2017-05-26 | Many depth camera compact panoramic scanning equipment |
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Cited By (8)
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| CN109934873A (en) * | 2019-03-15 | 2019-06-25 | 百度在线网络技术（北京）有限公司 | Mark image acquiring method, device and equipment |
| CN109993828A (en) * | 2019-04-02 | 2019-07-09 | 深圳市掌网科技股份有限公司 | Three-dimensional reconstruction system and method |
| CN110062247A (en) * | 2019-04-02 | 2019-07-26 | 深圳市掌网科技股份有限公司 | Three-dimensional reconstruction acquires equipment |
| CN110070607A (en) * | 2019-04-02 | 2019-07-30 | 深圳市掌网科技股份有限公司 | Three-dimensional reconstruction system and method |
| CN110072095A (en) * | 2019-04-02 | 2019-07-30 | 深圳市掌网科技股份有限公司 | Detachable three-dimensional reconstruction acquires equipment |
| CN110581936A (en) * | 2018-06-07 | 2019-12-17 | 钰立微电子股份有限公司 | Imaging device and related electronic device for generating depth image |
| CN111930131A (en) * | 2020-09-30 | 2020-11-13 | 四川中水成勘院工程物探检测有限公司 | Device and application method for obtaining graph suitable for complex environment |
| US20230247310A1 (en) * | 2022-02-03 | 2023-08-03 | e-con Systems India Private Limited | Wide-Angle Streaming Multi-Camera System |
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