Abstract: An image processing method includes obtaining a plurality of images that are captured using a gimbaled imaging device, obtaining one or more imaging parameters of the gimbaled imaging device, and constructing a panorama image using an imaging scheme that is devised based on the one or more imaging parameters.

Abstract: This application discloses a method of generating a negative sample for face recognition performed at a computer device. The method includes: obtaining a positive sample of a face from a training sample library required for machine learning of face recognition; embedding the obtained positive sample in a selected negative sample template, to obtain an intermediate sample of the face that simulates displaying of the positive sample in a display region of the negative sample template; and fusing the intermediate sample in a selected scenario sample, to obtain a negative sample of the face required for machine learning of face recognition.

Abstract: A method for controlling a gimbal includes obtaining an image recorded by an image sensor that is carried by the gimbal, extracting a reference object from the image, determining an offset attitude angle of the image sensor according to position information of the reference object in a preset coordinate system, and adjusting the attitude of the image sensor by the gimbal according to the offset attitude angle.

Abstract: Embodiments of this application disclose a camera attitude tracking method and apparatus, a device, and a system in the field of augmented reality (AR). The method includes receiving, by a second device with a camera, an initial image and an initial attitude parameter that are transmitted by a first device; obtaining, by the second device, a second image acquired by the camera; obtaining, by the second device, a camera attitude variation of the second image relative to the initial image; and obtaining, by the second device, according to the initial attitude parameter and the camera attitude variation, a second camera attitude parameter, the second camera attitude parameter corresponding to the second image.

Abstract: A method for determining a pose of an image capturing device is performed at an electronic device. The electronic device acquires a plurality of image frames captured by the image capturing device, extracts a plurality of matching feature points from the plurality of image frames and determines first position information of each of the matching feature points in each of the plurality of image frames. After estimating second position information of each of the matching feature points in a current image frame in the plurality of image frames by using the first position information of each of the matching feature points extracted from a previous image frame in the plurality of image frames, the electronic device determines a pose of the image capturing device based on the first position information and the second position information of each of the matching feature points in the current image frame.

Abstract: Embodiments of this application disclose a position and attitude determining method. The method includes acquiring, by tracking a feature point of a first marked image, position and attitude parameters of an image captured by a camera; using a previous image of a first image as a second marked image in response to the previous image of the first image meeting a feature point tracking condition and the first image failing to meet the feature point tracking condition; acquiring, position and attitude parameters of the image captured by the camera relative to the second marked image; acquiring position and attitude parameters according to the position and attitude parameters of the image relative to the second marked image and position and attitude parameters of each marked image relative to a previous marked image; and determining a position and an attitude of the camera according to the position and attitude parameters.

Abstract: A relocalization method includes: obtaining, by a front-end program run on a device, a target image acquired after an ith marker image in the plurality of marker images; determining, by the front-end program, the target image as an (i+1)th marker image when the target image satisfies a relocalization condition, and transmitting the target image to a back-end program; performing, by the front-end program, feature point tracking on a current image acquired after the target image relative to the target image to obtain a first pose parameter. The back-end program performs relocalization on the target image to obtain a second pose parameter, and transmits the second pose parameter to the front-end program. The front-end program calculates a current pose parameter of the current image according to the first pose parameter and the second pose parameter.

Abstract: This application discloses a repositioning method performed by an electronic device in a camera pose tracking process, belonging to the field of augmented reality (AR). The method includes: obtaining a current image acquired by the camera after an ith anchor image in a plurality of anchor images; obtaining an initial feature point and an initial pose parameter in a first anchor image in the plurality of anchor images in a case that the current image satisfies a repositioning condition; performing feature point tracking on the current image relative to the first anchor image, to obtain a target feature point; calculating a pose change amount of a camera from a first camera pose to a target camera pose according to the initial feature point and the target feature point; and performing repositioning according to the initial pose parameter and the pose change amount to obtain a target pose parameter.

Abstract: This application discloses a repositioning method and apparatus in a camera pose tracking process, a device, and a storage medium, belonging to the field of augmented reality (AR).

Abstract: Embodiments of this application disclose a position and pose determining method performed at an electronic device. The method includes: acquiring, by tracking a first feature point extracted from a marked image, position and pose parameters of a first image captured by a camera relative to the marked image; extracting a second feature point from the first image in a case that the first image fails to meet a feature point tracking condition; and acquiring, by tracking the first feature point and the second feature point, position and pose parameters of a second image captured by the camera relative to the marked image, and determining a position and a pose of the camera according to the position and pose parameters, the second image being an image captured by the camera after the first image.

Abstract: An image processing method includes receiving an image of a scene and attitude information that is used by an imaging device to capture the image of the scene, and stitching the received image of the scene to a panorama image of the scene built on a compositing surface based on the attitude information.

Abstract: A system includes an optical element configured to separate light into a first light beam and a second light beam, a first optical module configured to capture a first image having a first field of view from the first light beam, a second optical module configured to capture a second image having a second field of view different from the first field of view from the second light beam, and one or more processors configured to generate a scaled image by scaling one of the first image or the second image, and generate a combined image by aligning the scaled image and an unscaled one of the first image or the second image.

Abstract: This application discloses a repositioning method performed by an electronic device in a camera pose tracking process, belonging to the field of augmented reality (AR). The method includes: obtaining a current image acquired by the camera after an ith anchor image in a plurality of anchor images; selecting a target keyframe from a keyframe database according to Hash index information in a case that the current image satisfies a repositioning condition; performing second repositioning on the current image relative to the target keyframe; and calculating a camera pose parameter of a camera during acquisition of the current image according to a positioning result of the first repositioning and a positioning result of the second repositioning. In a case that there are different keyframes covering a surrounding area of a camera acquisition scene, it is highly probable that repositioning can succeed, thereby improving the success probability of a repositioning process.

Abstract: A method for processing image data of an environment includes obtaining a plurality of images captured using an imaging device and attitude information of the imaging device corresponding to the plurality of images, and associating the plurality of images with the corresponding attitude information of the imaging device.

Abstract: A system includes an optical element configured to separate light into a first light beam and a second light beam, a first lens module configured to focus the first light beam, a second lens module configured to focus the second light beam, a first sensor configured to capture a first image from the first light beam focused by the first lens module onto the first sensor, a second sensor configured to capture a second image from the second light beam focused by the second lens module onto the second sensor, and one or more processors configured to generate a combined image based on the first image and the second image. The first image has a first field of view and the second image has a second field of view different from the first field of view.

Abstract: A method for an image capturing device includes: acquiring a first image of a target object; extracting coordinate information of a first 2D key point corresponding to the target object; acquiring a second image of the target object; acquiring coordinate information of a second 2D key point in the second image according to the coordinate information of the first 2D key point, the first 2D key point and the second 2D key point being the same key point in the target object; acquiring coordinate information of a 3D key point corresponding to the target object, the 3D key point being a key point obtained after a triangulation operation; and determining camera posture information of the second image according to the coordinate information of the first 2D key point, the coordinate information of the second 2D key point, the coordinate information of the 3D key point, and a 3D-2D projection.

Abstract: A method of image stabilization includes obtaining movement data for an imaging device mounted to a mobile platform, adjusting an input image acquired by the imaging device according to the movement data to obtain a stabilized image, and displaying the stabilized image according to a selected viewport.

Abstract: An imaging system includes one or more sensors configured to detect movement of a movable object carrying an imaging device and one or more processors individually or collectively configured to set one or more parameters of the imaging device such that the imaging device is focused on a target object when the movable object is in a first spatial disposition, detect a movement of the movable object from the first spatial disposition to a second spatial disposition through the one or more sensors, and modify the one or more parameters of the imaging device in response to the detected movement such that the imaging device is focused on the target object when the movable object is in the second spatial disposition.

Abstract: A system includes an optical element configured to separate light into a first light beam and a second light beam, a first lens module configured to focus the first light beam, a second lens module configured to focus the second light beam, a first sensor configured to capture a first image from the first light beam focused by the first lens module onto the first sensor, a second sensor configured to capture a second image from the second light beam focused by the second lens module onto the second sensor, and one or more processors configured to generate a combined image based on the first image and the second image. The first image has a first field of view and the second image has a second field of view different from the first field of view.

Abstract: Systems, methods, and devices for setting camera parameters are provided. In one aspect, a system for imaging a target object using an imaging device carried by a movable object comprises: one or more sensors configured to detect motion information for the movable object; and one or more processors configured to: receive, from the one or more sensors, the motion information for the movable object; determine, based on the motion information, a change in a spatial relationship between the movable object and the target object; and modify one or more parameters of the imaging device based on the determined change in the spatial relationship between the movable object and the target object such that the imaging device is focused on the target object.