Abstract: Systems and methods related to visual guidance for improving autonomous navigation with row following corrections in stereo camera systems are disclosed herein. A visual positioning system may implement a method for navigating a vehicle. The method may comprise: receiving navigation coordinates defining a route comprising a straight path; detecting detected lines that are parallel to the straight path based on images received from at least one camera on the vehicle; accessing ground truth data; deriving vehicle coordinates from the ground truth data; determining a centerline in vehicle coordinates based on the detected lines; determining corrected vehicle coordinates based on the centerline in vehicle coordinates and the vehicle coordinates from the ground truth data; and generating control signals to navigate the vehicle along the route using the corrected vehicle coordinates.

Abstract: Systems and methods related to soft obstacle detection are disclosed herein. The systems may include a stereo camera with two image sensors. An image from each of the two images sensors may be used to produce a geometric traversability map, which may be a depth map or a height map. An image from one of the image sensors may be used to produce a semantic traversability map based on semantically classifying portions of the image. The geometric traversability map and the semantic traversability map, each with element confidence scores, may be fused to create a fused traversability map. Specific elements of the images may be absent from the fused traversability map based on the characteristics of those elements. The fused traversability map may be a filtered 3D representation of the environment and may reduce false positives and false negatives in obstacle detection.

Abstract: Systems and methods related to soft obstacle detection are disclosed herein. The systems may include a stereo camera with two image sensors. An image from each of the two images sensors may be used to produce a geometric traversability map, which may be a depth map or a height map. An image from one of the image sensors may be used to produce a semantic traversability map based on semantically classifying portions of the image. The geometric traversability map and the semantic traversability map, each with element confidence scores, may be fused to create a fused traversability map. Specific elements of the images may be absent from the fused traversability map based on the characteristics of those elements. The fused traversability map may be a filtered 3D representation of the environment and may reduce false positives and false negatives in obstacle detection.

Abstract: Systems and methods related to visual guidance for improving autonomous navigation with row following corrections in stereo camera systems are disclosed herein. A visual positioning system may implement a method for navigating a vehicle. The method may comprise: receiving navigation coordinates defining a route comprising a straight path; detecting detected lines that are parallel to the straight path based on images received from at least one camera on the vehicle; accessing ground truth data; deriving vehicle coordinates from the ground truth data; determining a centerline in vehicle coordinates based on the detected lines; determining corrected vehicle coordinates based on the centerline in vehicle coordinates and the vehicle coordinates from the ground truth data; and generating control signals to navigate the vehicle along the route using the corrected vehicle coordinates.

Abstract: Systems and methods related to performing material density estimates are disclosed herein. A stereo imaging system may include a stereo camera and one or more processors. The stereo imaging system may capture a point cloud using the stereo camera, determine a region of interest using the point cloud, differentiate material components from a two-dimensional image to produce a filter, produce a filtered point cloud by (i) filtering the point cloud using the filter; and (ii) excluding points from the point cloud using the region of interest, and generate a material density estimate, for the material components, using the filtered point cloud. The material density estimate may allow the system to perform appropriate actions. For example, the material density estimate may allow the system to spray an appropriate amount of chemical on crops, reducing detrimental environmental effects, reducing costs, and improving yields.

Abstract: This disclosure relates to the calibration and tuning of stereo cameras. A disclosed method includes measuring an operating temperature of a subject camera, applying the operating temperature to a subject camera function to produce an output, and tuning the subject camera at the operating temperature using the output. The subject camera functions can be derived using a calibration method. The calibration method can include obtaining reference camera measurement data at a set of temperatures and deriving a reference function for the reference camera using the data. The reference function uses temperature as an input. The calibration method can also include obtaining subject camera measurement data from the subject camera and deriving the subject camera function for the subject camera using the reference function for the reference camera and the subject camera measurement data.

Abstract: This disclosure relates to the calibration and tuning of stereo cameras. A disclosed method includes measuring an operating temperature of a subject camera, applying the operating temperature to a subject camera function to produce an output, and tuning the subject camera at the operating temperature using the output. The subject camera functions can be derived using a calibration method. The calibration method can include obtaining reference camera measurement data at a set of temperatures and deriving a reference function for the reference camera using the data. The reference function uses temperature as an input. The calibration method can also include obtaining subject camera measurement data from the subject camera and deriving the subject camera function for the subject camera using the reference function for the reference camera and the subject camera measurement data.

Abstract: A method for displaying a mixed reality image, including provision of a display assembly including a camera and a display, acquisition of a first image by the camera according to actual image capturing characteristics, the first image being an image of a scene in the field of view of a user, extraction, from the first image, of actual illumination and position characteristics, selection of virtual elements to be integrated into the first image, modification of the virtual elements according to the actual image capturing, illumination and position characteristics, integration of the modified virtual elements in the first image to obtain a second image, and display of the second image on the display.

Abstract: A method for displaying a mixed reality image, including provision of a display assembly including a camera and a display, acquisition of a first image by the camera according to actual image capturing characteristics, the first image being an image of a scene in the field of view of a user, extraction, from the first image, of actual illumination and position characteristics, selection of virtual elements to be integrated into the first image, modification of the virtual elements according to the actual image capturing, illumination and position characteristics, integration of the modified virtual elements in the first image to obtain a second image, and display of the second image on the display.

Abstract: An individual visual immersion device for a moving person including means for placing the device on the person and for displaying immersive images in front of the person's eyes, a stereoscopic camera, means for, during an initialization phase of the device in an operating zone including static obstacles, the device being moved in the operating zone, recording stereoscopic images of the operating zone from several points of view using the camera, then merging the images into a model of the operating zone, and interpreting the model to create a three-dimensional map of obstacles identified in the operating zone, and means for, during a usage phase of the device in the operating zone, the device being worn by a user, detecting whether the user is approaching one of the static obstacles identified in the map and then triggering an alert process.

Abstract: Individual visual immersion device for a moving person, comprising a means for placing the device on the person and a means for displaying immersive images in front of the eyes of the person, characterised in that it further comprises a stereoscopic image sensor (A) for generating two synchronised image streams of a same scene taken at two distinct angles, a means for calculating a piece of information on the disparity between the images of pairs of synchronised images of the two streams (B, F1, F2), a means for calculating current movement characteristics of the device (C) from the piece of disparity information, and means for composing a stream of immersive images (D, E, H) that arc coherent with the movement characteristics.

Abstract: A stereoscopic image-capturing apparatus includes a first digital image sensor, a second digital image sensor synchronized with the first sensor, at least one optical zoom with variable focal distance and associated with the first sensor or the second sensor, a digital zoomer for performing a digital zoom on a digital image coming from the second sensor, a resizer for choosing a resizing value to align an image to be aligned and coming from the first sensor and an image to be aligned and coming from the second sensor, and a depth map producer for producing a depth map.