Abstract: The present disclosure provides a method for distance measurement based on a binocular camera, a system for distance measurement based on a binocular camera, a device and a computer-readable storage medium. The method includes: taking N images of a distance measurement marker placed at each of Z positions in a depth direction of the binocular camera; calculating an average disparity of the distance measurement marker at the middle position, the left side position and the right side position at each of the Z positions; calculating a distance measurement value at each of the Z positions in the depth direction; calculating a distance measurement error value at the middle position, the left side position and the right side position at each of the Z positions, and acquiring a total error cost function; and calculating extrinsic parameters, so as to acquire a distance measurement result in the depth direction.

Abstract: The present disclosure provides a method for calibrating a binocular camera, including: S2 of extracting feature points from an image set 1 and an image set 2 taken at two points separated from each other by a predetermined distance; S3 of fitting Gaussian distribution parameters of each feature point, and extracting a desired value as a theoretical disparity; S4 of selecting a common feature point, and calculating the predetermined quantity of frames at a first theoretical distance and the predetermined quantity of frames at a second theoretical distance; S5 of performing Gaussian fitting on a difference between the theoretical distances of the common feature point, and extracting a variance as an evaluation index; S6 of determining whether the evaluation index is smaller than a threshold, if yes, terminating the calibration, and otherwise, proceeding to S7; and S7 of adjusting posture parameters of the binocular camera, and returning to S3.

Abstract: The present disclosure provides a method for distance measurement based on a binocular camera, a system for distance measurement based on a binocular camera, a device and a computer-readable storage medium. The method includes: taking N images of a distance measurement marker placed at each of Z positions in a depth direction of the binocular camera; calculating an average disparity of the distance measurement marker at the middle position, the left side position and the right side position at each of the Z positions; calculating a distance measurement value at each of the Z positions in the depth direction; calculating a distance measurement error value at the middle position, the left side position and the right side position at each of the Z positions, and acquiring a total error cost function; and calculating extrinsic parameters, so as to acquire a distance measurement result in the depth direction.

Abstract: The present disclosure provides a method for calibrating a binocular camera, including: S2 of extracting feature points from an image set 1 and an image set 2 taken at two points separated from each other by a predetermined distance; S3 of fitting Gaussian distribution parameters of each feature point, and extracting a desired value as a theoretical disparity; S4 of selecting a common feature point, and calculating the predetermined quantity of frames at a first theoretical distance and the predetermined quantity of frames at a second theoretical distance; S5 of performing Gaussian fitting on a difference between the theoretical distances of the common feature point, and extracting a variance as an evaluation index; S6 of determining whether the evaluation index is smaller than a threshold, if yes, terminating the calibration, and otherwise, proceeding to S7; and S7 of adjusting posture parameters of the binocular camera, and returning to S3.

Abstract: Provided is a road surface information-based imaging environment evaluation method, an imaging environment evaluation device, an imaging environment evaluation system, and a storage medium. The imaging environment evaluation method includes: acquiring a disparity information matrix and pixel coordinates of a vanishing point in the disparity information matrix; subjecting the disparity information matrix to matrix partition and projection in accordance with the pixel coordinates of the vanishing point so as to acquire a disparity projection image; acquiring a road surface model-based statistic model in accordance with the disparity projection image; and acquiring an evaluation result of a current imaging environment in accordance with a relationship between the statistic model and a predetermined threshold.

Abstract: Provided is a road surface information-based imaging environment evaluation method, an imaging environment evaluation device, an imaging environment evaluation system, and a storage medium. The imaging environment evaluation method includes: acquiring a disparity information matrix and pixel coordinates of a vanishing point in the disparity information matrix; subjecting the disparity information matrix to matrix partition and projection in accordance with the pixel coordinates of the vanishing point so as to acquire a disparity projection image; acquiring a road surface model-based statistic model in accordance with the disparity projection image; and acquiring an evaluation result of a current imaging environment in accordance with a relationship between the statistic model and a predetermined threshold.

Abstract: A rumen-protected carotenoid animal feed product is described that is free-flowing, resistant to ruminal degradation and effective at raising the carotenoid level in milk produced by the animal.

Abstract: A method is described for improving the digestibility of a forage diet for ruminant animals. A forage, including alfalfa, Chinese wildrye, corn silage, straw silage, corn stover, ryegrass or TMR, is treated with an enzyme product having cellulase, xylanase, beta-glucanase, pectinase, mannanase and alpha-galactosidase activities.

Abstract: A rumen-protected carotenoid animal feed product is described that is free-flowing, resistant to ruminal degradation and effective at raising the carotenoid level in milk produced by the animal.

Abstract: A protected ?-amylase is described. Pelletization and encapsulation technology, in which slow-release materials and pH-sensitive materials are used to protect the ?-amylase from inactivation at low pH. The protected ?-amylase was found to be highly stable after as long as 3-hour treatment in acid (pH 3.0). When treated in pH 3.0 for 1 hour and followed by treatment with lipase and pancreatin in pH 7.0 for 2 hour to simulate in vivo environment, it was found that ?-amylase was fully released and measurable. In addition, the protected ?-amylase showed superior efficacy to the unprotected ?-amylase. The protected ?-amylase also demonstrated enhanced thermostability.

Abstract: A method is described for improving the digestibility of a forage diet for ruminant animals. A forage, including alfalfa, Chinese wildrye, corn silage, straw silage, corn stover, ryegrass or TMR, is treated with an enzyme product having cellulase, xylanase, beta-glucanase, pectinase, mannanase and alpha-galactosidase activities.