Abstract: In general, a system is described that includes a set of one or more cameras and a computing device. The computing device receives a plurality of images of a three-dimensional environment captured by the one or more cameras, and a respective camera that captures a respective image is distinctly positioned at a respective particular location and in a respective particular direction. The computing device generates a plurality of image sets that each include at least three images. For each image set, the computing device calculates a plurality of predicted pairwise directions. The computing device compares a first sum of model pairwise directions with a second sum of the plurality of predicted pairwise directions and generates an inconsistency score for the respective image set. The computing device then reconstructs a digital representation of the three-dimensional environment depicted in the images.

Abstract: The present invention provides a technical solution to reduce electromagnetic interference generated by a high-frequency switching electronic circuit. By adding a disturbance signal whose amplitude varies with time to the input pin of the active power factor correction module of the high frequency switching electronic circuit which is intended to receive an input power control signal, the switching frequency of the active power factor correction module varies with time, so that the electromagnetic interference energy is dispersed in a frequency domain and the electromagnetic interference is reduced. While the effect is even more apparent particularly when the power supply of the high-frequency switching electronic circuit is a DC power source.