Abstract: Method and apparatus for industrial microwave (MW)-assisted thermal sterilization and pasteurization using solid-state MW generators. One or more phased array generators heat packaged foods or liquids conveyed in transport carriers through a processing liquid providing supplemental temperature control and hydrostatic pressure. Generator output signals are computer controlled, allowing phase and power-ratio modulation to both adjust interference patterns within heating cavities and shift focus of heating energy.

Abstract: A visual localization method includes obtaining an image captured by a terminal device; obtaining two-dimensional line feature information of the image that includes at least one of information about a boundary between a building and a non-building or information about a boundary between a non-building and a non-building; and determining a localization pose of the terminal device based on location information of the terminal device, magnetometer angle deflection information of the terminal device, a satellite map, and the two-dimensional line feature information.

Abstract: A visual localization method and apparatus are provided. The method includes obtaining a captured first image, determining a first pose based on the first image and an aerial model, determining whether a ground model corresponding to the first pose exists in an aerial-ground model, and when the ground model corresponding to the first pose exists, determining a second pose based on the ground model. The aerial-ground model includes the aerial model and the ground model mapped to the aerial model, a coordinate system of the ground model is the same as a coordinate system of the aerial model, and localization accuracy of the second pose is higher than localization accuracy of the first pose. Performing fine visual localization based on the ground model can improve accuracy and a success rate of localization.

Abstract: This application provides an imaging method. The imaging method is applied to an imaging apparatus including a color camera and a black-and-white camera, and resolution of the black-and-white camera is higher than resolution of the color camera; and the imaging method includes: obtaining a zoom magnification; simultaneously capturing a color image and a black-and-white image of a target scene, where resolution of the black-and-white image is higher than resolution of the color image; performing cropping processing on the black-and-white image and the color image separately based on the zoom magnification, where the cropped black-and-white image and the cropped color image have a same field of view; and merging the cropped color image and the cropped black-and-white image to obtain an output image of the target scene. Therefore, according to the optical imaging method provided by embodiments of this application, the obtained output image can have a better optical zoom capability.

Abstract: A method for calculating a dual-camera relative position provided in the present disclosure includes obtaining M groups of dual-camera images, where each group of dual-camera images in the M groups includes two images obtained by photographing a same scene by dual cameras at the same time, screening the M groups of dual-camera images to obtain Q groups of dual-camera images that can be used to calculate the dual-camera relative position, obtaining dual-camera relative position parameters corresponding to each group of dual-camera images in the Q groups according to each group of dual-camera images in the Q groups, and obtaining optimal dual-camera relative position parameters from the Q groups of dual-camera relative position parameters. Therefore, the dual-camera relative position can be calculated when a scene is relatively difficult to recognize.

Abstract: This application provides an imaging method. The imaging method is applied to an imaging apparatus including a color camera and a black-and-white camera, and resolution of the black-and-white camera is higher than resolution of the color camera; and the imaging method includes: obtaining a zoom magnification; simultaneously capturing a color image and a black-and-white image of a target scene, where resolution of the black-and-white image is higher than resolution of the color image; performing cropping processing on the black-and-white image and the color image separately based on the zoom magnification, where the cropped black-and-white image and the cropped color image have a same field of view; and merging the cropped color image and the cropped black-and-white image to obtain an output image of the target scene. Therefore, according to the optical imaging method provided by embodiments of this application, the obtained output image can have a better optical zoom capability.

Abstract: The present disclosure discloses an image processing method including acquiring a distorted image of a photographed object; selecting according to a mapping relationship between at least one group of lens optical distortion models and reprojection error values, a lens optical distortion model whose reprojection error value is less than a specified threshold; and correcting, by using the lens optical distortion model, an optical distortion of the acquired distorted image, and obtaining an image with the optical distortion corrected disclosure.

Abstract: A method for calculating a dual-camera relative position provided in the present disclosure includes obtaining M groups of dual-camera images, where each group of dual-camera images in the M groups includes two images obtained by photographing a same scene by dual cameras at the same time, screening the M groups of dual-camera images to obtain Q groups of dual-camera images that can be used to calculate the dual-camera relative position, obtaining dual-camera relative position parameters corresponding to each group of dual-camera images in the Q groups according to each group of dual-camera images in the Q groups, and obtaining optimal dual-camera relative position parameters from the Q groups of dual-camera relative position parameters. Therefore, the dual-camera relative position can be calculated when a scene is relatively difficult to recognize.

Abstract: The present disclosure discloses an image processing method including acquiring a distorted image of a photographed object; selecting according to a mapping relationship between at least one group of lens optical distortion models and reprojection error values, a lens optical distortion model whose reprojection error value is less than a specified threshold; and correcting, by using the lens optical distortion model, an optical distortion of the acquired distorted image, and obtaining an image with the optical distortion corrected disclosure.