One aspect of the invention relates to a fully automatic method for calculating the current, geo-referenced position and alignment of a terrestrial scan-surveying device in situ on the basis of a current panoramic image recorded by the surveying device and at least one stored, geo-referenced 3D scan panoramic image.

A vehicle braking and warning method includes: acquiring first target information within a detection range of the binocular stereo camera, second target information within a detection range of a millimeter-wave radar, and current vehicle driving information; acquiring sensing result data about a target obstacle in accordance with the first target information and the second target information in conjunction with a predetermined weight; and outputting a braking instruction and/or a warning instruction in accordance with the sensing result data and the current vehicle driving information so as to enable a vehicle to adjust its driving state in accordance with the instructions.

The systems and methods described herein include a device that can scan the surrounding environment and construct a 3D image, map, or representation of the surrounding environment using, for example, invisible light projected into the environment. In some implementations, the device can also project into the surrounding environment one or more visible radiation pattern patterns (e.g., a virtual object, text, graphics, images, symbols, color patterns, etc.) that are based at least in part on the 3D map of the surrounding environment.

The systems and methods described herein include a device that can scan the surrounding environment and construct a 3D image, map, or representation of the surrounding environment using, for example, invisible light projected into the environment. In some implementations, the device can also project into the surrounding environment one or more visible radiation pattern patterns (e.g., a virtual object, text, graphics, images, symbols, color patterns, etc.) that are based at least in part on the 3D map of the surrounding environment.

A technology is described for thermal imaging. In one example of the technology, a plurality of thermal sensors in a non-collinear configuration are used to simultaneously image scene regions of an ambient environment. Series of synchronized thermal image sets may be obtained from the thermal sensors, and virtual-stereo pairs of image tiles may be defined by selecting image tiles from a plurality of undetermined pairs of image tiles. Thereafter, two-dimensional (2D) correlation may be performed on the virtual-stereo pairs of thermal image tiles to form 2D correlation tiles for the scene region of the ambient environment, and a depth map of the ambient environment may be generated after consolidating the 2D correlation tiles corresponding to the same environmental objects to increase contrast of objects represented in the depth map.

A technology is described for thermal imaging. In one example of the technology, a plurality of thermal sensors in a non-collinear configuration are used to simultaneously image scene regions of an ambient environment. Series of synchronized thermal image sets may be obtained from the thermal sensors, and virtual-stereo pairs of image tiles may be defined by selecting image tiles from a plurality of undetermined pairs of image tiles. Thereafter, two-dimensional (2D) correlation may be performed on the virtual-stereo pairs of thermal image tiles to form 2D correlation tiles for the scene region of the ambient environment, and a depth map of the ambient environment may be generated after consolidating the 2D correlation tiles corresponding to the same environmental objects to increase contrast of objects represented in the depth map.

For multi-view video content represented in the MVD (Multi-view+Depth) format, the depth maps may be processed to improve the coherency therebetween. In one implementation, to process a target view based on an input view, pixels of the input view are first projected into the world coordinate system, then into the target view to form a projected view. The texture of the projected view and the texture of the target view are compared. If the difference at a pixel is small, then the depth of the target view at that pixel is adjusted, for example, replaced by the corresponding depth of the projected view. When the multi-view video content is encoded and decoded in a system, depth map processing may be applied in the pre-processing and post-processing modules to improve video compression efficiency and the rendering quality.

A pixel circuit for background light suppression includes: a 2-tap pixel circuit including first and second pixel capacitors, first and second storage switches, and first and second transfer switches; an in-pixel sigma delta circuit including a plurality of switching switches and a storage capacitor for storing charge transferred from the first and second pixel capacitors; an adaptive sigma delta controller configured to determine switching states of the plurality of switching switches according to a first state of the first pixel capacitor, or a second state of the second pixel capacitor, or both; and a chopping controller configured to instruct the storage switches and the transfer switches of the 2-tap pixel circuit to be selectively switched according to an output of the adaptive sigma delta controller.

A pixel circuit for background light suppression includes: a 2-tap pixel circuit including first and second pixel capacitors, first and second storage switches, and first and second transfer switches; an in-pixel sigma delta circuit including a plurality of switching switches and a storage capacitor for storing charge transferred from the first and second pixel capacitors; an adaptive sigma delta controller configured to determine switching states of the plurality of switching switches according to a first state of the first pixel capacitor, or a second state of the second pixel capacitor, or both; and a chopping controller configured to instruct the storage switches and the transfer switches of the 2-tap pixel circuit to be selectively switched according to an output of the adaptive sigma delta controller.

This application generally relates to capturing and aligning panoramic image and depth data. In one embodiment, a device is provided that comprises a housing and a plurality of cameras configured to capture two-dimensional images, wherein the cameras are arranged at different positions on the housing and have different azimuth orientations relative to a center point such that the cameras have a collective field-of-view spanning up to 360° horizontally. The device further comprises a plurality of depth detection components configured to capture depth data, wherein the depth detection components are arranged at different positions on the housing and have different azimuth orientations relative to the center point such that the depth detection components have the collective field-of-view spanning up to 360° horizontally.