US 12,328,510 B2
Active positioning method for bionic binocular vision during execution of SLAM task
Jun Liu, Jining (CN); Hengyu Li, Shanghai (CN); Lei Wan, Shanghai (CN); Jingyi Liu, Shanghai (CN); Yueying Wang, Shanghai (CN); Shaorong Xie, Shanghai (CN); and Jun Luo, Shanghai (CN)
Assigned to Jining University, Jining (CN); and Shanghai University, Shanghai (CN)
Filed by Jining University, Jining (CN); and Shanghai University, Shanghai (CN)
Filed on Dec. 22, 2023, as Appl. No. 18/394,344.
Claims priority of application No. 202311067612.8 (CN), filed on Aug. 23, 2023.
Prior Publication US 2025/0071426 A1, Feb. 27, 2025
Int. Cl. H04N 23/698 (2023.01); H04N 13/156 (2018.01); H04N 13/239 (2018.01); H04N 13/271 (2018.01); H04N 13/296 (2018.01); H04N 13/00 (2018.01)
CPC H04N 23/698 (2023.01) [H04N 13/156 (2018.05); H04N 13/239 (2018.05); H04N 13/271 (2018.05); H04N 13/296 (2018.05); H04N 2013/0081 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An active positioning method for bionic binocular vision during execution of a simultaneous localization and mapping (SLAM) task, comprising:
capturing a panoramic image using a panoramic camera and detecting key scene information in the panoramic image of a SLAM task;
assigning values to pixels in the panoramic image based on the key scene information, to obtain a panoramic value map;
projecting field-of-view areas of left and right bionic eye cameras separately onto the panoramic value map, to obtain a left field-of-view projection area and a right field-of-view projection area; controlling the left field-of-view projection area and the right field-of-view projection area to overlap with each other; and merging the left field-of-view projection area and the right field-of-view projection area to obtain a current binocular field-of-view projection area;
calculating a mean value of the current binocular field-of-view projection area in the panoramic value map;
comparing the mean value of the current binocular field-of-view projection area with a value threshold: if the mean value of the current binocular field-of-view projection area is greater than the value threshold, keeping the current binocular field-of-view projection area still, and using a high-value image currently captured by the left and right bionic eye cameras as an input for a SLAM system; and if the mean value of the current binocular field-of-view projection area is less than or equal to the value threshold, searching for a target binocular field-of-view projection area with a mean value higher than the value threshold in the panoramic value map; and
based on the current binocular field-of-view projection area and the target binocular field-of-view projection area, calculating required displacements for the left and right bionic eye cameras; moving the left and right bionic eye cameras according to the displacements, and finally using a high-value image captured by the left and right bionic eye cameras in the target binocular field-of-view projection area as an input for the SLAM system.