Provided is a method of spatially referencing a plurality of images captured from a plurality of different locations within an indoor space by determining the location from which the plurality of images were captured. The method may include obtaining a plurality of distance-referenced panoramas of an indoor space. The distance-referenced panoramas may each include a plurality of distance-referenced images each captured from one position in the indoor space and at a different azimuth from the other distance-referenced images, a plurality of distance measurements, and orientation indicators each indicative of the azimuth of the corresponding one of the distance-referenced images. The method may further include determining the location of each of the distance-referenced panoramas based on the plurality of distance measurements and the orientation indicators and associating in memory the determined locations with the plurality of distance-referenced images captured from the determined location.

A method for determining an apparent colour value of pixels corresponding to a subpart of an object in the acquired image, including: estimating a geometric distortion model of the object in the acquired image compared with a reference model of the object; determining a position in the acquired image of the subpart and determining a zone of the acquired image, referred to as the reference zone, situated in a predetermined vicinity of the subpart, each pixel of the reference zone resulting from a projection in the acquired image of a zone of the reference model, referred to as a blank zone, the blank zone being associated with a predetermined colour value in the reference model, the projection using the geometric distortion model; and determining an apparent colour value of the pixels of the subpart, from a colour value of at least one pixel of the reference zone.

A method for determining an apparent colour value of pixels corresponding to a subpart of an object in the acquired image, including: estimating a geometric distortion model of the object in the acquired image compared with a reference model of the object; determining a position in the acquired image of the subpart and determining a zone of the acquired image, referred to as the reference zone, situated in a predetermined vicinity of the subpart, each pixel of the reference zone resulting from a projection in the acquired image of a zone of the reference model, referred to as a blank zone, the blank zone being associated with a predetermined colour value in the reference model, the projection using the geometric distortion model; and determining an apparent colour value of the pixels of the subpart, from a colour value of at least one pixel of the reference zone.

Disclosed are a super-resolution reconstruction method and an apparatus for three-dimensional contrast-enhanced ultrasound images, a computer readable storage medium and an electronic device. The method includes: performing at least one thinning operation on a first three-dimensional local image sequence, the thinning operation being configured to enhance motion trajectories of microbubbles; and performing an image reconstruction operation based on the first three-dimensional local image sequence subjected to the at least one thinning operation, so as to generate three-dimensional super-resolution images. The super-resolution reconstruction method for the three-dimensional contrast-enhanced ultrasound images, by means of performing thinning operations (for example, respectively performing a first thinning operation and a second thinning operation) on the first three-dimensional local image sequence, highlights motion trajectories of microbubbles, thereby improving a signal-to-noise ratio of an image. Compared with a prior method, the reconstruction efficiency and precision of the three-dimensional super-resolution imaging are improved.

Disclosed are a super-resolution reconstruction method and an apparatus for three-dimensional contrast-enhanced ultrasound images, a computer readable storage medium and an electronic device. The method includes: performing at least one thinning operation on a first three-dimensional local image sequence, the thinning operation being configured to enhance motion trajectories of microbubbles; and performing an image reconstruction operation based on the first three-dimensional local image sequence subjected to the at least one thinning operation, so as to generate three-dimensional super-resolution images. The super-resolution reconstruction method for the three-dimensional contrast-enhanced ultrasound images, by means of performing thinning operations (for example, respectively performing a first thinning operation and a second thinning operation) on the first three-dimensional local image sequence, highlights motion trajectories of microbubbles, thereby improving a signal-to-noise ratio of an image. Compared with a prior method, the reconstruction efficiency and precision of the three-dimensional super-resolution imaging are improved.

A component conveying instrument comprising a first and second conveying instrument for conveying a component. The first conveying instrument is arranged to transfer the component to the second conveying instrument at a transfer location. The component conveying instrument further comprises an adjustment unit for adjusting one of the conveying instruments relative to the other conveying instrument along at least one or about at least one adjustment axis and an imaging unit. The imaging unit captures at least one image of the transfer location showing an end region of the first conveying instrument, and an end region of the second conveying instrument. The component conveying instrument also comprises an analyzing unit for analyzing the image, where the analyzing unit is coupled to the adjusting unit and is adapted to determine an asymmetry measure between the end region of the first conveying instrument and the end region of the second conveying instrument.

A component conveying instrument comprising a first and second conveying instrument for conveying a component. The first conveying instrument is arranged to transfer the component to the second conveying instrument at a transfer location. The component conveying instrument further comprises an adjustment unit for adjusting one of the conveying instruments relative to the other conveying instrument along at least one or about at least one adjustment axis and an imaging unit. The imaging unit captures at least one image of the transfer location showing an end region of the first conveying instrument, and an end region of the second conveying instrument. The component conveying instrument also comprises an analyzing unit for analyzing the image, where the analyzing unit is coupled to the adjusting unit and is adapted to determine an asymmetry measure between the end region of the first conveying instrument and the end region of the second conveying instrument.

A method is described for obtaining a position of a main lens optical center of a plenoptic camera. The plenoptic camera has a micro-lens array (MLA) positioned in front of a sensor, the main lens optical center position being defined in a referential relative to the sensor. Such method is remarkable in that it obtains, from a 4D raw light-field data of a monochromatic scene, a set of symmetry axes, each symmetry axis of the set being defined as a line associated with a micro-image, the line passing in the neighborhood of the micro-image center coordinates of the micro-image it is associated with, and in the neighborhood of the brightest pixel in the micro-image it is associated with, the set comprising at least two symmetry axes and determines the position of the main lens optical center according to at least two symmetry axes of the set.

A method is described for obtaining a position of a main lens optical center of a plenoptic camera. The plenoptic camera has a micro-lens array (MLA) positioned in front of a sensor, the main lens optical center position being defined in a referential relative to the sensor. Such method is remarkable in that it obtains, from a 4D raw light-field data of a monochromatic scene, a set of symmetry axes, each symmetry axis of the set being defined as a line associated with a micro-image, the line passing in the neighborhood of the micro-image center coordinates of the micro-image it is associated with, and in the neighborhood of the brightest pixel in the micro-image it is associated with, the set comprising at least two symmetry axes and determines the position of the main lens optical center according to at least two symmetry axes of the set.

An image processing apparatus includes a detector, an estimator and a determiner. The detector detects a candidate region of a captured image captured by a camera, the candidate region serving as a candidate for a water drop region affected by a water drop on the lens of the camera, based on an edge strength of each pixel in the captured image. The estimator estimates, based on the candidate region, a circle that includes the candidate region. The determiner determines whether or not the candidate region is part of the water drop region based on the edge strength of some of the pixels in the circle.