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Estimating uncertainty in dense stereo disparity maps

Estimating uncertainty in dense stereo disparity maps
Estimating uncertainty in dense stereo disparity maps

Estimating uncertainty in dense stereo disparity maps

A.Blake,P.H.S.Torr,I.J.Cox and A.Criminisi

March2003

Technical Report

MSR-TR-2003-93

Dense stereo is a well studied problem in computer vision.Generally dense stereo algorithms provide only a single estimate of disparity,ignoring uncertainty in the dis-parity map.Here however,we present a new,linear-time,exact method for recovering entire distributions for disparity at all pixels.This is accomplished by using a recent extension,due to Durbin et al.,of the well-known forward-backward algorithm to work with two unsynchronised input streams,rather than just one as in the conven-tional case.The two input streams,in the stereo context are simply two corresponding epipolar lines,one from each stereo image.Speci?cally we consider the problem of view interpolation.The availability of a distribution over disparity is particularly ap-pealing here.In that case,disparities themselves are not the required end product,but merely an intermediate representation.It is therefore unnecessary to estimate a unique disparity map.Instead,the image intensity at each cyclopean pixel can be estimated as a mean of predicted intensities for all possible disparities.These principles are illus-trated for a teleconferencing application:enabling eye contact by positioning a virtual camera at the centre of a display screen used in a two-way conference.We show that the new approach can signi?cantly improve the quality of the interpolated cyclopean image,compared with using unique estimated disparities.

Microsoft Research Ltd.

7J J Thomson Ave

Cambridge,UK CB30FB

https://www.doczj.com/doc/4c2782840.html,

1Introduction

It is well known that stereo image matching is a hard problem,and much progress has been made over the past25years or so.The variety of algorithms for dense stereo matching is too extensive to list here but has recently been comprehensively documented and evaluated[14].None of the algo-rithms reported and investigated there deal with uncertainty in disparity.However,representation of uncertainty is of critical importance for robust estimation and data fusion.

According to the evaluation of stereo algorithms[14],two of the most powerful algorithms use respectively graph cuts[12,7]and loopy propagation[15]but these approaches are currently too computationally intensive for real time applications.Conversely,Epipolar line Dynamic Program-ming[8,4]is ef?cient and offers the best hope for real time applications.For this reason,we focus on epipolar line algorithms,and seek a generalisation that represents the uncertainty in disparities. We illustrate the new approach with the synthesis of the cyclopean view[6],the view from a virtual camera placed symmetrically,midway between the(calibrated)cameras of a physical stereo pair.Previously proposed solutions to this problem can be broadly categorized as model-based or stereo-based.One model-based approach is to use a detailed head model and reproject it into the cyclopean view;whilst this can be successful[16,17],it is limited to imaging heads,and would not,for example,deal with a hand in front of the face.A more general approach therefore is to use low level stereo matching.

Given left and right images and,over the image domain,the cyclopean image cannot be generated by any simple pointwise interpolation of and.In the absence of occlusion,one can think of the right image and left images as symmetrically warped forms of the cyclopean image,so that

(1)

in which case the cyclopean image could be generated from the left or right image using an estimate of the disparity?eld.This requires the disparity?eld to be known,for example by dense pointwise matching(under epipolar constraints)of corresponding points in and.However, three-dimensional occlusion of surface points means that cannot necessarily be de?ned for all pixels,which is a problem for cyclopean reconstruction.An elegant account of the stereo matching problem,in a cyclopean frame and with occlusion,is given by Belhumeur[1].It is of course impossible to reconstruct,entirely accurately,the cyclopean view of a patch that is occluded in one or other physical camera;all that can be done is to apply a default assumption about the shape of such a patch.

It has also been noted by others[13]that a good reconstruction of the cyclopean view can often be achieved,even when the underlying disparities are ambiguous.This is acknowledged in the approach taken here:its aim is to improve the robustness of reconstruction by treating the disparity ?eld as a?rst-class random variable,rather than merely as a?xed(unknown)parameter.

If were taken to be a parameter,then estimation of the cyclopean image would proceed in two stages.First the estimation of the warp?eld,for example by MAP estimation[1]:

(2) followed by deterministic reconstruction of cyclopean intensities:

(3) Instead,treating as a random variable,there is no need for premature commitment to a speci?c value of.Then the aim of inference is to estimate a posterior distribution.The cyclopean image can be estimated robustly as,the posterior mean over the disparity distribution:

(4) Bayesian estimate of cyclopean intensity

Given the observation,and knowing the observer model,it is required to estimate the cyclopean image,via the posterior for disparity.The full solution has the following steps.

1.Marginalise over to get;for Gaussian noise processes this can be done analytically

[1]

2.Bayes:

3.Bayes:

4.Marginalise over:

https://www.doczj.com/doc/4c2782840.html,pute expectations,as above(4),to obtain.

Of these,the substantial step is the second one.This is where,if only the mode of

were required,the Viterbi algorithm along epipolar lines could be used[1].To obtain the full distribution,a variation of message passing[9]or Forward-Backward inference[11]is used,and details follow.

2Notation and framework

The framework used from here onward,is based on matching pairs of epipolar lines.Intensity functions and will now refer to corresponding epipolar lines from left and right images respec-tively.The objective is to infer the intensity function for the corresponding line in the cyclopean image.

Images and disparities The intensity function in the left epipolar line is

and in the right it is

The cyclopean epipolar line is

doubly oversampled,for reasons that will become apparent.Stereo disparity is a vector

with components expressed in cyclopean coordinates.Stereo disparity in turn induces a vector of image warps from cyclopean coordinates into the coordinates of the left and right images:

(5)

and conversely,stereo disparity can be expressed as the coordinate difference—see ?gure1.The cyclopean coordinate corresponding to left and right coordinates is simply .The warp function associates image intensities at locations in the cyclopean,left and right images.The precise nature of this association,which is probabilistic,is described later.

Even and odd warps When is even,are integers,so that warps directly onto the left and right coordinate grids.In this case the warp is termed to be even.For odd warps however,there is no such direct mapping,so odd warps in the cyclopean image are deemed to be transitory states,and this is made clearer below.

Disparity process The space of matches between images is constrained and conditioned by a probability distribution specifying a random process for disparities at successive lo-cations on the cyclopean epipolar line.It is assumed that,a priori,depends directly on the immediately preceding disparity.

Figure1:Disparity and coordinates,

pean coordinate axis. Observations The right scan lines,ie Each image typically other features invariance to

sumed to have been

so

where and are isotropic if pixels are Observation density composed into a

are given later.

Observation history The history of observations“preceding”the match is denoted

(8) and the complementary set of(future)observations is denoted

(9)

Image prior The marginal prior distribution for cyclopean image values is denoted and useful special cases include the stationary case and the uniform case, where is the volume of color-space.Prior could be modelled as a Gaussian or mixture of Gaussians learned from patches in appropriate neighbourhoods of the left and right images.In any case,all pixels in the cyclopean image are taken to have mutually independent prior distributions.

3Process and observation models

Process model The process model speci?es the distribution of disparity gradients1

[2,10].Varying degrees of subtlety can be incorporated;here we take the simplest reasonable model,restricting(ordering constraint)and penalising the occlusion case.This gives a process distribution

(10) with some appropriate occlusion probability.The oddness condition forces odd warps to be treated correctly,as a transitory condition resolved by an immediate step to an even warp.

Observation model The observation density is de?ned as a marginalisation of the full conditional density with respect to intensity:

(11) and decomposes(it can be shown)as a product:

(12)

where the observation function is de?ned

(13) (where denotes set difference).In the case of odd warps,,and hence the obser-

vation function must be de?ned to be unity.It can be shown that,for the observation model above, has the form2

2In fact the equation given here is an approximation,in the interests of simplicity,for the case that the prior for is weak.

and note that sparsity(10)of means that the sum is evaluated over at most3values of .

Backward algorithm Backward probabilities are de?ned to be

(16) and propagated as

(17)

Posterior distributions Finally,forward and backward variables could be combined convention-ally[11]to compute the posterior marginal distributions of disparity

(20) where

(21)

5Estimation of cyclopean image intensity

Having obtained the probability distribution for disparities,,this can now be used to estimate cyclopean image intensities.At cyclopean pixel we estimate the intensity as an expectation,?rst over the observation noise variables,then over the posterior distribution for

disparity.The expectation over noise variables is denoted and in the simplest case of uniform intensity prior is given by

(23)

Finally,cyclopean intensity is estimated as the posterior expectation(4),so that the estimated cyclopean intensity at site is:

(24) As this sum includes odd warps,interpolated left/right intensities(23)must be used where needed. 6Application and results

Dynamic programming(DP)stereo[4],which has previously been demonstrated for cyclopean view interpolation[3]in video,nowadays runs at around10frames/sec on a2GHz Pentium com-puter.To obtain that speed,observations consist of single,monochrome pixels,and the consequent quality of reconstruction is not consistently satisfactory for teleconferencing,as?gure2shows. Two kinds of error are clearly visible:(i)artefacts produced by mismatches,and(ii)defects intro-duced where the background is occluded in one or other view.The Forward-Backward algorithm is capable of alleviating errors of the?rst kind,as we will demonstrate.

In this section comparisons are made between cyclopean intensity images computed from DP:the Dynamic Programming algorithm3of[3,4],and

FB:the forward-backward algorithm proposed here,

using exactly the same model and parameters in each case.Note that whereas the behaviour of FB depends on both and,the behaviour of DP depends only on the single parameter4

over a square window,and for this study we have settled on a window of size.There are of course further useful elaborations that can be made to the measure,for example using color and various normalisations,and possibly a larger window still,at increased computational cost. However,the purpose of this study is to compare algorithms,so it is the comparison of FB with DP that is of paramount interest,more than the absolute performance of either.

Note that the computational costs of DP and FB are closely comparable.The forward pass of FB has a similar structure to the forward pass of DP(Viterbi).The backward pass of DP consists of pointer following and so has negligible cost.The backward pass(17)of FB would appear to have a cost similar to the forward pass,but in fact the likelihood terms in(17)can be cached and re-used from the forward pass,so the backward pass has negligible cost for FB also. Comparisons of FB with DP are given in?gures3and4.For practical convenience,in place of we specify a noise parameter in gray-level units,so that:

4In[4]is referred to in the pseudo-code as the constant Occlusion.

Left Virtual Cyclopean(DP,)Right

Figure2:Fast cyclopean view synthesis by dynamic programming Left,right and typical estimated cyclopean image using dynamic programming with single pixel,monochrome observations.Note that gaze is correct in the cyclopean view.The algorithm runs at near real-time rate,but can produce artefacts in the cyclopean image—in this case texture is broken up at the top of the head,and in the background to the right of the head.(See later for explanation of occlusion constant.)

Figure3:Forward-Backward cyclopean interpolation for the data of?gure2.The three sets of parameters used here all correspond to occlusion parameter as used for DP in?gure2.Note that i)performance of FB appears superior to that of DP in that artefacts are reduced,and ii)performance of FB appears relatively insensitive to changing parameters.

the disparity distribution,typical in the presence of ghost matches.Such bifurcation could further be used to signal failures in stereo matching.

Finally,?gure5shows a comparison with ground truth,using the“Tsukuba”calibrated motion sequence of[13].The?rst and last images of the sequence are used to provide the baseline,and the centre image gives cyclopean ground truth.This is even so when the window size is reduced to pixels as here.Note that FB peforms consistently better than DP on values of the parameter

DP:DP:

FB:()FB:c=0.01()

Figure4:Forward-Backward cyclopean interpolation The?rst and second row show comparable results for cyclopean images from FB and DP,for two different settings of parameter.FB appears to perform better than DP,to some extent for and to a substantial extent for.

tested.However,this data,along with all4ground truth sequences in[13],rank as very easy tests compared with the our teleconferencing data,so both FB and DP obtain good reconstructions.This is because the range of disparities is about10times greater in the teleconference data.At the time of writing,there is no publically available ground truth data for this much more dif?cult problem setting

Figure5:Testing against cyclopean ground truth.Testing ground truth with the“Tsukuba”data(see text for details)shows a consistent improvement for FB over DP,and reduced sensitivity to the value of parameter.

7Conclusion

This paper describes an algorithm for estimating uncertainty in dense disparity from corresponding epipolar lines in stereo images.The algorithm allows ambiguity of disparity to be represented explicitly,as a probability distribution.This has been achieved by using an extension due to[5] of the forward backward algorithm to deal with two unsynchronised input streams,rather than just the usual single stream.The use of the forward backward algorithm allows for uncertainty to be computed ef?ciently,with effort comparable to conventional matching by dynamic programming. One application of the new algorithm is to the problem of view interpolation,replacing dynamic programming with forward-backward inference.Some practical evidence has been presented that this can reduce the severity of artefacts in the reconstructed cyclopean image.The new framework is particularly striking where ambiguity in matching is severe.In such locations,the uncertain representation can even pick out ambiguous and bifurcating paths in the disparity space.Other possible applications include i)detecting failures in stereo matching as heavy-tailed or multimodal distributions and ii)data fusion in robot navigation,combining uncertainty in observations with uncertainty in disparity.

Acknowledgements The authors would like to thank P.Dawid and C.Meek for useful comments and discussion.

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A Derivation of forward algorithm

A derivation of the iterative formula(15)for forward probabilities follows here.Note that

in(14)has the property that

(27)

the constant of proportionality being independent of.Then,the right hand side of(15) can be expressed,using(14)and(13),as

(28)

It follows from the assumed independence of the disparity process that

(29)

so that

(30) Using the mutual independence of observations,

(31) so now

which is proportional to in(14),as required.

row 87

row 90

row87

row90

Figure6:Forward-Backward disparity distributions for the data of?gures2and3.Disparity distribu-tions are given for the two scan lines shown.Note that there is appreciable ambiguity of disparity,visible as vertical spreading in the diagrams,and this is what distinguished FB from DP.

常用二极管参数

常用整流二极管 型号VRM/Io IFSM/ VF /Ir 封装用途说明1A5 600V/1.0A 25A/1.1V/5uA[T25] D2.6X3.2d0.65 1A6 800V/1.0A 25A/1.1V/5uA[T25] D2.6X3.2d0.65 6A8 800V/6.0A 400A/1.1V/10uA[T60] D9.1X9.1d1.3 1N4002 100V/1.0A 30A/1.1V/5uA[T75] D2.7X5.2d0.9 1N4004 400V/1.0A 30A/1.1V/5uA[T75] D2.7X5.2d0.9 1N4006 800V/1.0A 30A/1.1V/5uA[T75] D2.7X5.2d0.9 1N4007 1000V/1.0A 30A/1.1V/5uA[T75] D2.7X5.2d0.9 1N5398 800V/1.5A 50A/1.4V/5uA[T70] D3.6X7.6d0.9 1N5399 1000V/1.5A 50A/1.4V/5uA[T70] D3.6X7.6d0.9 1N5402 200V/3.0A 200A/1.1V/5uA[T105] D5.6X9.5d1.3 1N5406 600V/3.0A 200A/1.1V/5uA[T105] D5.6X9.5d1.3 1N5407 800V/3.0A 200A/1.1V/5uA[T105] D5.6X9.5d1.3 1N5408 1000V/3.0A 200A/1.1V/5uA[T105] D5.6X9.5d1.3 RL153 200V/1.5A 60A/1.1V/5uA[T75] D3.6X7.6d0.9 RL155 600V/1.5A 60A/1.1V/5uA[T75] D3.6X7.6d0.9 RL156 800V/1.5A 60A/1.1V/5uA[T75] D3.6X7.6d0.9 RL203 200V/2.0A 70A/1.1V/5uA[T75] D3.6X7.6d0.9 RL205 600V/2.0A 70A/1.1V/5uA[T75] D3.6X7.6d0.9 RL206 800V/2.0A 70A/1.1V/5uA[T75] D3.6X7.6d0.9 RL207 1000V/2.0A 70A/1.1V/5uA[T75] D3.6X7.6d0.9 RM11C 1000V/1.2A 100A/0.92V/10uA D4.0X7.2d0.78 MR750 50V/6.0A 400A/1.25V/25uA D8.7x6.3d1.35 MR751 100V/6.0A 400A/1.25V/25uA D8.7x6.3d1.35 MR752 200V/6.0A 400A/1.25V/25uA D8.7x6.3d1.35 MR754 400V/6.0A 400A/1.25V/25uA D8.7x6.3d1.35 MR756 600V/6.0A 400A/1.25V/25uA D8.7x6.3d1.35 MR760 1000V/6.0A 400A/1.25V/25uA D8.7x6.3d1.35 常用整流二极管(全桥) 型号VRM/Io IFSM/ VF /Ir 封装用途说明RBV-406 600V/*4A 80A/1.10V/10uA 25X15X3.6 RBV-606 600V/*6A 150A/1.05V/10uA 30X20X3.6 RBV-1306 600V/*13A 80A/1.20V/10uA 30X20X3.6 RBV-1506 600V/*15A 200A/1.05V/50uA 30X20X3.6 RBV-2506 600V/*25A 350A/1.05V/50uA 30X20X3.6 常用肖特基整流二极管SBD 型号VRM/Io IFSM/ VF Trr1/Trr2 封装用途说明EK06 60V/0.7A 10A/0.62V 100nS D2.7X5.0d0.6 SK/高速 EK14 40V/1.5A 40A/0.55V 200nS D4.0X7.2d0.78 SK/低速 D3S6M 60V/3.0A 80A/0.58V 130p SB340 40V/3.0A 80A/0.74V 180p SB360 60V/3.0A 80A/0.74V 180p SR260 60V/2.0A 50A/0.70V 170p MBR1645 45V/16A 150A/0.65V <10nS TO220 超高速

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1N 系列常用整流二极管的主要参数
反向工作 峰值电压 URM/V 额定正向 整流电流 整流电流 IF/A 正向不重 复浪涌峰 值电流 IFSM/A 正向 压降 UF/V 反向 电流 IR/uA 工作 频率 f/KHZ 外形 封装
型 号
1N4000 1N4001 1N4002 1N4003 1N4004 1N4005 1N4006 1N4007 1N5100 1N5101 1N5102 1N5103 1N5104 1N5105 1N5106 1N5107 1N5108 1N5200 1N5201 1N5202 1N5203 1N5204 1N5205 1N5206 1N5207 1N5208 1N5400 1N5401 1N5402 1N5403 1N5404 1N5405 1N5406 1N5407 1N5408
25 50 100 200 400 600 800 1000 50 100 200 300 400 500 600 800 1000 50 100 200 300 400 500 600 800 1000 50 100 200 300 400 500 600 800 1000
1
30
≤1
<5
3
DO-41
1.5
75
≤1
<5
3
DO-15
2
100
≤1
<10
3
3
150
≤0.8
<10
3
DO-27
常用二极管参数: 05Z6.2Y 硅稳压二极管 Vz=6~6.35V,Pzm=500mW,

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目录 一、合伙企业的概念 (4) 二、有限合伙企业应具备的条件 (4) 三、有限合伙企业设立具备的条件 (4) 四、注册有限合伙企业程序 (5) 五、申请合伙企业登记注册应提交文件、证件 (6) (一)合伙企业设立登记应提交的文件、证件: (6) (二)合伙企业变更登记应提交的文件、证件: (7) (三)合伙企业注销登记应提交的文件、证件: (8) (四)合伙企业申请备案应提交的文件、证件: (9) (五)其他登记应提交的文件、证件: (9) 六、申请合伙企业分支机构登记注册应提交的文件、证件 (9) (一)合伙企业分支机构设立登记应提交的文件、证件 (10) (二)合伙企业分支机构变更登记应提交的文件、证件: (10) (三)合伙企业分支机构注销登记应提交的文件、证件: (11) (四)其他登记应提交的文件、证件: (12) 七、收费标准 (12) 八、办事流程图 (12) (一)有限合伙企业创办总体流程图(不含专业性前置审批) (12) (二)、工商局注册程序 (15)

(三)、工商局具体办理程序(引入网上预审核、电话预约方式) (16) 九、有限合伙企业与有限责任公司的区别 (16) (一)、设立依据 (16) (二)、出资人数 (16) (三)、出资方式 (17) (四)、注册资本 (17) (五)、组织机构 (18) (六)、出资流转 (18) (七)、对外投资 (19) (八)、税收缴纳 (20) (九)、利润分配 (20) (十)、债务承担 (21) 十、常见问题解答与指导 (21)

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常用稳压二极管技术参数及老型号代换.

常用稳压二极管技术参数及老型号代换 型号最大功耗 (mW) 稳定电压(V) 电流(mA) 代换型号国产稳压管日立稳压管 HZ4B2 500 3.8 4.0 5 2CW102 2CW21 4B2 HZ4C1 500 4.0 4.2 5 2CW102 2CW21 4C1 HZ6 500 5.5 5.8 5 2CW103 2CW21A 6B1 HZ6A 500 5.2 5.7 5 2CW103 2CW21A HZ6C3 500 6 6.4 5 2CW104 2CW21B 6C3 HZ7 500 6.9 7.2 5 2CW105 2CW21C HZ7A 500 6.3 6.9 5 2CW105 2CW21C HZ7B 500 6.7 7.3 5 2CW105 2CW21C HZ9A 500 7.7 8.5 5 2CW106 2CW21D HZ9CTA 500 8.9 9.7 5 2CW107 2CW21E HZ11 500 9.5 11.9 5 2CW109 2CW21G HZ12 500 11.6 14.3 5 2CW111 2CW21H HZ12B 500 12.4 13.4 5 2CW111 2CW21H HZ12B2 500 12.6 13.1 5 2CW111 2CW21H 12B2 HZ18Y 500 16.5 18.5 5 2CW113 2CW21J HZ20-1 500 18.86 19.44 2 2CW114 2CW21K HZ27 500 27.2 28.6 2 2CW117 2CW21L 27-3 HZT33-02 400 31 33.5 5 2CW119 2CW21M RD2.0E(B) 500 1.88 2.12 20 2CW100 2CW21P 2B1 RD2.7E 400 2.5 2.93 20 2CW101 2CW21S RD3.9EL1 500 3.7 4 20 2CW102 2CW21 4B2 RD5.6EN1 500 5.2 5.5 20 2CW103 2CW21A 6A1 RD5.6EN3 500 5.6 5.9 20 2CW104 2CW21B 6B2 RD5.6EL2 500 5.5 5.7 20 2CW103 2CW21A 6B1 RD6.2E(B) 500 5.88 6.6 20 2CW104 2CW21B RD7.5E(B) 500 7.0 7.9 20 2CW105 2CW21C RD10EN3 500 9.7 10.0 20 2CW108 2CW21F 11A2 RD11E(B) 500 10.1 11.8 15 2CW109 2CW21G RD12E 500 11.74 12.35 10 2CW110 2CW21H 12A1 RD12F 1000 11.19 11.77 20 2CW109 2CW21G RD13EN1 500 12 12.7 10 2CW110 2CW21H 12A3 RD15EL2 500 13.8 14.6 15 2CW112 2CW21J 12C3 RD24E 400 22 25 10 2CW116 2CW21H 24-1

公司注册登记流程(四证)

→客户提供:场所证明租赁协议身份证委托书三张一寸相片 →需准备材料:办理税务登记证时需要会计师资格证与财务人员劳动合同 →提交名称预审通知书→公司法定代表人签署的《公司设立登记申请书》→全体股东签署的《指定代表或者公共委托代理人的证明》(申请人填写股东姓名)→全体股东签署的公司章程(需得到工商局办事人员的认可)→股东身份证复印件→验资报告(需到计师事务所办理:需要材料有名称预审通知书复印件公司章程股东身份证复印件银行开具验资账户进账单原件银行开具询证函租赁合同及场所证明法人身份证原件公司开设临时存款账户的复印件)→任职文件(法人任职文件及股东董事会决议)→住所证明(房屋租赁合同)→工商局(办证大厅)提交所有材料→公司营业执照办理结束 →需带材料→公司营业执照正副本原件及复印件→法人身份证原件→代理人身份证→公章→办理人开具银行收据交款元工本费→填写申请书→组织机构代码证办

理结束 →需带材料→工商营业执照正副本复印件原件→组织机构正副本原件及复印件→公章→公司法定代表人签署的《公司设立登记申请书》→公司章程→股东注册资金情况表→验资报告书复印件→场所证明(租赁合同)→法人身份证复印件原件→会计师资格证(劳动合同)→税务登记证办理结束 →需带材料→工商营业执照正副本复印件原件→组织机构正副本原件及复印件→税务登记证原件及复印件→公章→法人身份证原件及复印件→代理人身份证原件及复印件→法人私章→公司验资账户→注以上复印件需四份→办理时间个工作日→办理结束 →需带材料→工商营业执照正副本复印件原件→组织机构正副本原件及复印件→公章→公司法定代表人签署的《公司设立登记申请书》→公司章程→股东注册资金情况表→验资报告书复印件→场所证明(租赁合同)→法人身份证复印件原件→会计师资格证(劳动合同)→会计制度→银行办理的开户许可证复印件→税务登记证备案办理结束

常用稳压管型号参数对照

常用稳压管型号参数对照 3V到51V 1W稳压管型号对照表1N4727 3V0 1N4728 3V3 1N4729 3V6 1N4730 3V9 1N4731 4V3 1N4732 4V7 1N4733 5V1 1N4734 5V6 1N4735 6V2 1N4736 6V8 1N4737 7V5

1N4739 9V1 1N4740 10V 1N4741 11V 1N4742 12V 1N4743 13V 1N4744 15V 1N4745 16V 1N4746 18V 1N4747 20V 1N4748 22V 1N4749 24V 1N4750 27V 1N4751 30V

1N4753 36V 1N4754 39V 1N4755 43V 1N4756 47V 1N4757 51V 摩托罗拉IN47系列1W稳压管IN4728 3.3v IN4729 3.6v IN4730 3.9v IN4731 4.3 IN4732 4.7 IN4733 5.1

IN4735 6.2 IN4736 6.8 IN4737 7.5 IN4738 8.2 IN4739 9.1 IN4740 10 IN4741 11 IN4742 12 IN4743 13 IN4744 15 IN4745 16 IN4746 18 IN4747 20

IN4749 24 IN4750 27 IN4751 30 IN4752 33 IN4753 34 IN4754 35 IN4755 36 IN4756 47 IN4757 51 摩托罗拉IN52系列 0.5w精密稳压管IN5226 3.3v IN5227 3.6v

很全的二极管参数

G ENERAL PURPOSE RECTIFIERS – P LASTIC P ASSIVATED J UNCTION 1.0 M1 M2 M3 M4 M5 M6 M7 SMA/DO-214AC G ENERAL PURPOSE RECTIFIERS – G LASS P ASSIVATED J UNCTION S M 1.0 GS1A GS1B GS1D GS1G GS1J GS1K GS1M SMA/DO-214AC 1.0 S1A S1B S1D S1G S1J S1K S1M SMB/DO-214AA 2.0 S2A S2B S2D S2G S2J S2K S2M SMB/DO-214AA 3.0 S3A S3B S3D S3G S3J S3K S3M SMC/DO-214AB F AST RECOVERY RECTIFIERS – P LASTIC P ASSIVATED J UNCTION MERITEK ELECTRONICS CORPORATION

U LTRA FAST RECOVERY RECTIFIERS – G LASS P ASSIVATED J UNCTION

S CHOTTKY B ARRIER R ECTIFIERS

S WITCHING D IODES Power Dissipation Max Avg Rectified Current Peak Reverse Voltage Continuous Reverse Current Forward Voltage Reverse Recovery Time Package Part Number P a (mW) I o (mA) V RRM (V) I R @ V R (V) V F @ I F (mA) t rr (ns) Bulk Reel Outline 200mW 1N4148WS 200 150 100 2500 @ 75 1.0 @ 50 4 5000 SOD-323 1N4448WS 200 150 100 2500 @ 7 5 0.72/1.0 @ 5.0/100 4 5000 SOD-323 BAV16WS 200 250 100 1000 @ 7 5 0.8 6 @ 10 6 5000 SOD-323 BAV19WS 200 250 120 100 @ 100 1.0 @ 100 50 5000 SOD-323 BAV20WS 200 250 200 100 @ 150 1.0 @ 100 50 5000 SOD-323 BAV21WS 200 250 250 100 @ 200 1.0 @ 100 50 5000 SOD-323 MMBD4148W 200 150 100 2500 @ 75 1.0 @ 50 4 3000 SOT-323-1 MMBD4448W 200 150 100 2500 @ 7 5 0.72/1.0 @ 5.0/100 4 3000 SOT-323-1 BAS16W 200 250 100 1000 @ 7 5 0.8 6 @ 10 6 3000 SOT-323-1 BAS19W 200 250 120 100 @ 100 1.0 @ 100 50 3000 SOT-323-1 BAS20W 200 250 200 100 @ 150 1.0 @ 100 50 3000 SOT-323-1 BAS21W 200 250 250 100 @ 200 1.0 @ 100 50 3000 SOT-323-1 BAW56W 200 150 100 2500 @ 75 1.0 @ 50 4 3000 SOT-323-2 BAV70W 200 150 100 2500 @ 75 1.0 @ 50 4 3000 SOT-323-3 BAV99W 200 150 100 2500 @ 75 1.0 @ 50 4 3000 SOT-323-4 BAL99W 200 150 100 2500 @ 75 1.0 @ 50 4 3000 SOT-323- 5 350mW MMBD4148 350 200 100 5000 @ 75 1.0 @ 10 4 3000 SOT-23-1 MMBD4448 350 200 100 5000 @ 75 1.0 @ 10 4 3000 SOT-23-1 BAS16 350 200 100 1000 @ 75 1.0 @ 50 6 3000 SOT-23-1 BAS19 350 200 120 100 @ 120 1.0 @ 100 50 3000 SOT-23-1 BAS20 350 200 200 100 @ 150 1.0 @ 100 50 3000 SOT-23-1 BAS21 350 200 250 100 @ 200 1.0 @ 100 50 3000 SOT-23-1 BAW56 350 200 100 2500 @ 70 1.0 @ 50 4 3000 SOT-23-2 BAV70 350 200 100 5000 @ 70 1.0 @ 50 4 3000 SOT-23-3 BAV99 350 200 100 2500 @ 70 1.0 @ 50 4 3000 SOT-23-4 BAL99 350 200 100 2500 @ 70 1.0 @ 50 4 3000 SOT-23-5 BAV16W 350 200 100 1000 @ 75 0.86 @ 10 6 3000 SOD-123 410-500mW BAV19W 410 200 120 100 @ 100 1.0 @ 100 50 3000 SOD-123 BAV20W 410 200 200 100 @ 150 1.0 @ 100 50 3000 SOD-123 BAV21W 410 200 250 100 @ 200 1.0 @ 100 50 3000 SOD-123 1N4148W 410 150 100 2500 @ 75 1.0 @ 50 4 3000 SOD-123 1N4150W 410 200 50 100 @ 50 0.72/1.0 @ 5.0/100 4 3000 SOD-123 1N4448W 500 150 100 2500 @ 7 5 1.0 @ 200 4 3000 SOD-123 1N4151W 500 150 75 50 @ 50 1.0 @ 10 2 3000 SOD-123 1N914 500 200 100 25 @ 20 1.0 @ 10 4 1000 10000 DO-35 1N4148 500 200 100 25 @ 20 1.0 @ 10 4 1000 10000 DO-35 LL4148 500 150 100 25 @ 20 1.0 @ 10 4 2500 Mini-Melf SOT23-1 SOT23-2 SOT23-3 SOT23-4 SOT23-5 SOT323-1 SOT323-2 SOT323-3 SOT323-4 SOT323-5

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