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公开(公告)号：EP2433867A2
公开(公告)日：2012-03-28
申请号：EP11182193.0
申请日：2011-09-21
发明人： Ohtomo, Fumio , Osaragi, Kazuki , Anai, Tetsuji , Otani, Hitoshi
CPC分类号： B64D45/08 , B64C39/024 , B64C2201/141 , B64C2201/145 , G01S5/16 , G01S19/15 , G01S19/51 , G05D1/0669 , G05D1/0676
摘要： The invention provides an automatic taking-off and landing system, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device 21 for taking images found in downward direction, navigation means 4, 5, 6, 8, 9, 10 and 11, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.
摘要翻译： 本发明提供了一种自动起飞和着陆系统，包括飞行物体和起降目标，其中飞行物体具有用于拍摄向下方向的图像的摄像装置21，导航装置4,5,6 ，8,9,10,11;以及控制单元，用于处理由图像拾取装置获取并用于控制导航装置的图像，并且其中控制单元计算起飞和着陆目标与飞行物体之间的位置关系 基于由图像拾取装置获取的起飞和着陆目标的图像，并且基于计算结果控制飞行对象的起飞和着陆操作。
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公开(公告)号：EP2607846A3
公开(公告)日：2014-01-01
申请号：EP12197886.0
申请日：2012-12-18
发明人： Kumagai, Kaoru , Osaragi, Kazuki , Anai, Tetsuji , Ohtomo, Fumio
CPC分类号： H04N7/18 , G01C15/002 , G02B23/145
摘要： A surveying apparatus comprises an observation optical system 1 having an image sensor 8 for outputting a digital image signal and a zoom optical system 7, a reference-pattern projection optical system 18 for making a reference pattern 14 enter the observation optical system in an infinity state and for forming an image on the image sensor, a rotation mechanism 5 capable of rotating the observation optical system and the reference-pattern projection optical system integrally in two directions of horizontal and vertical, a horizontal angle detector 15 and a vertical angle detector 16 for detecting a horizontal angle and a vertical angle of rotation in the two directions of the rotation mechanism, and an arithmetic control unit 9, and in the surveying apparatus, the arithmetic control unit measures the horizontal angle and the vertical angle of a sighting point based on detection results of the horizontal angle detector and the vertical angle detector and based on a difference between the reference pattern on the image sensor and the sighting point of the observation optical system.
摘要翻译： 测量装置包括具有用于输出数字图像信号的图像传感器8和变焦光学系统7的观察光学系统1，用于使参考图案14进入无限远状态的观察光学系统的基准图案投影光学系统18 并且用于在图像传感器上形成图像的旋转机构5，其能够使观察光学系统和参考图案投影光学系统沿水平和垂直的两个方向一体地旋转;水平角度检测器15和垂直角度检测器16， 检测旋转机构的两个方向上的水平角度和垂直旋转角度以及运算控制单元9，并且在测量装置中，运算控制单元基于以下方式测量瞄准点的水平角度和垂直角度 水平角度检测器和垂直角度检测器的检测结果，并根据其间的差异 e参考图案在图像传感器和观察光学系统的瞄准点上。
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公开(公告)号：EP2557468A2
公开(公告)日：2013-02-13
申请号：EP12179349.1
申请日：2012-08-06
发明人： Ohtomo, Fumio , Osaragi, Kazuki , Anai, Tetsuji
IPC分类号： G05D1/00
CPC分类号： G05D1/0038 , G05D1/0016
摘要： A remote control system comprises a mobile object (1), a remote controller (2) for remotely controlling the mobile object (1) and a storage unit (38) in which background images to simulate a driving room or an operation room of the mobile object (1) are stored. The mobile object has a stereo camera (15), a camera control unit (31) for controlling the image pickup direction of the stereo camera and a first communication unit (34) for communicating information including at least images photographed by the stereo camera. The remote controller (2) has a second communication unit (37) for performing communication to and from the first communication unit (34). A control unit (28) is provided for controlling the mobile object and a display unit (41) is provided for synthesizing at least a part of the images photographed by the stereo camera (15) and the background images and for displaying the images so that a stereoscopic view can be displayed.
摘要翻译： 遥控系统包括移动物体（1），用于远程控制移动物体（1）的遥控器（2）和存储单元（38），其中背景图像模拟移动物体的驾驶室或操作室 对象（1）被存储。 移动物体具有立体摄像机（15），用于控制立体摄像机的摄像方向的照相机控制单元（31）和用于传送至少包括由立体照相机摄影的图像的信息的第一通信单元（34）。 遥控器（2）具有用于与第一通信单元（34）进行通信的第二通信单元（37）。 提供控制单元（28）用于控制移动物体，并且提供显示单元（41），用于合成由立体照相机（15）拍摄的图像和背景图像的至少一部分，并且用于显示图像，使得 可以显示立体视图。
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公开(公告)号：EP2728308A2
公开(公告)日：2014-05-07
申请号：EP13189992.4
申请日：2013-10-24
发明人： Ohtomo, Fumio , Osaragi, Kazuki , Anai, Tetsuji
IPC分类号： G01C11/02
CPC分类号： G01C11/00 , A01B79/005 , B64C2201/027 , B64C2201/123 , B64C2201/127 , G01C11/025 , G05D1/0094 , G05D1/104
摘要： The invention provides an aerial photogrammetry by using two or more of flying vehicles each equipped with a GPS device and an image pickup unit, comprising a step of setting up two or more photographing points and of setting up a photographing point area respectively with each of the photographing points as the center, a step of measuring a position of the flying vehicle by said GPS device, a step where each of the flying vehicle reaches each corresponding photographing point area and maintains the position of the photographing point area, a step of acquiring a time when the flying vehicle finally reaches the photographing point area, a step of setting up a shutter timing time after a predetermined time from the moment when the flying vehicle has finally reached the photographing point area, and a step of taking aerial photographs by the two or more flying vehicles at the shutter timing time.
摘要翻译： 本发明提供了一种航空摄影测量，其使用两个或更多个飞行器，每个飞行器均配备有GPS装置和图像拾取单元，该飞行器包括设置两个或更多个摄影点并分别设置摄影点区域的步骤 拍摄点作为中心的步骤;通过所述GPS装置测量飞行器的位置的步骤;每个飞行器到达每个对应的拍摄点区域并保持拍摄点区域的位置的步骤;获取 飞行器最终到达拍摄点区域的时刻，从飞行器最终到达拍摄点区域的时刻开始经过规定时间后设定快门定时时间的步骤，以及通过两者拍摄航空照片的步骤 或更多的飞行器在快门定时时间。
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5.发明公开Rotation angle detecting apparatus and surveying instrument 审中-公开Drehwinkelerkennungsvorrichtung undÜberwachungsinstrument
公开(公告)号：EP2607845A3
公开(公告)日：2014-01-01
申请号：EP12197876.1
申请日：2012-12-18
发明人： Kumagai, Kaoru , Anai, Tetsuji , Osaragi, Kazuki , Ohtomo, Fumio
CPC分类号： G01B11/26 , G01C15/002 , G01D5/2457 , G01D5/3473
摘要： A rotation angle detecting apparatus comprises a bearing holder 3, a rotation shaft 1 rotatably supported by said bearing holder, a shaft portion space 4 formed in said rotation shaft, a bearing holder space 5 formed in said bearing holder, a first condenser lens 7 which is accommodated in said shaft portion space and has an optical axis 9a that coincides with a center line of said rotation shaft, a second condenser lens 8 which is provided in said bearing holder space and also provided on an extension of a center line of said rotation shaft, an angle detection pattern 11 provided at a focal position of one of said first condenser lens and said second condenser lens, and an image sensor 12 provided at a focal position of the other of said first condenser lens and said second condenser lens, wherein said image sensor detects a projection image of said angle detection pattern projected onto said image sensor, and a displacement of said projection image involved by the rotation of said rotation shaft is detected.
摘要翻译： 旋转角度检测装置包括轴承座3，由所述轴承保持器可旋转地支撑的旋转轴1，形成在所述旋转轴中的轴部空间4，形成在所述轴承保持器中的轴承保持架空间5，第一聚光透镜7 被容纳在所述轴部空间中并具有与所述旋转轴的中心线一致的光轴9a，设置在所述轴承保持架空间中并且还设置在所述旋转中心线的延伸部上的第二聚光透镜8 设置在所述第一聚光透镜和所述第二聚光透镜中的一个的焦点位置处的角度检测图案11，以及设置在所述第一聚光透镜和所述第二聚光透镜中的另一个的焦点位置处的图像传感器12，其中， 所述图像传感器检测投影到所述图像传感器上的所述角度检测图案的投影图像，并且由所述ro的旋转所涉及的所述投影图像的位移 检测到轴。
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公开(公告)号：EP2657654A2
公开(公告)日：2013-10-30
申请号：EP13164847.9
申请日：2013-04-23
发明人： Ohtomo, Fumio , Kumagai, Kaoru , Anai, Tetsuji , Osaragi, Kazuki
IPC分类号： G01D5/34
摘要： A rotation angle detecting apparatus (6) comprises a shaft portion space (4) formed in a rotation shaft (1) and a detection pattern (11) rotating with the rotation shaft, an image sensor (12) for acquiring images of the detection pattern, and an arithmetic unit (14) for calculating an angle displacement of the rotation shaft based on a signal from the image sensor. The detection pattern has an angle detection pattern (26) with radially extending bar-like line segments arranged at a predetermined angle pitch and forming a ring-like track, and a reference designation pattern (27) for indicating a reference position. The arithmetic unit carries out a total circumferential scanning on the ring-like track at a predetermined radius about a center of the angle detection pattern as the center in regard to a projection image of the detection pattern obtained by the image sensor, extracts a frequency component, carries out a scanning of the reference designation pattern, and calculates the angle displacement of the rotation shaft based on a phase difference of the frequency component and the number of frequencies corresponding to a change in a position of the reference designation pattern.
摘要翻译： 旋转角度检测装置（6）包括形成在旋转轴（1）中的轴部空间（4）和与旋转轴一起旋转的检测图案（11），用于获取检测图案的图像的图像传感器 以及用于基于来自图像传感器的信号计算旋转轴的角度位移的运算单元（14）。 检测图案具有角度检测图案（26），其具有以预定角度间距排列并形成环状轨迹的径向延伸的棒状线段和用于指示参考位置的参考指定图案（27）。 运算单元以相对于由图像传感器获得的检测图案的投影图像的角度检测图案的中心为中心的预定半径在环状轨迹上进行全周向扫描，提取频率分量 执行基准指定模式的扫描，并且基于与基准指定模式的位置的变化相对应的频率分量和频率数量的相位差来计算旋转轴的角度位移。
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公开(公告)号：EP2607846A2
公开(公告)日：2013-06-26
申请号：EP12197886.0
申请日：2012-12-18
发明人： Kumagai, Kaoru , Osaragi, Kazuki , Anai, Tetsuji , Ohtomo, Fumio
IPC分类号： G01C15/00
CPC分类号： H04N7/18 , G01C15/002 , G02B23/145
摘要： A surveying apparatus comprises an observation optical system 1 having an image sensor 8 for outputting a digital image signal and a zoom optical system 7, a reference-pattern projection optical system 18 for making a reference pattern 14 enter the observation optical system in an infinity state and for forming an image on the image sensor, a rotation mechanism 5 capable of rotating the observation optical system and the reference-pattern projection optical system integrally in two directions of horizontal and vertical, a horizontal angle detector 15 and a vertical angle detector 16 for detecting a horizontal angle and a vertical angle of rotation in the two directions of the rotation mechanism, and an arithmetic control unit 9, and in the surveying apparatus, the arithmetic control unit measures the horizontal angle and the vertical angle of a sighting point based on detection results of the horizontal angle detector and the vertical angle detector and based on a difference between the reference pattern on the image sensor and the sighting point of the observation optical system.
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公开(公告)号：EP2073172A3
公开(公告)日：2010-03-10
申请号：EP08022299.5
申请日：2008-12-22
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G06T7/97 , G06T2207/10012 , G06T2207/30244
摘要： An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.
摘要翻译： 一种图像处理设备，包括：输入部分，用于输入由相对于拍摄对象逐渐移动的拍摄部分拍摄的多个连续图像; 提取部分，用于从由输入部分输入的图像中提取特征点; 跟踪部分，用于跟踪对应于多个连续图像中的特征点的点; 嵌入部分，用于将跟踪数据嵌入到每个图像中，所述跟踪数据包括由提取部分和跟踪部分提取和跟踪的点的数据; 以及输出部分，用于依次输出嵌入部分嵌入了跟踪数据的多个连续图像。
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公开(公告)号：EP2073172B1
公开(公告)日：2016-04-20
申请号：EP08022299.5
申请日：2008-12-22
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G06T7/97 , G06T2207/10012 , G06T2207/30244
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10.发明公开Aerial photogrammetry and aerial photogrammetric system 有权Luftfotogrammetrie und Luftfotogrammetriesystem
公开(公告)号：EP2728308A3
公开(公告)日：2014-12-17
申请号：EP13189992.4
申请日：2013-10-24
发明人： Ohtomo, Fumio , Osaragi, Kazuki , Anai, Tetsuji
CPC分类号： G01C11/00 , A01B79/005 , B64C2201/027 , B64C2201/123 , B64C2201/127 , G01C11/025 , G05D1/0094 , G05D1/104
摘要： The invention provides an aerial photogrammetry by using two or more of flying vehicles each equipped with a GPS device and an image pickup unit, comprising a step of setting up two or more photographing points and of setting up a photographing point area respectively with each of the photographing points as the center, a step of measuring a position of the flying vehicle by said GPS device, a step where each of the flying vehicle reaches each corresponding photographing point area and maintains the position of the photographing point area, a step of acquiring a time when the flying vehicle finally reaches the photographing point area, a step of setting up a shutter timing time after a predetermined time from the moment when the flying vehicle has finally reached the photographing point area, and a step of taking aerial photographs by the two or more flying vehicles at the shutter timing time.
摘要翻译： 本发明提供一种通过使用两个或更多个配备有GPS装置和图像拾取单元的飞行车辆的航空摄影测量，包括分别设置两个或更多拍摄点和设置拍摄点区域的步骤， 拍摄点为中心，通过GPS装置测量飞行器的位置的步骤，其中每个飞行器到达每个对应的拍摄点区域并维持拍摄点区域的位置的步骤，获取 飞行时间最终到达拍摄点区域的时间，从飞行器最终到达拍摄点区域的时刻开始的规定时间之后设定快门定时时间的步骤，以及由飞行时间 或更多的飞行车辆。
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