公开(公告)号：EP2529358A4

公开(公告)日：2013-11-20

申请号：EP10844834

申请日：2010-01-26

Applicant: SAAB AB

Inventor： HAGLUND LEIF ,  BORG JOHAN ,  ANDERSSON INGEMAR ,  ISAKSSON FOLKE

IPC: G06T17/05 ,  G06T7/00 ,  G06T17/20 ,  H04N13/02

CPC classification number: G06T7/579 ,  G06T17/05 ,  G06T2207/10032

Abstract: An automated three dimensional mapping method estimating three dimensional models taking advantage of a plurality of images. Positions and attitudes for at least one camera are recorded when images are taken. The at least one camera is geometrically calibrated to indicate the direction of each pixel of an image. A stereo disparity is calculated for a plurality of image pairs covering a same scene position setting a disparity and a certainty measure estimate for each stereo disparity. The different stereo disparity estimates are weighted together to form a 3D model. The stereo disparity estimates are reweighted automatically and adaptively based on the estimated 3D model.

公开(公告)号：EP2583060A4

公开(公告)日：2014-04-09

申请号：EP10853317

申请日：2010-06-18

Applicant: SAAB AB

Inventor： PERSSON PER-OLOF ,  ISAKSSON FOLKE ,  HAGLUND LEIF

IPC: G01C21/00 ,  F41G3/02 ,  G06K9/00 ,  G06T7/00

CPC classification number: G06K9/00201 ,  F41G3/02 ,  G06K9/0063 ,  G06K2209/21 ,  G06T7/75 ,  G06T2207/10032 ,  G06T2207/30212 ,  G06T2207/30252

公开(公告)号：EP2449789A4

公开(公告)日：2013-11-13

申请号：EP09846896

申请日：2009-06-30

Applicant: SAAB AB

Inventor： ANDERSSON INGMAR ,  ISAKSSON FOLKE ,  HAGLUND LEIF ,  BORG JOHAN ,  BEJERYD JOHAN

IPC: H04N13/02 ,  G06T15/00

CPC classification number: H04N13/0221 ,  H04N13/0239 ,  H04N2213/001

Abstract: A method and arrangement for estimating 3D-models in a street environment using a stereo sensor technique. At least one pair of sensors are arranged in pairs and are mounted on a bracket. Each pair of sensors is positioned in a common plane. The sensors of each pair are positioned based upon contrast information such that low levels of contrasts in an image plane are avoided. The pairs of sensors are mutually positioned relative to an essentially horizontal plane of the bracket such that the sensors of a sensor pair are positioned horizontally at a distance from each other and one of the sensors above the horizontal plane of the bracket and the other under the horizontal plane.

公开(公告)号：EP2529357A4

公开(公告)日：2017-05-17

申请号：EP10844833

申请日：2010-01-26

Applicant: SAAB AB

Inventor： HAGLUND LEIF ,  BORG JOHAN ,  ANDERSSON INGMAR ,  ISAKSSON FOLKE

IPC: G06T17/05 ,  G01C11/00

CPC classification number: G01C11/06 ,  G06T17/05

公开(公告)号：EP2776786A4

公开(公告)日：2015-07-15

申请号：EP11875448

申请日：2011-11-08

Applicant: SAAB AB

Inventor： OLOFSSON MICHAEL ,  ISAKSSON FOLKE ,  BREGE MAGNUS ,  ANDERSSON INGMAR ,  CARLBOM PER ,  BORG JOHAN ,  HAGLUND LEIF ,  ROSENQVIST FREDRIK

IPC: G01C11/06 ,  G06T7/00

CPC classification number: G06T7/75 ,  G01C11/06 ,  G06K9/00208 ,  G06K9/00624 ,  G06T3/0068 ,  G06T7/337 ,  G06T17/05 ,  G06T2207/10032 ,  G06T2207/30181 ,  G06T2207/30244

Abstract: The present invention relates to a system (200) and method for determining a relation between a first scene and a second scene. The method comprises the steps of generating at least one sensor image of a first scene with at least one sensor; accessing information related to at least one second scene, said second scene encompassing said first scene, and matching the sensor image with the second scene to map the sensor image onto the second scene. The step of accessing information related to the at least one second scene comprises accessing a 3D map comprising geocoded 3D coordinate data. The mapping involves associating geocoding information to a plurality of positions in the sensor image based on the coordinate data of the second scene.

Abstract translation: 本发明涉及一种系统（200）和方法，用于确定性采矿第一场景和第二场景之间的关系。 该方法包括生成与至少一个传感器的第一场景的至少一个传感器的图像的步骤; 访问与至少一个第二场景信息，所述第二现场包围所述第一场景，并且传感器图像与所述第二场景匹配的传感器图像映射到第二场景。 的相关的至少一个第二场景访问信息的步骤包括：访问3D地图，其包括地理编码的三维坐标数据。 所述映射涉及地理编码信息，以基于所述第二场景的坐标数据的传感器图像中的位置的多元性相关联。