公开(公告)号：US20140085462A1

公开(公告)日：2014-03-27

申请号：US13626978

申请日：2012-09-26

Applicant: RAYTHEON COMPANY

Inventor： Valeri I. Karlov ,  Adam C. Durst ,  Patrick E. Barry

IPC: H04N7/18

CPC classification number: G06T7/208 ,  G06T7/277 ,  G06T7/579 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30212 ,  G06T2207/30244

Abstract: A method for locating features in a field of view of an imaging sensor that includes receiving image data from the field of view of an imaging sensor, wherein the image data includes a plurality of image frames. The method also includes receiving three-dimensional position measurements, in an absolute coordinate system, for the imaging sensor at the point in time each image frame is acquired and identifying one or more features in each of the image frames. The method also includes determining position and velocity of the one or more features in the image frames based on changes to the one or more features between the image frames and determining three-dimensional positions of the one or more features in the image frames based on the received three-dimensional position measurements for the imaging sensor and position and velocity of the one or more features in the image frames.

Abstract translation: 一种用于定位成像传感器的视野中的特征的方法，其包括从成像传感器的视场接收图像数据，其中所述图像数据包括多个图像帧。 该方法还包括在绝对坐标系中接收在每个图像帧获取的时间点处的成像传感器的三维位置测量，并且识别每个图像帧中的一个或多个特征。 该方法还包括基于对图像帧之间的一个或多个特征的改变来确定图像帧中的一个或多个特征的位置和速度，并且基于图像帧中的一个或多个特征确定三维位置 接收成像传感器的三维位置测量以及图像帧中的一个或多个特征的位置和速度。

公开(公告)号：US09230335B2

公开(公告)日：2016-01-05

申请号：US13626978

申请日：2012-09-26

Applicant: RAYTHEON COMPANY

Inventor： Valeri I. Karlov ,  Adam C. Durst ,  Patrick E. Barry

IPC: G06T7/00 ,  G06T7/20

CPC classification number: G06T7/208 ,  G06T7/277 ,  G06T7/579 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30212 ,  G06T2207/30244

Abstract: A method for locating features in a field of view of an imaging sensor that includes receiving image data from the field of view of an imaging sensor, wherein the image data includes a plurality of image frames. The method also includes receiving three-dimensional position measurements, in an absolute coordinate system, for the imaging sensor at the point in time each image frame is acquired and identifying one or more features in each of the image frames. The method also includes determining position and velocity of the one or more features in the image frames based on changes to the one or more features between the image frames and determining three-dimensional positions of the one or more features in the image frames based on the received three-dimensional position measurements for the imaging sensor and position and velocity of the one or more features in the image frames.

Abstract translation: 一种用于定位成像传感器的视野中的特征的方法，其包括从成像传感器的视场接收图像数据，其中所述图像数据包括多个图像帧。 该方法还包括在绝对坐标系中接收在每个图像帧获取的时间点处的成像传感器的三维位置测量，并且识别每个图像帧中的一个或多个特征。 该方法还包括基于对图像帧之间的一个或多个特征的改变来确定图像帧中的一个或多个特征的位置和速度，并且基于图像帧中的一个或多个特征确定三维位置 接收成像传感器的三维位置测量以及图像帧中的一个或多个特征的位置和速度。