公开(公告)号：US20150243072A1

公开(公告)日：2015-08-27

申请号：US14188454

申请日：2014-02-24

Applicant: SAAB AB

Inventor： Leif Haglund ,  Ola Nygren ,  Folke Isaksson ,  Johan Borg

IPC: G06T17/05 ,  G06T7/00 ,  G06T15/04 ,  G06T19/20

CPC classification number: G06T17/05 ,  G01C11/06 ,  G06T7/55 ,  G06T7/593 ,  G06T15/04 ,  G06T19/20 ,  G06T2207/10032 ,  G06T2207/30181 ,  G09B25/00

Abstract: The invention relates to a method for building a 3D model of an area of interest on the surface of a planet. The method comprises providing a plurality of 2D images from satellites, where each 2D image out of the plurality of 2D images at least partly covers the area of interest. Also, each subarea of the area of interest is covered by at least two images, taken from different angles, out of the plurality of 2D images. Bundle adjustments are performed for the plurality of 2D images and the area of interest is divided into parts. For each part of the area of interest at least one combination and preferably all possible combinations out of two images covering that part of the area of interest are taken. Said two images are taken from the at least two images, taken from at least two different angles, out of the plurality of 2D images. Further, for each part of the area, point matching correspondence is established for a set of points for each such combination of two images. The sets of points are combined if more than one set of points exists. Even further, for each part of the area, a 3D model of said part of the area of interest is built based on the combined set of points. The 3D models from each part of the area of interest are combined to a 3D model of the whole area of interest. The invention also relates to a system, a computer program and a computer program product.

Abstract translation: 本发明涉及一种在行星表面上建立感兴趣区域的3D模型的方法。 该方法包括从卫星提供多个2D图像，其中多个2D图像中的每个2D图像至少部分地覆盖感兴趣的区域。 此外，感兴趣区域的每个子区域由多个2D图像中的不同角度的至少两个图像覆盖。 对多个2D图像执行束调整，并且将感兴趣的区域分成多个部分。 对于感兴趣区域的每个部分至少一个组合，并且优选地采用覆盖感兴趣区域的那部分的两个图像中的所有可能的组合。 从多个2D图像中的至少两个不同的角度取出所述两个图像。 此外，对于该区域的每个部分，针对两个图像的每个这样的组合的一组点建立点匹配对应。 如果存在多个点集合，则组合点组合。 更进一步地，对于该区域的每个部分，基于组合的点来构建所述感兴趣区域的所述部分的3D模型。 来自感兴趣区域的每个部分的3D模型被组合到感兴趣的整个区域的3D模型。 本发明还涉及一种系统，计算机程序和计算机程序产品。

公开(公告)号：US20140314307A1

公开(公告)日：2014-10-23

申请号：US13866203

申请日：2013-04-19

Applicant: SAAB AB

Inventor： Johan Bejeryd ,  Johan Borg ,  Folke Isaksson ,  Leif Haglund ,  Per Carlbom ,  Ola Nygren ,  Ingmar Andersson

IPC: G06T7/00 ,  G06T17/20

CPC classification number: G01C11/34 ,  G06T7/55 ,  G06T7/593 ,  G06T7/80 ,  G06T2207/10032 ,  G06T2207/20088

Abstract: Various embodiments provide a method for analyzing images generated from at least one imaging system on at least one satellite. The method comprises providing at least three images of an area of interest from the at least one imaging system, the provided images being provided from at least three different angles, establishing point correspondence between the provided images, generating at least two sets of three-dimensional information based on the provided images, wherein the at least two sets of three-dimensional information are generated based on at least two different combinations of at least two of the at least three provided images of the area of interest, and comparing the at least two sets of three-dimensional information so as to determine discrepancies and providing information related to the imaging system and/or errors in the images based on the determined discrepancies. Associated systems, computer programs, and computer program products are also provided.

Abstract translation: 各种实施例提供了一种用于分析由至少一个卫星上的至少一个成像系统产生的图像的方法。 该方法包括从至少一个成像系统提供感兴趣区域的至少三个图像，所提供的图像从至少三个不同的角度提供，建立提供的图像之间的点对应，产生至少两组三维 基于所提供的图像的信息，其中基于感兴趣区域的至少三个提供的图像中的至少两个的至少两个不同的组合来生成至少两组三维信息，并且将至少两个 基于所确定的差异来确定三维信息的集合以便确定差异并提供与成像系统相关的信息和/或图像中的错误。 还提供相关系统，计算机程序和计算机程序产品。

公开(公告)号：US20150243047A1

公开(公告)日：2015-08-27

申请号：US14188314

申请日：2014-02-24

Applicant: SAAB AB

Inventor： Leif Haglund ,  Johan Borg ,  Ingmar Andersson ,  Folke Isaksson

IPC: G06T7/40 ,  G06K9/62 ,  G06T17/05 ,  G06K9/00

CPC classification number: G06K9/00214 ,  G06K9/0063 ,  G06K9/6202 ,  G06K9/6215 ,  G06K2209/40 ,  G06T7/49 ,  G06T17/05 ,  G06T2207/10028 ,  G06T2207/30184

Abstract: The invention relates to a method for identifying a difference between a first 3D model of an environment and a second 3D model of the environment. The first and second 3D model each comprise a plurality of points or parts, wherein each point or part of the first and second model comprises geometrical information and texture information. Corresponding points or parts of the first and second 3D model are matched based on the geometrical information and/or the texture information. The matched points or parts of the first and second model are compared to determine at least one difference value based on the geometrical information and the texture information of the first and second model. A difference between the first and second model is identified if the at least one difference value exceeds a predetermined value. The invention also relates to an arrangement, a computer program, and a computer program product.

Abstract translation: 本发明涉及一种用于识别环境的第一3D模型和环境的第二3D模型之间的差异的方法。 第一和第二3D模型各自包括多个点或部分，其中第一和第二模型的每个点或部分包括几何信息和纹理信息。 基于几何信息和/或纹理信息来匹配第一和第二3D模型的对应点或部分。 比较第一和第二模型的匹配点或部分，以基于第一和第二模型的几何信息和纹理信息来确定至少一个差值。 如果至少一个差值超过预定值，则识别第一和第二模型之间的差异。 本发明还涉及一种装置，计算机程序和计算机程序产品。

公开(公告)号：US20150254899A1

公开(公告)日：2015-09-10

申请号：US14425583

申请日：2013-01-21

Applicant: SAAB AB

Inventor： Ingmar Andersson ,  Johan Bejeryd ,  Johan Borg ,  Per Carlbom ,  Leif Haglund ,  Folke Isaksson

IPC: G06T17/05 ,  H04N13/02 ,  H04N5/357 ,  G01B11/245 ,  G01S17/02 ,  G01S17/42 ,  G01S17/89 ,  G06T7/00 ,  G01C11/06

CPC classification number: G06T17/05 ,  G01B11/245 ,  G01C11/06 ,  G01M11/0264 ,  G01S13/867 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G06T7/344 ,  G06T7/521 ,  G06T7/579 ,  G06T7/75 ,  G06T7/97 ,  G06T2207/10004 ,  G06T2207/10032 ,  G06T2207/20182 ,  G06T2207/30181 ,  H04N5/3572 ,  H04N13/275 ,  H04N2013/0085

Abstract: The present invention relates to a method for estimating values for a set of parameters of an imaging system 1. The method comprises taking at least two pictures with the imaging system (1), where the at least two pictures are taken from different positions and where the at least two pictures comprise an at least partially overlapping area. It also comprises sending out pulses to the at least partially overlapping area, and detecting the reflected pulses and calculating distances between a sender of the pulses and the respective point where the pulses were reflected based on the travel time of the pulses. Further, the method comprises associating positioning data to the pictures and to the calculated distance between the points where the pulses were reflected and the sender of the pulses. Said positioning data comprises a position and pointing direction of the imagining system 1 and the sender of the pulses. The method comprises calculating first information about the area, based on the at least two pictures, the information comprising at least one quantity of the area, the at least one quantity comprising size and/or position, and calculating second information related to the calculated distances to the at least partly overlapping area, the second information comprising at least one quantity of the area, the at least one quantity comprising size and/or position. The method also comprises comparing values for the quantities contained in the first and second information, and, if the value for at least one quantity of the area obtained from the first information differs from the value for the corresponding at least one quantity of the area obtained from the second information, calculating values and/or an error estimate for the set of parameters of the imaging system 1 based on the difference.

Abstract translation: 本发明涉及一种用于估计成像系统1的一组参数的值的方法。该方法包括用成像系统（1）拍摄至少两张照片，其中至少两张照片从不同的位置拍摄，并且其中 所述至少两个照片包括至少部分重叠的区域。 它还包括将脉冲发送到至少部分重叠的区域，并且基于脉冲的行进时间来检测反射的脉冲并计算脉冲发送器与脉冲被反射的相应点之间的距离。 此外，该方法包括将定位数据与图像相关联，并将计算出的脉冲反射点与脉冲发送器之间的距离相关联。 所述定位数据包括想象系统1和脉冲发送器的位置和指向方向。 所述方法包括基于所述至少两个图像计算关于所述区域的第一信息，所述信息包括所述区域的至少一个数量，所述至少一个数量包括大小和/或位置，以及计算与所计算的距离相关的第二信息 到所述至少部分重叠的区域，所述第二信息包括至少一个所述区域的数量，所述至少一个数量包括尺寸和/或位置。 该方法还包括比较包含在第一和第二信息中的量的值，并且如果从第一信息获得的至少一个数量的区域的值不同于所获得的对应的至少一个数量的区域的值 根据第二信息，基于该差异计算成像系统1的参数集合的值和/或误差估计。