公开(公告)号：US12085381B2

公开(公告)日：2024-09-10

申请号：US17599321

申请日：2020-03-13

Applicant: VMI HOLLAND B.V.

Inventor： Egbert Grietinus Kellij ,  John Van De Vrugt ,  Niels Tielenburg ,  Teunis Johannes Verbruggen ,  Peter Beekman ,  Cees Johan Van Voskuilen ,  Robin Nusselder ,  Gerjan Asuerus Berghorst ,  Titus Ruben Verlaan ,  Bart Kofoed ,  Quinten Matthijs Bergmans

IPC: G01B11/25 ,  B29D30/00 ,  B29D30/24 ,  B29D30/26 ,  B29D30/32 ,  B29D30/48 ,  G01C11/30 ,  G01S7/497

CPC classification number: G01B11/2504 ,  B29D30/0061 ,  B29D30/244 ,  B29D30/26 ,  B29D30/32 ,  B29D30/48 ,  G01C11/30 ,  G01S7/497 ,  B29D2030/3207 ,  B29D2030/482

Abstract: The invention relates to a calibration tool and a method for calibrating a laser-triangulation measuring system, wherein the calibration tool comprises a tool body that defines a reference plane and that is rotatable relative to the measuring system about a rotation axis perpendicular to said reference plane, wherein the tool body is provided with one or more calibration surfaces that define a pattern of calibration positions, wherein the pattern comprises at least three columns extending in a radial direction away from the rotation axis and at least three rows extending in a circumferential direction about the rotation axis, wherein for each column the calibration positions within said respective column vary in height relative to the reference plane in a height direction perpendicular to said reference plane and wherein for each row the calibration positions within the respective row vary in height in the height direction relative to the reference plane.

公开(公告)号：US20220205783A1

公开(公告)日：2022-06-30

申请号：US17655784

申请日：2022-03-21

Applicant: NVIDIA CORPORATION

Inventor： Chen CHEN ,  Mark Damon WHEELER ,  Liang ZOU

IPC: G01C11/12 ,  G06T7/73 ,  G06T7/68 ,  G06T7/55 ,  G06T17/05 ,  G01C11/30 ,  G06T7/246 ,  G01C11/06 ,  G01C21/36 ,  G06V10/46 ,  G06V10/75 ,  G06V20/56 ,  G06V20/58 ,  G06V10/58 ,  G06T7/11 ,  G01C21/32 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06T7/593 ,  B60W40/06 ,  G01S19/42 ,  G08G1/00 ,  G06T17/20 ,  G01C21/00

Abstract: A high-definition map system receives sensor data from vehicles travelling along routes and combines the data to generate a high definition map for use in driving vehicles, for example, for guiding autonomous vehicles. A pose graph is built from the collected data, each pose representing location and orientation of a vehicle. The pose graph is optimized to minimize constraints between poses. Points associated with surface are assigned a confidence measure determined using a measure of hardness/softness of the surface. A machine-learning-based result filter detects bad alignment results and prevents them from being entered in the subsequent global pose optimization. The alignment framework is parallelizable for execution using a parallel/distributed architecture. Alignment hot spots are detected for further verification and improvement. The system supports incremental updates, thereby allowing refinements of sub-graphs for incrementally improving the high-definition map for keeping it up to date

公开(公告)号：US10718609B2

公开(公告)日：2020-07-21

申请号：US15751395

申请日：2016-08-10

Applicant: WISETECH GLOBAL LIMITED

Inventor： Natalia Galin ,  Richard White

IPC: G01B11/25 ,  G06T7/80 ,  G01B11/00 ,  G06T5/00 ,  G01C11/30 ,  G01C11/06 ,  G01B11/02 ,  G01B21/04 ,  G06T7/62

Abstract: This disclosure relates to calibrating a volumetric estimation device for determining dimensions of an object. Two laser sources project two laser lines onto the object to form a rectangular calibration target. A camera captures an image of the rectangular calibration target and has a camera image plane and a camera image plane centre point. A processor measures the camera distortion effects to generate a filter to remove the distortion effects to approximate a pinhole camera. The camera image plane centre point and the points of projection of the laser sources are not collinear. The point of laser projection are not collinear with the camera image plane centre point. The processor uses locations of laser projected crosslines to determine a deviation angle from a direction perpendicular to the camera image plane and the distance between the camera image plane centre point and each laser source.

公开(公告)号：US11959744B1

公开(公告)日：2024-04-16

申请号：US18541978

申请日：2023-12-15

Applicant: North China University of Science and Technology

Inventor： Yina Suo ,  Xuebin Ning ,  Fuxing Yu ,  Ran Wang

IPC: G01C11/06 ,  G01C11/30 ,  G06T7/13 ,  G06T7/149 ,  G06T7/90

CPC classification number: G01C11/06 ,  G01C11/30 ,  G06T7/13 ,  G06T7/149 ,  G06T7/90

Abstract: Disclosed is a stereophotogrammetric method based on binocular vision, including the following steps: image acquisition, image correction and stereo matching are performed; cost matching and cost aggregation are performed on images of different sizes after correction; image segmentation is performed on the corrected image to determine edge pixel points of the object to be measured; and a pixel distance at an edge of the object to be measured is calculated to measure the size of the object. The method of the present invention enhances the matching accuracy of contour pixels of the object to be measured and improves the measurement accuracy.

公开(公告)号：US20210190489A1

公开(公告)日：2021-06-24

申请号：US16719664

申请日：2019-12-18

Applicant: The Boeing Company

Inventor： Hong H. Tat ,  Brian T. Miller ,  Jason Wu ,  Christina I. Fraij ,  Michael J. Schaffer ,  Kerth J. Downs ,  Grant C. Zenkner ,  Wayne A. Berry

IPC: G01C11/30 ,  H04N17/00 ,  G01B11/14

Abstract: An example system includes two objects each having a known dimension and positioned spaced apart by a known distance, and a fixture having an opening for receiving an imaging device and for holding the two objects in a field of view of the imaging device such that the field of view of the imaging device originates from a point normal to a surface of the base. The fixture holds the imaging device at a fixed distance from an object being imaged and controls an amount of incident light on the imaging device. An example method of determining image scaling includes holding an imaging device at a fixed distance from an object being imaged, and positioning the two objects in the field of view of the imaging device such that the field of view of the imaging device originates from a point normal to a line formed by the known distance.

公开(公告)号：US11015930B2

公开(公告)日：2021-05-25

申请号：US16197029

申请日：2018-11-20

Applicant: LEICA GEOSYSTEMS AG

Inventor： Bernhard Metzler ,  Tobias Heller ,  Siegfried Wiltsche

IPC: G01C11/00 ,  G01C11/30 ,  G01C11/02 ,  G06T7/00 ,  H04N5/232

Abstract: A method for a three dimensional surveying of a 3D-scene for deriving a true-to-size 3D-model. It involves deriving a first 3D-partial-model of a section of the 3D-scene together with a capturing of at least one first 2D-visual-image and a second 3D-partial-model of another section of the 3D-scene, together with a capturing of at least one second 2D-visual-image, wherein the 3D-partial-models are partially overlapping. The first 3D-partial-model is conglomerated with the second 3D-partial-model to form the 3D-model of the 3D-scene, which is done with defining a first line segment in the first 2D-visual-image and a second line segment in the second 2D-visual-image, which first and second line segments are representing a visual feature, which is common in both of the 2D-visual-images. The line segments in the 2D-visual-images are utilized in conglomerating the corresponding 3D-partial models to form the 3D-model of the whole 3D-scene.

公开(公告)号：US20200374503A1

公开(公告)日：2020-11-26

申请号：US16908122

申请日：2020-06-22

Applicant: PILZ GMBH & CO. KG

Inventor： Joerg HAUSSMANN

IPC: H04N13/128 ,  G01C11/30 ,  G01C3/14 ,  G01V8/20 ,  F16P3/14 ,  B25J9/16 ,  H04N13/243

Abstract: A method includes defining a disparity range having discrete disparities and taking first, second, and third images of a spatial region using first, second, and third imaging units. The imaging units are arranged in an isosceles triangle geometry. The method includes determining first similarity values for a pixel of the first image for all the discrete disparities along a first epipolar line associated with the pixel in the second image. The method includes determining second similarity values for the pixel for all discrete disparities along a second epipolar line associated with the pixel in the third image. The method includes combining the first and second similarity values and determining a common disparity based on the combined similarity values. The method includes determining a distance to a point within the spatial region for the pixel from the common disparity and the isosceles triangle geometry.

公开(公告)号：US10531073B2

公开(公告)日：2020-01-07

申请号：US15157389

申请日：2016-05-17

Applicant: Samsung Electronics Co., Ltd.

Inventor： Ilia Ovsiannikov

IPC: H04N13/246 ,  H04N13/257 ,  G01C3/08 ,  G01C25/00 ,  G01C11/30 ,  H04N13/254 ,  H04N13/271

Abstract: Using one or more patterned markers inside the projector module of a three-dimensional (3D) camera to facilitate automatic calibration of the camera's depth sensing operation. The 3D camera utilizes epipolar geometry-based imaging in conjunction with laser beam point-scans in a triangulation-based approach to depth measurements. A light-sensing element and one or more reflective markers inside the projector module facilitate periodic self-calibration of camera's depth sensing operation. To calibrate the camera, the markers are point-scanned using the laser beam and the reflected light is sensed using the light-sensing element. Based on the output of the light-sensing element, the laser's turn-on delay is adjusted to perfectly align a laser light spot with the corresponding reflective marker. Using reflective markers, the exact direction and speed of the scanning beam over time can be determined as well. The marker-based automatic calibration can periodically run in the background without interfering with the normal camera operation.

公开(公告)号：US10309778B2

公开(公告)日：2019-06-04

申请号：US15855144

申请日：2017-12-27

Applicant: DeepMap Inc.

Inventor： Ronghua Zhang ,  Mark Damon Wheeler

IPC: G06K9/00 ,  G01C11/12 ,  G06T7/73 ,  G06T7/68 ,  G06T7/55 ,  G06T17/05 ,  G01C11/30 ,  G06T7/246 ,  G06T7/11 ,  G01C21/32 ,  G01C21/36 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06T7/593 ,  G06K9/62 ,  B60W40/06 ,  G01S19/42 ,  G08G1/00 ,  G06T17/20 ,  G01C21/00 ,  G06K9/46 ,  G01S17/89

Abstract: As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area.

公开(公告)号：US10267635B2

公开(公告)日：2019-04-23

申请号：US15857611

申请日：2017-12-28

Applicant: DeepMap Inc.

Inventor： Chen Chen

IPC: G01C11/12 ,  G06T7/73 ,  G06T7/68 ,  G06K9/00 ,  G06T7/55 ,  G06T17/05 ,  G01C11/30 ,  G06T7/246 ,  G06T7/11 ,  G01C21/32 ,  G01C21/36 ,  G05D1/00 ,  G05D1/02 ,  G06T7/70 ,  G06T7/593 ,  G06K9/62 ,  B60W40/06 ,  G01S19/42 ,  G08G1/00 ,  G06T17/20 ,  G01C21/00 ,  G06K9/46 ,  G01S17/89

Abstract: A high-definition map system receives sensor data from vehicles travelling along routes and combines the data to generate a high definition map for use in driving vehicles, for example, for guiding autonomous vehicles. A pose graph is built from the collected data, each pose representing location and orientation of a vehicle. The pose graph is optimized to minimize constraints between poses. Points associated with surface are assigned a confidence measure determined using a measure of hardness/softness of the surface. A machine-learning-based result filter detects bad alignment results and prevents them from being entered in the subsequent global pose optimization. The alignment framework is parallelizable for execution using a parallel/distributed architecture. Alignment hot spots are detected for further verification and improvement. The system supports incremental updates, thereby allowing refinements of subgraphs for incrementally improving the high-definition map for keeping it up to date.