公开(公告)号：US20180051986A1

公开(公告)日：2018-02-22

申请号：US15552195

申请日：2016-02-17

申请人： FLIR UAS AS

发明人： Jorunn Helene Melby ,  Jorgen Syvertsen ,  Petter Muren ,  Tom-Ivar Johansen

IPC分类号： G01C11/06 ,  G01C5/00 ,  G06T7/70 ,  H04N5/225 ,  G05D1/04 ,  B64C39/02

CPC分类号： G01C11/06 ,  B64C39/024 ,  B64C2201/141 ,  G01C5/005 ,  G01S11/12 ,  G05D1/042 ,  G05D1/046 ,  G06T7/579 ,  G06T7/70 ,  G06T2207/10032 ,  H04N5/2253

摘要： The present invention relates to a system and a method for measuring and determining the depth, offset and translation in relation to one or several features in the field of view of an image sensor equipped UAV. The UAV comprises at least an autopilot system capable of estimating rotation and translation, processing means, height measuring means and one or more imaging sensor means. Given the estimated translation provided by the autopilot system, the objective of the present invention is achieved by the following method; capturing an image, initiating a change in altitude, capturing a second image, comparing the images and the change in height provided by the sensor to produce a scale factor or depth. If depth is estimated, then calculating the scale factor from the depth, and calculating the actual translation with the resulting scale factor.

公开(公告)号：US20170277980A1

公开(公告)日：2017-09-28

申请号：US15621458

申请日：2017-06-13

申请人： Xactware Solutions, Inc.

发明人： Jeffrey Taylor ,  Edmund Webecke

IPC分类号： G06K9/62 ,  G01C11/06 ,  G06K9/00 ,  G06K9/32 ,  G06T7/11 ,  G06T7/136 ,  G06T7/187 ,  G06T7/593 ,  H04N13/00

摘要： A system for aerial image detection and classification is provided herein. The system comprising an aerial image database storing one or more aerial images electronically received from one or more image providers, and an object detection pre-processing engine in electronic communication with the aerial image database, the object detection pre-processing engine detecting and classifying objects using a disparity mapping generation sub-process to automatically process the one or more aerial images to generate a disparity map providing elevation information, a segmentation sub-process to automatically apply a pre-defined elevation threshold to the disparity map, the pre-defined elevation threshold adjustable by a user, and a classification sub-process to automatically detect and classify objects in the one or more stereoscopic pairs of aerial images by applying one or more automated detectors based on classification parameters and the pre-defined elevation threshold.

公开(公告)号：US20170276478A1

公开(公告)日：2017-09-28

申请号：US15345428

申请日：2016-11-07

申请人： DoubleShot, Inc.

发明人： Alan Shulman ,  Miles L. Scott

IPC分类号： G01B11/25 ,  G01C11/06 ,  G06T19/00 ,  G06T13/00 ,  G06T13/20 ,  G06T13/40 ,  G06T13/80

CPC分类号： G01B11/2513 ,  G01C11/06 ,  G06T13/00 ,  G06T13/20 ,  G06T13/40 ,  G06T13/80 ,  G06T19/003

摘要： Methods and systems for performing navigation and terrain change detection based on real-time projection of a structured light pattern are provided. In a method for detecting a change in a field of view from a first point in time to a second point in time, a current three-dimensional dataset of the field of view is generated from a point of reference based on data received in real-time. The location of the point of reference is determined based on geo-spatial data. A stored three-dimensional dataset of the field of view generated from data received at the point of reference at the first point in time is accessed; and used to provide one or more alerts which signify changes in the field of view between the current three-dimensional dataset and the stored three-dimensional dataset.

公开(公告)号：US20170251193A1

公开(公告)日：2017-08-31

申请号：US15596197

申请日：2017-05-16

申请人： SZ DJI TECHNOLOGY CO., LTD.

发明人： Guyue ZHOU ,  Ketan TANG ,  Xingyu ZHANG ,  Cong ZHAO

IPC分类号： H04N13/00 ,  G06T7/593 ,  H04N13/02 ,  G01C3/08 ,  G01C11/06

CPC分类号： H04N13/128 ,  B64C39/024 ,  B64C2201/123 ,  G01C3/08 ,  G01C11/06 ,  G01S11/12 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10032 ,  H04N13/239 ,  H04N13/246 ,  H04N13/296 ,  H04N2013/0081 ,  H04N2213/001

摘要： A system for automatically adjusting a baseline of an imaging system for stereoscopic imaging and methods for making and using same. The imaging system includes a plurality of imaging devices that cooperate via a baseline adjustment mechanism. The imaging devices can acquire images of an object of interest and ascertain an object distance between the stereoscopic imaging system and the object of interest using triangulation. Based on the object distance, the baseline adjustment mechanism automatically adjusts a baseline between any pair of imaging devices. The baseline can be reduced when the object of interest is proximate to the imaging system and can be increased when the object of interest is distal. Once the baseline has been adjusted, one or more extrinsic parameters of the imaging devices are calibrated using a two-step optimization method. The imaging system is suitable for use aboard a mobile platform such as an unmanned aerial vehicle.

公开(公告)号：US09625904B2

公开(公告)日：2017-04-18

申请号：US14666707

申请日：2015-03-24

申请人： Southwest Research Institute

发明人： Ryan D. Lamm ,  Christopher I. Mentzer ,  Kristopher C. Kozak ,  Marc C. Alban ,  Jason C. Gassaway ,  Richard D. Garcia

IPC分类号： G01C11/06 ,  G05D1/00 ,  B64C39/02 ,  G05D1/02

CPC分类号： G05D1/0027 ,  B64C39/024 ,  B64C2201/021 ,  B64C2201/141 ,  B64C2201/146 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/028 ,  G05D2201/0207

摘要： An unmanned vehicle system, having at least one autonomous ground vehicle (A-GV) and at least one remote controlled aerial vehicle (RC-AV). The A-GV autonomously navigates across the ground, and on-board perception sensors, whose field of view that contains at least a portion of the ground ahead of the direction of travel of the ground vehicle as well as the RC-GV. The RC-AV flies in response to commands received from the control system of the A-GV. The RC-AV has on-board in-sky perception sensors having a field of view that contains at least a portion of the ground path to be followed by the ground vehicle. The control system of the A-GV locate the aerial vehicle, receives perception data from the on-ground perception sensors and the in-sky perception sensors, and uses combined perception data to determine a ground path for itself and for the RC-AV.

公开(公告)号：US09609282B2

公开(公告)日：2017-03-28

申请号：US13973081

申请日：2013-08-22

申请人： Kabushiki Kaisha TOPCON

发明人： Fumio Ohtomo ,  Hitoshi Otani ,  Kazuki Osaragi ,  Mitsuharu Yamada

IPC分类号： H04N7/18 ,  B64C13/20 ,  B64C27/82 ,  G01C21/00 ,  H04N5/232 ,  G01C11/06

CPC分类号： H04N7/18 ,  B64C2201/127 ,  G01C11/06 ,  H04N5/23203 ,  H04N5/23229 ,  H04N5/23245

摘要： The invention provides a camera for photogrammetry, which comprises a shaft 11 tiltably supported in any direction via a gimbal 14, a GPS device having a GPS antenna 12 installed on an upper end of said shaft, and a photographic device main unit 13 installed on a lower end of said shaft, wherein optical axis of said photographic device main unit is designed so as to direct in vertical and downward direction, said photographic device main unit has an image pickup unit 24 installed in a known relation with said GPS antenna and a control device for controlling image pickup of said image pickup unit, and said control device 19 controls said image pickup unit so that still image is acquired by the image pickup unit, and an image pickup position at the time of image pickup is obtained by said GPS device.

公开(公告)号：US20170082429A1

公开(公告)日：2017-03-23

申请号：US15366473

申请日：2016-12-01

申请人： Goodrich Corporation

发明人： Richard N. Lane

IPC分类号： G01C5/00 ,  G01C11/06 ,  G06T7/00 ,  G01C23/00

CPC分类号： G01C5/005 ,  B64D47/08 ,  G01C11/06 ,  G01C21/10 ,  G01C21/20 ,  G01C23/00 ,  G06T7/337 ,  G06T7/74 ,  G06T2207/10032 ,  G06T2207/10048 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04N13/221

摘要： A passive altimeter includes an imaging device, a groundspeed system, an image processing device operatively connected to receive an indication of groundspeed from the groundspeed system and to receive at least a first image from the imaging device taken at a first position and a second image from the imaging device taken at a second position spaced apart from the first position. The image processing device is configured to compare the first image and the second image to determine an altitude above ground using the indication of groundspeed from the groundspeed system.

公开(公告)号：US09372081B2

公开(公告)日：2016-06-21

申请号：US14233972

申请日：2013-01-21

申请人： Vricon Systems Aktiebolag

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

IPC分类号： G06K9/00 ,  G01C11/06 ,  G06T17/05 ,  G06T7/00 ,  G01C11/02 ,  G06K9/62

CPC分类号： G01C11/06 ,  G01C11/025 ,  G06F17/30241 ,  G06K9/00208 ,  G06K9/0063 ,  G06K9/00664 ,  G06K9/6203 ,  G06K9/6289 ,  G06T7/30 ,  G06T17/05 ,  G06T2207/30184

摘要： Various embodiments relate to a method (700) and system for geo-referencing at least one sensor image. The method comprises the steps of: generating at least one sensor image of a first scene with at least one sensor, accessing a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene, matching the sensor image with the 3D model find a section of the 3D model where there is a match between the first and the second scenes, geo-referencing the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model, and determining a measure related to an uncertainty in the matching between the sensor image and the 3D model.

摘要翻译： 各种实施例涉及用于地理参考至少一个传感器图像的方法（700）和系统。 该方法包括以下步骤：利用至少一个传感器生成第一场景的至少一个传感器图像，访问包括地理编码的3D坐标数据并与至少一个第二场景相关的环境的3D模型，所述第二场景包括 所述第一场景与3D模型匹配传感器图像，找到3D模型的一部分，其中在第一和第二场景之间存在匹配，基于所找到的地理编码的3D坐标数据来对传感器图像进行地理参考 并且确定与传感器图像和3D模型之间的匹配中的不确定性相关的度量。

公开(公告)号：US09228834B2

公开(公告)日：2016-01-05

申请号：US13537353

申请日：2012-06-29

申请人： Scott D. Kidd ,  Darrin A. Smith

发明人： Scott D. Kidd ,  Darrin A. Smith

IPC分类号： G01M17/00 ,  G06F19/00 ,  G01C11/06 ,  G01M17/007

CPC分类号： G01C11/06 ,  G01M17/0078

摘要： In one embodiment, the present invention includes a computer-implemented method to collect information to determine damage to a vehicle involved in a collision using photogrammetric techniques. When determined, this vehicle damage information, which may be in the form of crush measurement information such as a crush damage profile, can be displayed in a computer-generated view of the subject vehicle with a crush damage profile and used to estimate the impact severity. In some embodiments, based on the photogrammetric information derived, a direction of any shifting of the vehicle's components may be obtained and used along with other information to estimate a principal direction of force (PDOF) for one or more vehicles involved in the collision. Still further embodiments may be used to generate and/or audit repair estimates based at least in part on the photogrammetric information.

摘要翻译： 在一个实施例中，本发明包括计算机实现的方法，以使用摄影测量技术来收集信息以确定涉及碰撞的车辆的损坏。 当确定时，该车辆损坏信息可以以挤压测量信息（例如挤压损伤特征）的形式显示在具有挤压损伤特征的本车辆的计算机生成视图中，并用于估计冲击强度 。 在一些实施例中，基于导出的摄影测量信息，可以获得车辆部件的任何移动的方向并与其他信息一起使用以估计涉及碰撞的一个或多个车辆的主要方向力（PDOF）。 还可以使用另外的实施例来至少部分地基于摄影测量信息来生成和/或审核修复估计。

公开(公告)号：US09194954B2

公开(公告)日：2015-11-24

申请号：US13516728

申请日：2010-12-15

申请人： Alain Simon

发明人： Alain Simon

IPC分类号： G06K9/32 ,  G06K9/00 ,  G01S17/89 ,  G01C11/06 ,  G01C11/34 ,  G06T7/00 ,  G06T17/05

CPC分类号： G01S17/89 ,  G01C11/06 ,  G01C11/34 ,  G06T7/33 ,  G06T7/73 ,  G06T17/05 ,  G06T2207/10032

摘要： A method for geo-referencing an area by an imaging optronics system which comprises acquiring M successive images by a detector, the imaged area being distributed between these M images, with M≧1. It comprises: measuring P distances d1, d2, . . . , dP between the system and P points of the area, called range-found points, with P≧3, distributed in K of said images with 1≦K≦M; acquiring the positioning xm, ym, zm of the detector at acquisition of the M images; measuring the attitude φm, θm, ψm of the detector at acquisition of the M images; acquiring the coordinates in these K images of image points (p1, q1), (p2, q2), . . . , (pP, qP) corresponding to the P range-found points; and estimating the parameters of exposure conditions xe, ye, ze, ψe, θe, φe corresponding to the M images as a function of positionings, of attitudes, distances and coordinates of the image points, to correct errors on the parameters xm, ym, zm, ψm, θm, φm of each of the M images.

摘要翻译： 一种用于通过成像光电子系统地理参考区域的方法，其包括通过检测器获取M个连续图像，所述成像区域分布在这些M个图像之间，M≥1。 它包括：测量P距离d1，d2，。 。 。 ，系统与P点之间的dP，称为范围找到点，P≥3，分布在所有图像的K中，1＆nlE; K＆nlE; M; 在获取M图像时获取检测器的定位xm，ym，zm; 测量M图像获取时检测器的姿态和度量，m，ψm; 获取图像点（p1，q1），（p2，q2）的K个图像中的坐标。 。 。 ，（pP，qP）对应于P范围找到的点; 并且对于作为图像点的姿态，姿态，距离和坐标的位置的函数的M个图像来估计对应于M图像的曝光条件xe，ye，ze，ψe，＆et; e，＆phe; e的参数，以校正参数上的误差 xm，ym，zm，ψm，＆thetas; m，＆phgr; m。