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11.发明申请SURVEY DATA PROCESSING DEVICE, SURVEY DATA PROCESSING METHOD, AND PROGRAM THEREFOR 审中-公开调查数据处理设备，调查数据处理方法及其程序公开(公告)号：US20160217589A1
公开(公告)日：2016-07-28
申请号：US15008632
申请日：2016-01-28
CPC分类号： G06K9/6202 , B64C2201/123 , G01C11/06 , G01C21/005 , G06K9/0063 , G06T7/248 , G06T2207/10044 , G06T2207/20076 , G06T2207/30241
摘要： A technique for making multiple still images, which are photographed by a traveling mobile body, and the traveled route of the photographing correspond to each other, is obtained. A survey data processing device includes an input unit 101, an image processing unit 102, and a synchronous processing unit 103. The input unit 101 is configured to receive image data of multiple still images, which are photographed from a mobile body flying, and receive flight data, in which a flight route of the mobile body is measured. The image processing unit 102 is configured to estimate a flight route of the mobile body based on changes in positions of feature points included in the multiple still images on a screen. The synchronous processing unit 103 is configured to specify a matching relationship between the flight route of the flight data and the estimated flight route.
摘要翻译： 获得用于制造由移动体拍摄的多个静止图像和拍摄的行进路线的技术。 调查数据处理装置包括输入单元101，图像处理单元102和同步处理单元103.输入单元101被配置为接收从移动体飞行拍摄的多个静止图像的图像数据，并且接收 飞行数据，其中测量移动体的飞行路线。 图像处理单元102被配置为基于屏幕上的多个静止图像中包括的特征点的位置的变化来估计移动体的飞行路线。 同步处理单元103被配置为指定飞行数据的飞行路线与估计的飞行路线之间的匹配关系。
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12.发明授权Aerial photograph image pickup method and aerial photograph image pickup apparatus 有权航空照片图像拾取方法和航空照片图像拾取装置公开(公告)号：US09007461B2
公开(公告)日：2015-04-14
申请号：US13669583
申请日：2012-11-06
发明人： Fumio Ohtomo , Hitoshi Otani , Kazuki Osaragi , Tetsuji Anai
IPC分类号： H04N7/18 , H04N13/02 , G01C11/06 , G05D1/00 , G06T7/00 , G03B15/00 , G03B35/02 , G03B37/02 , G06K9/00
CPC分类号： H04N13/20 , B64C2201/123 , G01C11/06 , G03B15/006 , G03B35/02 , G03B37/02 , G05D1/0094 , G06K9/0063 , G06T7/33 , G06T7/593 , G06T2200/32 , G06T2207/10016 , G06T2207/10032 , G06T2207/30181 , H04N13/221
摘要： The aerial photograph image pickup method comprises a first step of acquiring still images along an outward route and a return route respectively, a second step of preparing a stereo-image with regard to three images adjacent to each other in advancing direction, and of preparing another stereo-image by relative orientation on one more set of adjacent images and of preparing two sets of stereo-images, a third step of connecting two sets of stereo-images by using feature points extracted from a portion of an image common to the two sets of stereo-images, a step of connecting all stereo-images in the outward route direction and in the return route direction according to images acquired in the first step by repeating the second and third steps, and a step of selecting common tie points from the images adjacent to each other in the adjacent course and connecting the adjacent stereo-images in the course.
摘要翻译： 航空照片图像拾取方法包括分别沿向外路径和返回路线获取静止图像的第一步骤，关于在前进方向上彼此相邻的三个图像准备立体图像的第二步骤，以及准备另一个 通过相对定向在一组相邻图像上并且准备两组立体图像的立体图像;第三步骤，通过使用从两组共同的图像的一部分提取的特征点来连接两组立体图像 立体图像的步骤，通过重复第二和第三步骤，根据第一步骤中获取的图像，在向外路线方向和返回路线方向上连接所有立体图像的步骤，以及从 在相邻过程中彼此相邻的图像，并且在该过程中连接相邻的立体图像。
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公开(公告)号：US08836930B2
公开(公告)日：2014-09-16
申请号：US13718329
申请日：2012-12-18
发明人： Kaoru Kumagai , Tetsuji Anai , Kazuki Osaragi , Fumio Ohtomo
CPC分类号： G01B11/26 , G01C15/002 , G01D5/2457 , G01D5/3473
摘要： A rotation angle detecting apparatus comprises a bearing holder, a rotation shaft rotatably supported by said bearing holder, a shaft portion space formed in said rotation shaft, a bearing holder space formed in said bearing holder, a first condenser lens in said shaft portion space and having an optical axis that coincides with a center line of said rotation shaft, a second condenser lens in said bearing holder space and on an extension of a center line of said rotation shaft, an angle detection pattern at a focal position of one of said first and said second condenser lens, and an image sensor at a focal position of the other of said condenser lens, wherein said image sensor detects a projection image of said angle detection pattern projected onto said image sensor, and a displacement of said projection image involved by the rotation of said rotation shaft is detected.
摘要翻译： 旋转角度检测装置包括轴承座，由所述轴承座可旋转地支撑的旋转轴，形成在所述旋转轴中的轴部空间，形成在所述轴承座中的轴承保持架空间，所述轴部空间中的第一聚光透镜， 具有与所述旋转轴的中心线一致的光轴，在所述轴承保持器空间中的第二聚光透镜，以及所述旋转轴的中心线的延伸部上的所述第一中心线的焦点位置处的角度检测图案 和所述第二聚光透镜，以及在所述聚光透镜的另一个的焦点位置处的图像传感器，其中所述图像传感器检测投影到所述图像传感器上的所述角度检测图案的投影图像，并且所述投影图像的位移由 检测所述旋转轴的旋转。
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公开(公告)号：US09228858B2
公开(公告)日：2016-01-05
申请号：US14580339
申请日：2014-12-23
发明人： Fumio Ohtomo , Kaoru Kumagai , Tetsuji Anai , Kazuki Osaragi
CPC分类号： G01D5/3473 , G01B11/26 , G01D5/34792
摘要： A rotation angle detecting apparatus 6 comprises a shaft portion space 4 formed in a rotation shaft 1, a bearing holder space 5 formed in a bearing holder 3, a first condenser lens 7 accommodated in the shaft portion space, a second condenser lens 8 provided in the bearing holder space and provided to face the first condenser lens, a detection pattern 11 provided at a focal position of one of the first condenser lens and the second condenser lens, an image sensor 12 provided at a focal position of the other of the first condenser lens and the second condenser lens, and an arithmetic unit 14 for calculating an angle displacement of the rotation shaft based on a signal from the image sensor, wherein the detection pattern has an angle detection pattern 26 in which bar-like line segments extending in a radial direction are arranged at a predetermined angle pitch and a ring-like track is formed by bar-like line segments, and a reference designation pattern 27 for indicating a reference position of the angle detection pattern, and the arithmetic unit carries out a total circumferential scanning on the track with a predetermined radius with a center of the angle detection pattern as the center in regard to a projection image of the detection pattern obtained by the image sensor, extracts a frequency component, carries out a scanning of the reference designation pattern, and calculates the angle displacement of the rotation shaft based on a phase difference of the frequency component and the number of frequencies corresponding to a change in a position of the reference designation pattern.
摘要翻译： 旋转角度检测装置6包括形成在旋转轴1中的轴部空间4，形成在轴承座3中的轴承保持架空间5，容纳在轴部空间中的第一聚光透镜7，设置在轴部空间中的第二聚光透镜8 所述轴承保持器空间并且设置成面向所述第一聚光透镜，设置在所述第一聚光透镜和所述第二聚光透镜中的一个的焦点位置处的检测图案11，设置在所述第一聚光透镜中的另一个的焦点位置处的图像传感器12 聚光透镜和第二聚光透镜，以及用于根据来自图像传感器的信号计算旋转轴的角度位移的运算单元14，其中检测图案具有角度检测图案26，在该角度检测图案26中延伸有条状线段 径向方向以预定的角度间距布置，并且由条状线段形成环形轨道，以及用于指示参考点的参考指定模式27 角度检测图案的运算单元，以与角度检测图案的中心为对应的图像传感器获得的检测图案的投影图像，运算单元以规定半径进行轨道上的全周向扫描 提取频率分量，进行基准指定模式的扫描，并且基于频率分量的相位差和对应于参考指定位置的变化的频率的频率来计算旋转轴的角度位移 模式。
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公开(公告)号：US08953933B2
公开(公告)日：2015-02-10
申请号：US14059784
申请日：2013-10-22
发明人： Fumio Ohtomo , Hitoshi Otani , Kazuki Osaragi , Tetsuji Anai
CPC分类号： G01C11/00 , A01B79/005 , B64C2201/027 , B64C2201/123 , B64C2201/127 , G01C11/025 , G05D1/0094 , G05D1/104
摘要： Aerial photogrammetry is provided by using two or more flying vehicles, each equipped with a GPS device and an image pickup unit. This method comprises setting up two or more photographing points and setting up a photographing point area, respectively, with each of the photographing points as the center, measuring a position of the flying vehicle by the GPS device, a step where each of the flying vehicle reaches each corresponding photographing point area and maintains the position of the photographing point area, acquiring a time when the flying vehicle finally reaches the photographing point area, setting up a shutter timing time after a predetermined time from the moment when the flying vehicle has finally reached the photographing point area, and taking aerial photographs by the two or more flying vehicles at the shutter timing time.
摘要翻译： 通过使用两个或更多个飞行器，每个配备有GPS装置和图像拾取单元来提供空中摄影测量。 该方法包括以每个拍摄点为中心分别设置两个或更多个拍摄点和设置拍摄点区域，通过GPS装置测量飞行器的位置，其中每个飞行器 到达每个对应的拍摄点区域并保持拍摄点区域的位置，获取飞行时间最终到达拍摄点区域的时间，在从飞行器最终到达之后的预定时间之后设置快门定时时间 拍摄点区域，并且在快门定时时间由两个或更多个飞行车辆拍摄空中照片。
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公开(公告)号：US09648304B2
公开(公告)日：2017-05-09
申请号：US13904159
申请日：2013-05-29
发明人： Fumio Ohtomo , Hitoshi Otani , Tetsuji Anai , Kaoru Kumagai
CPC分类号： H04N13/275 , G01C11/02 , G01C11/06 , H04N5/23222 , H04N13/221
摘要： A photographing device comprises an image pickup unit to acquire a moving image and a still image of an object, an image pickup control unit, an angle sensor, an image processing unit for extracting characteristic points from a first still image, tracking the characteristic points in the moving image, identifying the characteristic points in a newest image and selecting an orientation point common to the first still image and the newest image, a storage unit, a display unit, and an arithmetic unit. The arithmetic unit performs relative orientation between the first still image and the newest image based on the orientation point and on detection result of the angle sensor, obtains a distance H to the object and a distance B between points where the images have been photographed and performs guidance display where still images can be acquired sequentially when the B/H value reaches a predetermined value or higher.
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公开(公告)号：US09541382B2
公开(公告)日：2017-01-10
申请号：US13718380
申请日：2012-12-18
发明人： Fumio Ohtomo , Kaoru Kumagai , Tetsuji Anai , Kazuki Osaragi
CPC分类号： G01B11/26 , G01C15/002
摘要： A rotation angle detecting apparatus comprises a bearing holder, a rotation shaft rotatably supported by the bearing holder, a shaft portion space formed in the rotation shaft, a bearing holder space formed in the bearing holder, an angle detection pattern in the shaft portion space, a reference pattern and an image sensor in the bearing holder space, an optical system which exists across the shaft portion space and the bearing holder space and forms a projection image of the angle detection pattern and a projection image of the reference pattern on the image sensor, a photodetection switching means for selectively projecting the projection images of the angle detection pattern and the reference pattern onto the image sensor, and an arithmetic device for calculating a rotation angle of the rotation shaft based on a deviation between the reference pattern and the angle detection pattern received by the image sensor.
摘要翻译： 一种旋转角度检测装置，包括轴承保持器，由轴承保持器可旋转地支撑的旋转轴，形成在旋转轴中的轴部空间，形成在轴承保持器中的轴承保持架空间，轴部空间中的角度检测图案， 在轴承座空间中的参考图案和图像传感器，存在于轴部空间和轴承保持器空间之间的光学系统，并且形成角度检测图案的投影图像和参考图案的投影图像在图像传感器上 ，用于将角度检测图案和参考图案的投影图像选择性地投影到图像传感器上的光检测切换装置，以及用于基于参考图案和角度检测之间的偏差来计算旋转轴的旋转角度的运算装置 图像传感器接收的图案。
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18.发明授权Device, method, and recording medium for detecting and removing mistracked points in visual odometry systems 有权用于检测和去除视觉测距系统中的失真点的装置，方法和记录介质公开(公告)号：US09171225B2
公开(公告)日：2015-10-27
申请号：US13791144
申请日：2013-03-08
发明人： Nobuyuki Fukaya , Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
CPC分类号： G06K9/46 , G06T7/246 , G06T7/73 , G06T2207/10012 , G06T2207/10016 , G06T2207/10028 , G06T2207/30244 , G06T2207/30252
摘要： Three-dimensional coordinates of feature points of an object to be measured are back-projected to a frame image photographed from a specific position, and image coordinates of the back-projected feature points and the feature points in this frame image are compared. In this case, the feature points, which are mismatched, are removed as feature points which are mistracked between plural frames. In this case, two processing systems, of which initial conditions of calculation for obtaining the back-projected coordinates are different from each other, are performed, and the detection of the above mistracked points is performed on each of the two back-projected coordinates. The mistracked points detected in at least one of the processing systems are removed, and are not succeeded to the following processing.
摘要翻译： 要测量的对象的特征点的三维坐标被反投影到从特定位置拍摄的帧图像，并且比较该帧图像中的后投影特征点和特征点的图像坐标。 在这种情况下，不匹配的特征点作为在多个帧之间被误解的特征点被去除。 在这种情况下，执行其中用于获得反投影坐标的初始计算条件彼此不同的两个处理系统，并且对两个反投影坐标中的每一个执行上述被错误点的检测。 在至少一个处理系统中检测到的错误的点被去除，并且不成功地进行以下处理。
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公开(公告)号：US20150108338A1
公开(公告)日：2015-04-23
申请号：US14580339
申请日：2014-12-23
发明人： Fumio Ohtomo , Kaoru Kumagai , Tetsuji Anai , Kazuki Osaragi
CPC分类号： G01D5/3473 , G01B11/26 , G01D5/34792
摘要： A rotation angle detecting apparatus 6 comprises a shaft portion space 4 formed in a rotation shaft 1, a bearing holder space 5 formed in a bearing holder 3, a first condenser lens 7 accommodated in the shaft portion space, a second condenser lens 8 provided in the bearing holder space and provided to face the first condenser lens, a detection pattern 11 provided at a focal position of one of the first condenser lens and the second condenser lens, an image sensor 12 provided at a focal position of the other of the first condenser lens and the second condenser lens, and an arithmetic unit 14 for calculating an angle displacement of the rotation shaft based on a signal from the image sensor, wherein the detection pattern has an angle detection pattern 26 in which bar-like line segments extending in a radial direction are arranged at a predetermined angle pitch and a ring-like track is formed by bar-like line segments, and a reference designation pattern 27 for indicating a reference position of the angle detection pattern, and the arithmetic unit carries out a total circumferential scanning on the track with a predetermined radius with a center of the angle detection pattern as the center in regard to a projection image of the detection pattern obtained by the image sensor, extracts a frequency component, carries out a scanning of the reference designation pattern, and calculates the angle displacement of the rotation shaft based on a phase difference of the frequency component and the number of frequencies corresponding to a change in a position of the reference designation pattern.
摘要翻译： 旋转角度检测装置6包括形成在旋转轴1中的轴部空间4，形成在轴承座3中的轴承保持架空间5，容纳在轴部空间中的第一聚光透镜7，设置在轴部空间中的第二聚光透镜8 所述轴承保持器空间并且设置成面向所述第一聚光透镜，设置在所述第一聚光透镜和所述第二聚光透镜中的一个的焦点位置处的检测图案11，设置在所述第一聚光透镜中的另一个的焦点位置处的图像传感器12 聚光透镜和第二聚光透镜，以及用于根据来自图像传感器的信号计算旋转轴的角度位移的运算单元14，其中检测图案具有角度检测图案26，在该角度检测图案26中延伸有条状线段 径向方向以预定的角度间距布置，并且由条状线段形成环形轨道，以及用于指示参考点的参考指定模式27 角度检测图案的运算单元，以与角度检测图案的中心为对应的图像传感器获得的检测图案的投影图像，运算单元以规定半径进行轨道上的全周向扫描 提取频率分量，进行基准指定模式的扫描，并且基于频率分量的相位差和对应于参考指定位置的变化的频率的频率来计算旋转轴的角度位移 模式。
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公开(公告)号：US20140240498A1
公开(公告)日：2014-08-28
申请号：US14188846
申请日：2014-02-25
发明人： Fumio Ohtomo , Hitoshi Otani , Kazuki Osaragi , Tetsuji Anai
CPC分类号： B64D47/08 , B64C39/024 , B64C2201/127 , G01C11/02 , G01C15/00 , G05D1/0094 , H04N7/185
摘要： An aerial photographing system, comprising a flying vehicle being remotely controlled, a camera (7, 8) tiltably supported in any direction via a gimbal (25), a retro-reflector (9) tilting integrally with the camera, being set in a known relation with the camera and used as an object to be measured, and a total station (3) for tracking the retro-reflector and for measuring position of the retro-reflector.
摘要翻译： 一种空中拍摄系统，包括远程控制的飞行器，经由万向架（25）向任意方向倾斜支撑的照相机（7,8），与相机一体倾斜的回射器（9），被设置在已知 与相机的关系并用作要测量的对象，以及用于跟踪后向反射器和用于测量后向反射器的位置的全站仪（3）。
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