公开(公告)号：US20200034985A1

公开(公告)日：2020-01-30

申请号：US16049526

申请日：2018-07-30

Applicant: The Boeing Company

Inventor： Mitchell D. Voth ,  Timothy Kneier ,  Donald A. Spurgeon

IPC: G06T7/73 ,  H04N5/247 ,  G01C11/08

Abstract: A method and apparatus for photogrammetrically determining a six degree of freedom spatial relationship between a first object and a second object is disclosed. In one embodiment, the method comprises photogrammetrically determining a first orientation of the first object relative to the second object, photogrammetrically determining a second orientation of the second object relative to the first object, and determining the six degree of freedom spatial relationship between the first object and the second object from the photogrammetrically determined first orientation of the first object relative to the second object and the photogrammetrically determined second orientation of the second object relative to the first object

公开(公告)号：US09928613B2

公开(公告)日：2018-03-27

申请号：US14752834

申请日：2015-06-27

Applicant: Mark S Olsson ,  Scott A Powell ,  Nicholas A Smith ,  Garrett A Newby ,  Ryan B Levin ,  Thomas R Kok ,  Michael J Martin

Inventor： Mark S Olsson ,  Scott A Powell ,  Nicholas A Smith ,  Garrett A Newby ,  Ryan B Levin ,  Thomas R Kok ,  Michael J Martin

IPC: G06T7/73 ,  H04N5/225 ,  G01C11/02 ,  G01C11/08 ,  G01V3/165 ,  G06T7/246 ,  G06T7/292 ,  G01B11/00

CPC classification number: G06T7/74 ,  G01B11/002 ,  G01C11/02 ,  G01C11/08 ,  G01V3/165 ,  G06T7/248 ,  G06T7/292 ,  G06T2207/10021 ,  G06T2207/30181 ,  G06T2207/30184 ,  G06T2207/30244 ,  H04N5/2252 ,  H04N5/2257 ,  H04N5/2258

Abstract: Apparatus, systems, and methods are disclosed for tracking movement over the ground or other surfaces using two or more spaced apart cameras and an associated processing element to detect ground features in images from the cameras and determine tracking parameters based on the position of the detected ground features in the images.

公开(公告)号：US09863767B2

公开(公告)日：2018-01-09

申请号：US14423608

申请日：2014-06-25

Applicant: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA

Inventor： Ryuji Fuchikami ,  Yuji Sugisawa

IPC: G01C11/06 ,  G01C11/02 ,  G01B11/02 ,  G01C11/08 ,  G06T7/586 ,  G06T7/254 ,  G01C11/36

CPC classification number: G01C11/06 ,  G01B11/026 ,  G01C11/02 ,  G01C11/08 ,  G01C2011/36 ,  G06T7/254 ,  G06T7/586 ,  G06T2207/10152

Abstract: A motion sensor device including: an image sensor; first and second light sources; and a controller configured to control the image sensor and the first and second light sources. The controller makes the image sensor capture a first frame with light emitted from the first light source at a first time, makes the image sensor capture a second frame with light emitted from the second light source at a second time, performs masking processing on a first image gotten by capturing the first frame and on a second image gotten by capturing the second frame based on a difference between the first and second images, and obtain information about the distance to an object shot in the first and second images based on the first and second images that have been subjected to the masking processing.

公开(公告)号：US20170314927A1

公开(公告)日：2017-11-02

申请号：US15499691

申请日：2017-04-27

Applicant: ROGERSON AIRCRAFT CORPORATION

Inventor： Howard I. Royster ,  Michael Rogerson

IPC: G01C21/00 ,  G01C11/08 ,  G01C3/02 ,  G01C5/00 ,  G01C23/00 ,  G01C21/20

CPC classification number: G01C21/005 ,  G01C11/06 ,  G01C21/20 ,  G01S17/023 ,  G01S17/89 ,  G01S17/933 ,  G08G5/0021 ,  G08G5/0086

Abstract: The present disclosure pertains to a system for providing persistent mission data to a fleet of vehicles. In some implementations, the system receives (i) information related to a first vehicle's location, the altitude of the first vehicle, and the first vehicle's orientation from the one or more first sensors and (ii) imagery data from one or more second sensors disposed on the first vehicle, wherein the imagery data includes instantaneous imagery and previously recorded imagery. The system geolocates the imagery data based on the first vehicle's altitude and the first vehicle's orientation relative to the terrain. The system transmits one or both of the instantaneous imagery or the previously recorded imagery to a fleet of vehicles. The system effectuates presentation of the imagery data on a three dimensional topographical map of the terrain.

公开(公告)号：US20170161889A1

公开(公告)日：2017-06-08

申请号：US15432331

申请日：2017-02-14

Applicant: Virtek Vision International, ULC

Inventor： Kurt D. Rueb

IPC: G06T7/00 ,  G01C11/08 ,  G06T7/11 ,  G01B11/25 ,  G06T7/73 ,  H04N13/02 ,  B23Q17/24 ,  G01B11/00 ,  G01C11/02 ,  G06T7/194

CPC classification number: G06T7/0006 ,  B23Q17/2423 ,  G01B11/002 ,  G01B11/005 ,  G01B11/2545 ,  G01C11/00 ,  G01C11/02 ,  G01C11/025 ,  G01C11/08 ,  G01C15/002 ,  G06T7/001 ,  G06T7/11 ,  G06T7/194 ,  G06T7/74 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20224 ,  G06T2207/30164 ,  G06T2207/30204 ,  H04N5/225 ,  H04N9/3129 ,  H04N13/239 ,  H04N13/254

Abstract: A laser projection system for projecting an image on a workpiece includes a photogrammetry assembly and a laser projector, each communicating with a computer. The photogrammetry assembly includes a first camera for scanning the workpiece, and the laser projector projects a laser image to arbitrary locations. Light is conveyed from the direction of the workpiece to the photogrammetry assembly. The photogrammetry assembly signals the coordinates light conveyed toward the photogrammetry assembly to the computer with the computer being programmable for determining a geometric location of the laser image. The computer establishes a geometric correlation between the photogrammetry assembly, the laser projector, and the workpiece for realigning the laser image to a corrected geometric location relative to the workpiece.

公开(公告)号：US20160312446A1

公开(公告)日：2016-10-27

申请号：US15133145

申请日：2016-04-19

Applicant: HEXAGON TECHNOLOGY CENTER GMBH

Inventor： Bo PETTERSSON ,  Benedikt ZEBHAUSER

IPC: E02F9/26 ,  G05D1/02 ,  G01S17/08 ,  H04N7/18 ,  G06K9/00 ,  G01C11/08 ,  E02F3/84 ,  G06T17/05

CPC classification number: G01S17/08 ,  E02F3/76 ,  E02F3/842 ,  E02F3/844 ,  E02F9/2041 ,  E02F9/262 ,  G01C11/08 ,  G05D1/0251 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202 ,  G06K9/0063 ,  G06K9/00805 ,  G06T17/05 ,  H04N7/181

Abstract: A Method for generating scaled terrain information while operating a bulldozer. The bulldozer may include a driving unit comprising a set of drive wheels, a motor connected to at least one of the drive wheels, a blade for altering the surface of the terrain, at least one camera for capturing images of the environment, the camera being positioned and aligned in a known manner relative to the bulldozer, and a controlling and processing unit. A method may include moving the bulldozer while concurrently generating a set of image data by capturing an image series of terrain sections with the at least one camera so that at least two images of the image series cover an amount of identical points in the terrain, and either applying a simultaneous localisation and mapping (SLAM) algorithm or a stereo photogrammetry algorithm to the set of image data and thereby deriving terrain data.

Abstract translation: 一种在运行推土机时生成缩放地形信息的方法。 推土机可以包括驱动单元，其包括一组驱动轮，连接到至少一个驱动轮的马达，用于改变地形表面的叶片，用于捕获环境图像的至少一个相机，相机 以相对于推土机的已知方式定位和对准，以及控制和处理单元。 一种方法可以包括移动推土机，同时通过用至少一个照相机捕获地形部分的图像系列，同时产生一组图像数据，使得图像系列的至少两个图像覆盖地形中相同点的数量，以及 将同时定位和映射（SLAM）算法或立体摄影测量算法应用于图像数据集合，从而导出地形数据。

公开(公告)号：US20250157049A1

公开(公告)日：2025-05-15

申请号：US18943793

申请日：2024-11-11

Applicant: Electronics and Telecommunications Research Institute

Inventor： Geon Min YEO ,  Whui KIM ,  Young Bag MOON ,  Seong Hee PARK ,  Juderk PARK ,  Wun-Cheol JEONG ,  Tae-Wook HEO

IPC: G06T7/20 ,  B64U10/14 ,  B64U101/30 ,  G01C11/08 ,  G06V10/70 ,  H04N23/695

Abstract: Provided are a method and apparatus for determining a position of a moving object. A method of determining a position of an object includes receiving an image frame from a camera, determining object recognition information of an object included in the image frame by performing object recognition based on deep learning, tracking the object by performing view control of the camera based on the object recognition information, and determining object global positioning system (GPS) position information of the object based on view state information indicating a degree to which the camera is adjusted by the view control.

公开(公告)号：US12008679B2

公开(公告)日：2024-06-11

申请号：US17550357

申请日：2021-12-14

Applicant: LEICA GEOSYSTEMS AG

Inventor： Josef Mueller ,  Oliver Faix ,  Jochen Scheja ,  Stefan Petkov ,  Josef Lais ,  Tim Mayer ,  Bernhard Metzler

IPC: G06T11/00 ,  G01C11/02 ,  G01C11/08 ,  G06F3/041 ,  G06T7/70 ,  G06V10/74

CPC classification number: G06T11/00 ,  G01C11/025 ,  G01C11/08 ,  G06F3/041 ,  G06T7/70 ,  G06V10/74 ,  G06T2207/10028 ,  G06T2207/20104

Abstract: A method and device for displaying desired positions in a live image of a construction site. The method mat include recording at least one position-referenced image of the construction site; linking at least one desired position to the position-referenced image; storing the position-referenced image together with desired position linkage in an electronic memory; recording a live image of the construction site, in particular in the form of a video, wherein the live image and the position-referenced image at least partially represent an identical detail of the construction site; retrieving the stored position-referenced image from the memory; fitting the position-referenced image with the live image, so that the desired position linked to the position-referenced image can be overlaid in a position-faithful manner on the live image; and position-faithful display of the desired position as a graphic marking in the live image.

公开(公告)号：US20230206625A1

公开(公告)日：2023-06-29

申请号：US17853445

申请日：2022-06-29

Applicant: HERE Global B.V.

Inventor： Robert LEDNER ,  Xiaoying JIN ,  Holly RUSSELL ,  Joseph TANKOVICH

IPC: G06V20/10 ,  G06V10/82 ,  G01C11/08

CPC classification number: G06V20/176 ,  G06V10/82 ,  G01C11/08

Abstract: An approach is provided for pole extraction from optical imagery. The approach involves, for instance, processing a plurality of images using a machine learning model to generate a plurality of redundant observations of a pole-like object and/or their semantic keypoints respectively depicted in the plurality of images. The approach also involves performing a photogrammetric triangulation of the plurality of redundant observations to determine three-dimensional coordinate data of the pole-like object and/or their semantic keypoints. The approach further involves providing the three-dimensional coordinate data of the pole-like object as an output.

公开(公告)号：US11604065B2

公开(公告)日：2023-03-14

申请号：US16876041

申请日：2020-05-16

Applicant: HEXAGON TECHNOLOGY CENTER GMBH

Inventor： Bernhard Metzler ,  Jochen Scheja

IPC: G01C11/08 ,  G06T7/521 ,  H04N5/232 ,  G06K9/62 ,  G06T7/80 ,  H04N13/271 ,  G01C11/28 ,  G06T7/70

Abstract: One aspect of the invention relates to a fully automatic method for calculating the current, geo-referenced position and alignment of a terrestrial scan-surveying device in situ on the basis of a current panoramic image recorded by the surveying device and at least one stored, geo-referenced 3D scan panoramic image.