公开(公告)号：US09619934B2

公开(公告)日：2017-04-11

申请号：US14425583

申请日：2013-01-21

申请人： VRICON SYSTEMS AKTIEBOLAG

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

IPC分类号： H04N13/02 ,  G06T17/05 ,  G01C11/06 ,  G01B11/245 ,  G01S17/02 ,  G01S17/42 ,  G01S17/89 ,  G01M11/02 ,  H04N5/357 ,  G06T7/00 ,  G01S13/86 ,  H04N13/00

CPC分类号： 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

摘要： A method for estimating values for a set of parameters of an imaging system is presented. At least two pictures having an overlapping area are taken with the imaging system from different positions. Pulses are sent out to the area, the reflected pulses are detected and distances between a sender of the pulses and the respective point where the pulses were reflected are calculated based on the travel time of the pulses. First information about the area is calculated based on the pictures. Second information related to the calculated distances to the area is also calculated. Values for quantities contained in the first and second information are compared. If the value for a quantity obtained from the first information differs from the value obtained from the second information, values and/or an error estimate for the set of parameters of the imaging system is calculated based on the difference.

公开(公告)号：US09547935B2

公开(公告)日：2017-01-17

申请号：US14188454

申请日：2014-02-24

申请人： Vricon Systems AB

发明人： Leif Haglund ,  Ola Nygren ,  Folke Isaksson ,  Johan Borg

IPC分类号： G06T17/05 ,  G06T7/00 ,  G06T15/04 ,  G06T19/20 ,  G01C11/06

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

摘要： 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.

摘要翻译： 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：US09544575B2

公开(公告)日：2017-01-10

申请号：US13610926

申请日：2012-09-12

申请人： Fumio Ohtomo ,  Hitoshi Otani ,  Masayuki Momiuchi ,  Kazuki Osaragi

发明人： Fumio Ohtomo ,  Hitoshi Otani ,  Masayuki Momiuchi ,  Kazuki Osaragi

IPC分类号： H04N13/02 ,  G06K9/62 ,  G01J3/28 ,  B64C39/02 ,  B64D47/08 ,  G01C11/06 ,  G06T7/20 ,  G01C11/02 ,  G06T7/00 ,  G06K9/00

CPC分类号： H04N13/296 ,  B64C39/024 ,  B64C2201/024 ,  B64C2201/127 ,  B64C2201/146 ,  B64D47/08 ,  G01C11/025 ,  G06K9/00208 ,  G06K9/6202 ,  G06T7/248 ,  G06T7/285 ,  G06T7/85 ,  H04N13/221 ,  H04N13/25 ,  H04N13/257

摘要： An image acquiring device comprises a first camera 14 for acquiring video images, consisting of frame images continuous in time series, a second camera 15 being in a known relation with the first camera and used for acquiring two or more optical spectral images of an object to be measured, and an image pickup control device 21, and in the image acquiring device, the image pickup control device is configured to extract two or more feature points from one of the frame images, to sequentially specify the feature points in the frame images continuous in time series, to perform image matching between the frame images regarding the frame images corresponding to the two or more optical spectral images based on the feature points, and to synthesize the two or more optical spectral images according to the condition obtained by the image matching.

摘要翻译： 图像获取装置包括用于获取视频图像的第一照相机14，其由以时间序列连续的帧图像组成，第二照相机15与第一照相机呈已知关系，并用于获取物体的两个或更多个光谱图像 以及图像拾取控制装置21，并且在图像获取装置中，图像拾取控制装置被配置为从一个帧图像提取两个或更多个特征点，以顺序地指定帧图像中的特征点连续 在时间序列中，基于特征点执行与两个或更多个光谱图像相对应的帧图像的帧图像之间的图像匹配，并且根据通过图像匹配获得的条件来合成两个或更多个光谱图像 。

公开(公告)号：US09541387B2

公开(公告)日：2017-01-10

申请号：US14175126

申请日：2014-02-07

申请人： Goodrich Corporation

发明人： Richard N. Lane

IPC分类号： H04N7/18 ,  G06K9/00 ,  G01C5/00 ,  G01C11/06 ,  G01C23/00 ,  H04N13/02 ,  B64D47/08 ,  G01C21/10 ,  G01C21/20

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.

摘要翻译： 无源高度计包括成像装置，地速系统，图像处理装置，其可操作地连接以接收来自地面速度系统的地速的指示，并且从第一位置拍摄的成像装置接收至少第一图像， 所述成像装置在与所述第一位置间隔开的第二位置处拍摄。 图像处理装置被配置为使用来自地面速度系统的地速的指示来比较第一图像和第二图像以确定地面高度。

公开(公告)号：US09369695B2

公开(公告)日：2016-06-14

申请号：US14577411

申请日：2014-12-19

申请人： FUJIFILM Corporation

发明人： Tomonori Masuda

IPC分类号： H04N13/00 ,  G06T9/20 ,  G06T7/00 ,  H04N13/02 ,  G01C3/06 ,  G01C11/02 ,  G01C11/06 ,  G03B35/00 ,  G01B11/02

CPC分类号： H04N13/246 ,  G01B11/022 ,  G01C3/06 ,  G01C11/02 ,  G01C11/06 ,  G03B35/00 ,  G03B35/08 ,  G06T7/593 ,  G06T7/85 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N13/239

摘要： A three-dimensional measurement apparatus comprises first and second imaging units, with a baseline length, a feature point detector, a corresponding point detector, a rotation matrix calculator, a translation matrix calculator, an epipolar line calculator, an evaluator, and a data calculator. The rotation matrix calculator and the translation matrix calculator calculate matrices representing directions of rotation and translation between the imaging positions A and B. The epipolar line calculator calculates an epipolar line, which is supposed to be passing through a specific feature point, on an image based on the rotation and translation matrices, and an assumed virtual translation distance. The evaluator evaluates whether the epipolar lines, calculated based on different virtual translation distances, pass through a corresponding point. The data calculator calculates three-dimensional data of an object with the use of the virtual translation distance assumed for calculating the epipolar line evaluated to be passing through the specific feature point.

摘要翻译： 三维测量装置包括具有基线长度的第一和第二成像单元，特征点检测器，对应点检测器，旋转矩阵计算器，平移矩阵计算器，核极线计算器，评估器和数据计算器 。 旋转矩阵计算器和平移矩阵计算器计算表示成像位置A和B之间的旋转和平移方向的矩阵。核线计算器计算假定正在通过特定特征点的基于图像的核线 在旋转和平移矩阵上，以及假设的虚拟平移距离。 评估者评估基于不同虚拟平移距离计算的核线是否通过相应的点。 数据计算器使用假定用于计算被评估为通过特定特征点的核线的虚拟平移距离来计算对象的三维数据。

公开(公告)号：US09251419B2

公开(公告)日：2016-02-02

申请号：US13762355

申请日：2013-02-07

申请人： DigitalGlobe, Inc.

发明人： Carolyn P. Johnston ,  Ozy Sjahputera ,  Laurence C. Bleiler ,  Brett W. Bader ,  James Thomas Smith, II

IPC分类号： G06K9/00 ,  G01C11/06

CPC分类号： G06K9/00476 ,  G01C11/06 ,  G06K9/0063

摘要： A Metric Information Network (MIN) with a plurality of Ground Control Points (GCPs) that are selected in an automated fashion. The GCP selection includes clustering algorithms as compared to prior art pair-wise matching algorithms. Further, the image processing that takes place in identifying interest points, clustering, and selecting tie points to be GCPs is all performed before the MIN is updated. By arranging for the processing to happen in this manner, the processing that is embarrassingly parallel (identifying interest points, clustering, and selecting tie points) can be performed in a distributed fashion across many computers and then the MIN can be updated.

摘要翻译： 具有以自动方式选择的多个地面控制点（GCP）的度量信息网络（MIN）。 与现有技术的成对匹配算法相比，GCP选择包括聚类算法。 此外，在识别兴趣点，聚类和选择连接点之前发生的作为GCP的图像处理都在MIN被更新之前执行。 通过以这种方式安排处理，可以跨越许多计算机以分布式方式执行令人尴尬并行（识别兴趣点，聚类和选择连接点）的处理，然后可以更新MIN。

公开(公告)号：US20160010989A1

公开(公告)日：2016-01-14

申请号：US14770761

申请日：2013-02-28

申请人： FUGRO N.V.

发明人： Olaf BOOIJ ,  Fatemeh Karimi NEJADASL ,  Evert SCHIPPERS ,  Hendrik WOUTERS

IPC分类号： G01C11/02 ,  G01C11/06 ,  H04N7/18 ,  H04N5/232 ,  H04N5/235

CPC分类号： G01C11/02 ,  G01B11/26 ,  G01C9/00 ,  G01C11/06 ,  H04N5/23216 ,  H04N5/2355 ,  H04N7/181

摘要： A system for measuring the attitude of an object in a fixed frame of reference from a moving frame of reference, comprising a first imaging device for producing image data for the object from a first direction, a second imaging device for producing image data for the object from a second direction having a component perpendicular to the first direction and an attitude sensing arrangement for determining an attitude of the first and second imaging devices with respect to the fixed frame of reference at the time the respective images are taken and for generating attitude data. An image processing system analyses and combines the respective image data and attitude data to determine the attitude of the object. The system is particularly useful for determining attitude of offshore piles during piling operations or for monitoring the departure angles of pipes and cables during laying thereof.

摘要翻译： 一种用于测量来自移动参考系的固定参考系中的物体的姿态的系统，包括用于从第一方向产生所述物体的图像数据的第一成像装置，用于产生所述物体的图像数据的第二成像装置 从具有垂直于第一方向的分量的第二方向和姿态感测装置，用于在拍摄各个图像时确定第一和第二成像装置相对于固定参照系的姿态并产生姿势数据。 图像处理系统分析并组合各个图像数据和姿态数据以确定对象的姿态。 该系统特别有助于确定打桩作业期间海上桩的姿态，或用于监测管道和缆绳在铺设期间的离开角度。

公开(公告)号：US09182228B2

公开(公告)日：2015-11-10

申请号：US11456745

申请日：2006-07-11

申请人： David Boyd Pollock ,  Patrick John Reardon ,  Theodore Earl Rogers ,  Christopher N. Underwood ,  Geoffrey Egnal ,  Bennett Sampson Wilburn ,  Stephen Kenneth Pitalo

发明人： David Boyd Pollock ,  Patrick John Reardon ,  Theodore Earl Rogers ,  Christopher N. Underwood ,  Geoffrey Egnal ,  Bennett Sampson Wilburn ,  Stephen Kenneth Pitalo

IPC分类号： H04N5/225 ,  G01C11/02 ,  G01C11/06 ,  G03B15/00 ,  G03B37/04 ,  G06T3/40 ,  G08B13/196 ,  H04N5/232 ,  H04N5/247 ,  H04N21/214 ,  H04N21/2365 ,  H04N21/2665 ,  H04N21/431 ,  H04N21/434 ,  H04N19/527

CPC分类号： G01C11/02 ,  G01C11/06 ,  G03B15/006 ,  G03B37/04 ,  G06T3/4038 ,  G08B13/19641 ,  G08B13/1965 ,  G08B13/19656 ,  G08B13/19693 ,  H04N5/2251 ,  H04N5/23203 ,  H04N5/23216 ,  H04N5/23238 ,  H04N5/23248 ,  H04N5/23267 ,  H04N5/247 ,  H04N19/527 ,  H04N21/2146 ,  H04N21/2365 ,  H04N21/2665 ,  H04N21/4312 ,  H04N21/4314 ,  H04N21/4347 ,  H04N21/4348

摘要： An image capture system comprises a plurality of cameras and a camera mount. The camera mount has a curved portion, and the plurality of cameras are secured to the curved portion. The cameras are oriented radially inward relative to the curved portion of the camera mount, such that the lines of sight of the cameras intersect. Images are captured substantially simultaneously with the plurality of cameras. The captured images are stitched together to form a collective image. The image capture system may be positioned in an aerial vehicle to provide overhead views of an environment, and captured images may be transmitted to a remote location for viewing in substantially real time. A remote user may indicate a region of interest within the collective image, and the image capture system may render a portion of the collective image in accordance with the user's indications.

摘要翻译： 图像捕获系统包括多个摄像机和摄像机座。 相机安装件具有弯曲部分，并且多个相机固定到弯曲部分。 照相机相对于相机安装件的弯曲部分径向向内定向，使得照相机的视线相交。 与多个照相机基本上同时捕获图像。 拍摄的图像被缝合在一起以形成集体图像。 图像拍摄系统可以定位在空中飞行器中以提供环境的俯视图，并且捕获的图像可以被传输到远程位置以基本上实时地观看。 远程用户可以指示集体图像内的感兴趣区域，并且图像捕获系统可以根据用户的指示呈现集体图像的一部分。

公开(公告)号：US09055284B2

公开(公告)日：2015-06-09

申请号：US13818473

申请日：2011-12-19

申请人： Takuya Nanri ,  Kensuke Maruya ,  Hisashi Kurokawa

发明人： Takuya Nanri ,  Kensuke Maruya ,  Hisashi Kurokawa

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

CPC分类号： H04N13/204 ,  G01C11/06 ,  G06T7/593 ,  G06T7/97 ,  G06T2207/10012 ,  G06T2207/20021

摘要： Provided is a stereo image processing apparatus wherein parallax can be calculated with high precision. A window-function shifting unit (411) sets a third window function, which is formed by shifting a second window function on the basis of the amount of deviation in sub-pixel units, onto an image cutting-out unit (412). The image cutting-out unit (412) applies the second window function to a position subjected to a cut-out, cuts out a unit partial target image from a standard image, applies the second window function or the third window function, and cuts out a unit partial reference image from a reference image. A peak-position detection unit (106) calculates the amount of deviation in sub-pixel units on the basis of the phase difference between a data string comprising brightness of the cut-out unit partial target image, and a data string comprising brightness of the cut-out unit partial reference image.

摘要翻译： 提供了可以高精度地计算视差的立体图像处理装置。 窗口功能移位单元（411）将通过基于子像素单位的偏差量将第二窗口功能移位到图像切出单元（412）上而形成的第三窗口功能。 图像切出单元（412）将第二窗口功能应用于经过切割的位置，从标准图像切出单位部分目标图像，应用第二窗口功能或第三窗口功能，并切出 来自参考图像的单位部分参考图像。 峰值位置检测单元（106）基于包括切出单位部分目标图像的亮度的数据串与包括亮度的数据串之间的相位差来计算子像素单位的偏差量 切出单位部分参考图像。

公开(公告)号：US20140064565A1

公开(公告)日：2014-03-06

申请号：US14014483

申请日：2013-08-30

申请人： CANON KABUSHIKI KAISHA

发明人： Chihiro Nagura

IPC分类号： G01C11/06

CPC分类号： G01C11/06 ,  G01D5/34707

摘要： A scale (20) has a plurality of patterns so as to spatially modulate an energy distribution, and the scale includes a first pattern having a first modulation period in a moving direction, and a second pattern having a second modulation period different from the first modulation period in the moving direction, a relative phase between the first pattern and the second pattern changes in accordance with a direction perpendicular to the moving direction, each of the first pattern and the second pattern is configured by including a reflective portion (26) that reflects light and a non-reflective portion (25) that does not reflect the light, and a width of the reflective portion (26) in the moving direction at a first position is different from the width at a second position different from the first position along the direction perpendicular to the moving direction.

摘要翻译： 标尺（20）具有多个图案，以空间调制能量分布，并且刻度包括具有在移动方向上具有第一调制周期的第一图案，以及具有与第一调制不同的第二调制周期的第二图案 在第一图案和第二图案之间的相对相位根据与移动方向垂直的方向而改变，第一图案和第二图案中的每一个通过包括反射部分（26）构成， 光和不反射光的非反射部分（25），反射部分（26）在第一位置处的移动方向上的宽度不同于与第一位置不同的第二位置处的宽度 垂直于移动方向的方向。