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1.发明授权Aerial image generating apparatus, aerial image generating method, and storage medium having aerial image generating program stored therein 有权航空图像生成装置，航空图像生成方法以及存储有空间图像生成程序的存储介质公开(公告)号：US08665263B2
公开(公告)日：2014-03-04
申请号：US13060444
申请日：2009-08-24
IPC分类号： G06T15/00
摘要： An apparatus and method generating a road image including no features such as trees and tunnels hiding or covering a road surface. A mobile measuring apparatus installed in a vehicle may acquire a distance and orientation point cloud, a camera image, GPS observation information, a gyro measurement value, and an odometer measurement value, while moving in a target area. The position and attitude localizing apparatus may localize the position and attitude of the vehicle based on the GPS observation information, the gyro measurement value and the odometer measurement value. The point cloud generating apparatus may generate a point cloud based on the camera image, the distance and orientation point cloud, and a position and attitude localized value. The point cloud orthoimage generating apparatus may extract points close to a road surface exclusively from the point cloud by removing points higher than the road surface, orthographically project each extracted point onto a horizontal plane, and generate a point cloud orthoimage. The point cloud orthoimage may show the road surface including no features covering or hiding the road surface.
摘要翻译： 一种产生道路图像的装置和方法，其不包括隐藏或覆盖路面的树木和隧道等特征。 安装在车辆中的移动测量装置可以在目标区域中移动时获取距离和方位点云，摄像机图像，GPS观测信息，陀螺仪测量值和里程表测量值。 位置和姿态定位装置可以基于GPS观测信息，陀螺仪测量值和里程表测量值来定位车辆的位置和姿态。 点云生成装置可以基于相机图像，距离和方位点云以及位置和姿态本地化的值来生成点云。 点云正射图像生成装置可以通过去除高于路面的点从点云中提取靠近路面的点，将每个提取的点正交投影到水平面上，并生成点云正射影像。 点云正视图可以显示路面，不包括覆盖或隐藏路面的特征。
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2.发明授权公开(公告)号：US08483442B2
公开(公告)日：2013-07-09
申请号：US12527478
申请日：2008-02-15
IPC分类号： G06K9/00
CPC分类号： G01C21/3602 , G06T7/521 , G06T2207/10028 , G06T2207/20101 , G06T2207/20221 , G06T2207/30252
摘要： It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unit 709 stores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. A model projecting unit 172 projects a point cloud on the image, and an image displaying unit 341 displays the point cloud superimposed with the image on the displaying device. Using an image point inputting unit 342, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unit 171 extracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unit 174 outputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.
摘要翻译： 测量道路周围的特征的位置是一个对象。 图像存储单元存储捕获道路邻域的图像。 此外，三维点云模型存储单元709将通过激光测量获得的三维坐标的点云存储在作为路面形状模型的图像拍摄同时进行。 模型投影单元172将图像上的点云投影，并且图像显示单元341将与图像叠加的点云显示在显示装置上。 使用图像点输入单元342，由用户指定测量对象的特征上的像素作为测量图像点。 邻域提取单元171从点云中提取与测量图像点相邻并且叠加在测量对象的特征上的点。 特征位置计算单元174输出由提取的点示出的三维坐标作为测量对象的特征的三维坐标。
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3.发明申请AERIAL IMAGE GENERATING APPARATUS, AERIAL IMAGE GENERATING METHOD, AND STORAGE MEDIUM HAVNG AERIAL IMAGE GENERATING PROGRAM STORED THEREIN 有权食品图像生成装置，摄影图像生成方法和存储媒体HAVNG AERIAL图像生成程序存储器公开(公告)号：US20110164037A1
公开(公告)日：2011-07-07
申请号：US13060444
申请日：2009-08-24
IPC分类号： G06T15/00
摘要： An apparatus and method generating a road image including no features such as trees and tunnels hiding or covering a road surface. A mobile measuring apparatus installed in a vehicle may acquire a distance and orientation point cloud, a camera image, GPS observation information, a gyro measurement value, and an odometer measurement value, while moving in a target area. The position and attitude localizing apparatus may localize the position and attitude of the vehicle based on the GPS observation information, the gyro measurement value and the odometer measurement value. The point cloud generating apparatus may generate a point cloud based on the camera image, the distance and orientation point cloud, and a position and attitude localized value. The point cloud orthoimage generating apparatus may extract points close to a road surface exclusively from the point cloud by removing points higher than the road surface, orthographically project each extracted point onto a horizontal plane, and generate a point cloud orthoimage. The point cloud orthoimage may show the road surface including no features covering or hiding the road surface.
摘要翻译： 一种产生道路图像的装置和方法，其不包括隐藏或覆盖路面的树木和隧道等特征。 安装在车辆中的移动测量装置可以在目标区域中移动时获取距离和方位点云，摄像机图像，GPS观测信息，陀螺仪测量值和里程表测量值。 位置和姿态定位装置可以基于GPS观测信息，陀螺仪测量值和里程表测量值来定位车辆的位置和姿态。 点云生成装置可以基于相机图像，距离和方位点云以及位置和姿态本地化的值来生成点云。 点云正射图像生成装置可以通过去除高于路面的点从点云中提取靠近路面的点，将每个提取的点正交投影到水平面上，并生成点云正射影像。 点云正视图可以显示路面，不包括覆盖或隐藏路面的特征。
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4.发明申请AERIAL IMAGE GENERATING APPARATUS, AERIAL IMAGE GENERATING METHOD, AND STORAGE MEDIUM HAVING AERIAL IMAGE GENERATING PROGRAM STORED THEREIN 有权航空图像生成装置，摄影图像生成方法以及存储有空间图像生成程序的存储介质公开(公告)号：US20110310091A2
公开(公告)日：2011-12-22
申请号：US13060444
申请日：2009-08-24
IPC分类号： G06T15/00
摘要： An objective is to provide a road image including no features such as trees and tunnels hiding or covering a road surface. A mobile measuring apparatus 200 installed in a vehicle may acquire a distance and orientation point cloud 291, a camera image 292, GPS observation information 293, a gyro measurement value 294, and an odometer measurement value 295, while moving in a target area. The position and attitude localizing apparatus 300 may localize the position and attitude of the vehicle based on the GPS observation information 293, the gyro measurement value 294 and the odometer measurement value 295. The point cloud generating apparatus 400 may generate a point cloud 491 based on the camera image 292, the distance and orientation point cloud 291, and a position and attitude localized value 391. The point cloud orthoimage generating apparatus 100 may extract points close to a road surface exclusively from the point cloud 491 by removing points higher than the road surface, orthographically project each extracted point onto a horizontal plane, and generate a point cloud orthoimage 191. The point cloud orthoimage 191 may show the road surface including no features covering or hiding the road surface.
摘要翻译： 目的是提供一种道路图像，其中不包括隐藏或覆盖路面的树木和隧道等特征。 安装在车辆中的移动式测量装置200可以在目标区域中移动的同时获取距离和定向点云291，摄像机图像292，GPS观测信息293，陀螺测量值294和里程表测量值295。 位置姿势定位装置300可以基于GPS观测信息293，陀螺测量值294和里程表测量值295来定位车辆的位置和姿态。点云生成装置400可以基于 相机图像292，距离和定向点云291以及位置和姿态局部值391.点云正射图像生成装置100可以通过去除高于道路的点来从点云491中提取靠近路面的点 表面，正交地将每个提取的点投影到水平面上，并生成点云正射图像191.点云正射图像191可以显示路面，其中不包括覆盖或隐藏路面的特征。
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5.发明申请公开(公告)号：US20130010074A1
公开(公告)日：2013-01-10
申请号：US13547727
申请日：2012-07-12
IPC分类号： H04N13/02
CPC分类号： G01C21/3602 , G06T7/521 , G06T2207/10028 , G06T2207/20101 , G06T2207/20221 , G06T2207/30252
摘要： It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unit 709 stores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. Using an image point inputting unit 342, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unit 171 extracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unit 174 outputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.
摘要翻译： 测量道路周围的特征的位置是一个对象。 图像存储单元存储捕获道路邻域的图像。 此外，三维点云模型存储单元709将通过激光测量获得的三维坐标的点云存储在作为路面形状模型的图像拍摄同时进行。 使用图像点输入单元342，由用户指定测量对象的特征上的像素作为测量图像点。 邻域提取单元171从点云中提取与测量图像点相邻并且叠加在测量对象的特征上的点。 特征位置计算单元174输出由提取的点示出的三维坐标作为测量对象的特征的三维坐标。
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公开(公告)号：US6058339A
公开(公告)日：2000-05-02
申请号：US970609
申请日：1997-11-14
IPC分类号： G05D1/02 , G06F165/00
CPC分类号： G05D1/0238 , B66F9/063 , G05D1/0234 , G05D1/0246 , G05D1/027 , G05D2201/0216
摘要： When material transport was automated on a building construction site, in a conventional travel tape guide system, it was necessary to replace the tape when it became soiled or when changes were made to a travel route. As a result, the usage efficiency of a material transport vehicle could not be improved on the site due to the fact that changes are made to work floors as demanded by construction schedules. According to this invention, there is provided a sign which is easy to move and which is installed at a turning point or an unloading point on a work floor transport route. An image of the sign is obtained by an imaging device on an autonomous guided vehicle and operating instructions are recognized by image processing. This makes it possible to automate the setting of routes and the control of the vehicle.
摘要翻译： 当在建筑施工现场进行物料运输自动化时，在传统的旅行带导向系统中，必须在变脏时更换带子，或者当改变行驶路线时。 因此，由于按施工进度要求对工作台进行改变的事实，物料运输车辆的使用效率不能在现场改善。 根据本发明，提供一种容易移动并安装在工作台运输路线上的转向点或卸载点处的标志。 通过成像装置在自主引导车辆上获得符号的图像，并且通过图像处理识别操作指令。 这使得可以使路线的设置和车辆的控制自动化。
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7.发明授权公开(公告)号：US08571265B2
公开(公告)日：2013-10-29
申请号：US13547727
申请日：2012-07-12
IPC分类号： G06K9/00
CPC分类号： G01C21/3602 , G06T7/521 , G06T2207/10028 , G06T2207/20101 , G06T2207/20221 , G06T2207/30252
摘要： It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unit 709 stores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. Using an image point inputting unit 342, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unit 171 extracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unit 174 outputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.
摘要翻译： 测量道路周围的特征的位置是一个对象。 图像存储单元存储捕获道路邻域的图像。 此外，三维点云模型存储单元709将通过激光测量获得的三维坐标的点云存储在作为路面形状模型的图像拍摄同时进行。 使用图像点输入单元342，由用户指定测量对象的特征上的像素作为测量图像点。 邻域提取单元171从点云中提取与测量图像点相邻并且叠加在测量对象的特征上的点。 特征位置计算单元174输出由提取的点示出的三维坐标作为测量对象的特征的三维坐标。
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8.发明授权公开(公告)号：US08625851B2
公开(公告)日：2014-01-07
申请号：US13547788
申请日：2012-07-12
IPC分类号： G06K9/00
CPC分类号： G01C21/3602 , G06T7/521 , G06T2207/10028 , G06T2207/20101 , G06T2207/20221 , G06T2207/30252
摘要： It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unit 709 stores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. Using an image point inputting unit 342, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unit 171 extracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unit 174 outputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.
摘要翻译： 测量道路周围的特征的位置是一个对象。 图像存储单元存储捕获道路邻域的图像。 此外，三维点云模型存储单元709将通过激光测量获得的三维坐标的点云存储在作为路面形状模型的图像拍摄同时进行。 使用图像点输入单元342，由用户指定测量对象的特征上的像素作为测量图像点。 邻域提取单元171从点云中提取与测量图像点相邻并且叠加在测量对象的特征上的点。 特征位置计算单元174输出由提取的点示出的三维坐标作为测量对象的特征的三维坐标。
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公开(公告)号：US20130011013A1
公开(公告)日：2013-01-10
申请号：US13547788
申请日：2012-07-12
IPC分类号： G06K9/48
CPC分类号： G01C21/3602 , G06T7/521 , G06T2207/10028 , G06T2207/20101 , G06T2207/20221 , G06T2207/30252
摘要： It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unit 709 stores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. Using an image point inputting unit 342, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unit 171 extracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unit 174 outputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.
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10.发明申请公开(公告)号：US20100034426A1
公开(公告)日：2010-02-11
申请号：US12527478
申请日：2008-02-15
CPC分类号： G01C21/3602 , G06T7/521 , G06T2207/10028 , G06T2207/20101 , G06T2207/20221 , G06T2207/30252
摘要： It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unit 709 stores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. A model projecting unit 172 projects a point cloud on the image, and an image displaying unit 341 displays the point cloud superimposed with the image on the displaying device. Using an image point inputting unit 342, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unit 171 extracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unit 174 outputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.
摘要翻译： 测量道路周围的特征的位置是一个对象。 图像存储单元存储捕获道路邻域的图像。 此外，三维点云模型存储单元709将通过激光测量获得的三维坐标的点云存储在作为路面形状模型的图像拍摄同时进行。 模型投影单元172在图像上投影点云，并且图像显示单元341将与图像叠加的点云显示在显示装置上。 使用图像点输入单元342，由用户指定测量对象的特征上的像素作为测量图像点。 邻域提取单元171从点云中提取与测量图像点相邻并且叠加在测量对象的特征上的点。 特征位置计算单元174输出由提取的点示出的三维坐标作为测量对象的特征的三维坐标。
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