公开(公告)号：US08711337B2

公开(公告)日：2014-04-29

申请号：US13131929

申请日：2009-12-16

申请人： Nicola Rohrseitz

发明人： Nicola Rohrseitz

IPC分类号： G01S11/12 ,  G01C11/16

CPC分类号： G01C11/16 ,  G01P3/36 ,  G01P3/50 ,  G01S11/12

摘要： The invention is a passive method to measure the translational speed of a visual scene using the distribution of light intensities. The invention combines two principles: perspective distortion matching over a broad field of view, and temporal filtering variation. The perspective distortion of the image is used to sample the visual scene at different linear wavelengths over the visual field. The result is a spatial sensitivity map of the visual scene. The obtained signal is then temporally filtered with cutoff frequencies proportional to the spatial sensitivity. The final result is a wide-spectrum computation of a ratio between temporal and linear spatial frequencies, in other words linear speed. The technique does not require the emission of a reference signal and is independent from external infrastructures.

摘要翻译： 本发明是使用光强度分布来测量视觉场景的平移速度的被动方法。 本发明结合了两个原理：宽广视野的透视失真匹配和时间滤波变化。 图像的透视失真用于在视野上以不同的线性波长采样视觉场景。 结果是视觉场景的空间灵敏度图。 然后用与空间灵敏度成比例的截止频率对获得的信号进行时间滤波。 最后的结果是宽频率计算时间和线性空间频率之间的比例，换句话说是线速度。 该技术不需要发射参考信号，并且独立于外部基础设施。

公开(公告)号：US20110235028A1

公开(公告)日：2011-09-29

申请号：US13131929

申请日：2009-12-16

申请人： Nicola Rohrseitz

发明人： Nicola Rohrseitz

IPC分类号： G01J1/10

CPC分类号： G01C11/16 ,  G01P3/36 ,  G01P3/50 ,  G01S11/12

摘要： The invention is a passive method to measure the translational speed of a visual scene using the distribution of light intensities. Measuring the speed of translation is useful for control, safety, management of resources, fuel efficiency, and many more application fields. It is however technically challenging because a wide-field translating scene projects on an image plane as a heterogeneous field of apparent speeds. The invention solves this problem by combining two principles: perspective distortion matching over a broad field of view, and temporal filtering variation. In conventional systems, an acquired image is calibrated to obtain linear coordinates. Instead, the invention uses the perspective distortion of the image to sample the visual scene at different linear wavelengths over the visual field. The result is a spatial sensitivity map of the visual scene. The obtained signal is then temporally filtered with cutoff frequencies proportional to the spatial sensitivity. The final result is the wide-spectrum computation of the ratio between temporal and linear spatial frequencies, in other words linear speed. The technique is passive because it does not require the emission of a reference signal. This is an advantage over active speed sensors mainly because of reduced power consumption, but it is an enabling factor for other applications. Where it is difficult or impossible using standard device-centered techniques, like on aircrafts or in fluids, the invention enables measuring absolute linear speed. The advantage over non-device-centered techniques like—GPS—is the independence from external infrastructures. The small computational overhead makes it ideal for mobile applications.

摘要翻译： 本发明是使用光强度分布来测量视觉场景的平移速度的被动方法。 衡量翻译速度对于控制，安全，资源管理，燃油效率以及更多的应用领域都是有用的。 然而，技术上具有挑战性，因为广域翻译场景作为视觉速度的异质场投影在图像平面上。 本发明通过组合两个原理来解决这个问题：宽广视野的透视失真匹配和时间滤波变化。 在常规系统中，校准获取的图像以获得线性坐标。 相反，本发明使用图像的透视失真来在视野上以不同的线性波长采样视觉场景。 结果是视觉场景的空间灵敏度图。 然后用与空间灵敏度成比例的截止频率对获得的信号进行时间滤波。 最终的结果是频谱计算时间和线性空间频率之间的比例，换句话说是线速度。 该技术是被动的，因为它不需要发射参考信号。 这主要是因为功耗降低，这是有效的速度传感器的优势，但它是其他应用的一个有利因素。 使用标准的以设备为中心的技术（如飞机或液体）难于或不可能使用本发明，可以测量绝对线速度。 与以非设备为中心的技术（如GPS）相比的优势是与外部基础设施的独立性。 小的计算开销使其成为移动应用的理想选择。