公开(公告)号：US08213684B2

公开(公告)日：2012-07-03

申请号：US12488878

申请日：2009-06-22

申请人： Andreas Ess ,  Bastian Leibe ,  Konrad Schindler ,  Luc Van Gool ,  Kenichi Kitahama ,  Ryuji Funayama

发明人： Andreas Ess ,  Bastian Leibe ,  Konrad Schindler ,  Luc Van Gool ,  Kenichi Kitahama ,  Ryuji Funayama

IPC分类号： G06K9/00

CPC分类号： G06T7/246 ,  G06T7/215

摘要： A motion estimating device first detects mobile objects Oi and Oi′ in continuous image frames T and T′, and acquires image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′. Then, the motion estimating device removes the image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′ in the image frames T and T′, extracts corresponding point pairs Pj of feature points between the image frames T and T′ from the image areas having removed the image areas Ri and Ri′, and carries out the motion estimation of the autonomous mobile machine between the image frames T and T′ on the basis of the positional relationship of the corresponding point pairs Pj of feature points.

摘要翻译： 运动估计装置首先检测连续图像帧T和T'中的移动对象Oi和Oi'，并获取对应于移动对象Oi和Oi'的图像区域Ri和Ri'。 然后，运动估计装置去除与图像帧T和T'中的移动对象Oi和Oi'相对应的图像区域Ri和Ri'，从图像帧T和T'中提取图像帧T和T'之间的特征点的对应点对Pj， 图像区域已经去除了图像区域Ri和Ri'，并且基于特征点的对应点对Pj的位置关系在图像帧T和T'之间执行自主移动机器的运动估计。

公开(公告)号：US20100027847A1

公开(公告)日：2010-02-04

申请号：US12488878

申请日：2009-06-22

申请人： Andreas Ess ,  Bastian Leibe ,  Konrad Schindler ,  Luc Van Gool ,  Kenichi Kitahama ,  Ryuji Funayama

发明人： Andreas Ess ,  Bastian Leibe ,  Konrad Schindler ,  Luc Van Gool ,  Kenichi Kitahama ,  Ryuji Funayama

IPC分类号： G06K9/00

CPC分类号： G06T7/246 ,  G06T7/215

摘要： A motion estimating device first detects mobile objects Oi and Oi′ in continuous image frames T and T′, and acquires image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′. Then, the motion estimating device removes the image areas Ri and Ri′ corresponding to the mobile objects Oi and Oi′ in the image frames T and T′, extracts corresponding point pairs Pj of feature points between the image frames T and T′ from the image areas having removed the image areas Ri and Ri′, and carries out the motion estimation of the autonomous mobile machine between the image frames T and T′ on the basis of the positional relationship of the corresponding point pairs Pj of feature points.

摘要翻译： 运动估计装置首先检测连续图像帧T和T'中的移动对象Oi和Oi'，并获取对应于移动对象Oi和Oi'的图像区域Ri和Ri'。 然后，运动估计装置去除与图像帧T和T'中的移动对象Oi和Oi'相对应的图像区域Ri和Ri'，从图像帧T和T'中提取图像帧T和T'之间的特征点的对应点对Pj， 图像区域已经去除了图像区域Ri和Ri'，并且基于特征点的对应点对Pj的位置关系在图像帧T和T'之间执行自主移动机器的运动估计。

公开(公告)号：US20120105846A1

公开(公告)日：2012-05-03

申请号：US13322019

申请日：2009-05-29

申请人： Ryuji Funayama ,  Shinya Kawamata ,  Yasukata Yokochi ,  Masato Endo ,  Yasuhiro Yoshida ,  Kenichi Kitahama

发明人： Ryuji Funayama ,  Shinya Kawamata ,  Yasukata Yokochi ,  Masato Endo ,  Yasuhiro Yoshida ,  Kenichi Kitahama

IPC分类号： G01J3/28

CPC分类号： G01J3/0229 ,  G01J3/02 ,  G01J3/021 ,  G01J3/0235 ,  G01J3/0294 ,  G01J3/04 ,  G01J3/32 ,  G01J3/36

摘要： Disclosed is a spectrum measuring apparatus for shortening such a measurement time period for an object being measured including two or more mutually different measurement portions as is required for the spectrum measurements of the lights from individual measurement portions. The spectrum measuring apparatus comprises a slit group having two or more slits, a spectroscope for separating the lights extracted by the slit group, for the individual slits, and a measuring unit for measuring the intensities of the individual components, which are separated by the spectroscope, for the slits. The individual slits extract such ones of the lights coming from an object being measured including two or more mutually different measurement portions, as come from the individual measurement portions.

摘要翻译： 本发明公开了一种频谱测量装置，用于根据来自各个测量部分的光的光谱测量所需的，缩短测量对象的测量时间段，包括两个或更多个相互不同的测量部分。 光谱测量装置包括具有两个或更多个狭缝的狭缝组，用于分离由狭缝组提取的光的分光镜，用于各狭缝的测量单元，以及用于测量由分光镜分离的各个部件的强度的测量单元 ，为狭缝。 各个狭缝从各个测量部分提取来自被测量物体的那些光，包括两个或更多个相互不同的测量部分。

公开(公告)号：US08755048B2

公开(公告)日：2014-06-17

申请号：US13321968

申请日：2009-05-29

申请人： Ryuji Funayama ,  Shinya Kawamata ,  Masato Endo ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Tomoaki Handa ,  Kenichi Kitahama

发明人： Ryuji Funayama ,  Shinya Kawamata ,  Masato Endo ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Tomoaki Handa ,  Kenichi Kitahama

IPC分类号： G01J3/46

CPC分类号： G01J3/02 ,  G01J3/0264 ,  G01J3/28 ,  G01J2003/2833

摘要： A movable body spectrum measuring apparatus including a dictionary data storing unit for storing spectrum data containing wavelength information and light intensity information of an object being measured, and a limitation information storing unit for storing limitation information to regulate the wavelength information into partial wavelength information. The movable body spectrum measuring apparatus further including a discrimination level setting unit for setting selectively the limitation information corresponding to the discrimination level required of the object being measured, a restricting unit for restricting the spectrum data regarding the observation light to the spectrum data composed exclusively of the wavelength information limited by the limitation information, and a discrimination unit for discriminating the object being measured based on the comparison between the restricted spectrum data and the spectrum data regarding the dictionary data storing unit.

摘要翻译： 一种移动体光谱测量装置，包括：字典数据存储单元，用于存储包含被测物体的波长信息和光强度信息的光谱数据;以及限制信息存储单元，用于存储将波长信息调节为部分波长信息的限制信息。 所述移动体光谱测量装置还包括鉴别水平设定单元，用于选择性地设定与被测量物体所要求的鉴别水平相对应的限制信息;限制单元，用于将关于观察光的光谱数据限制为仅由 由限制信息限制的波长信息，以及鉴别单元，用于基于限制频谱数据与关于字典数据存储单元的频谱数据之间的比较来鉴别被测对象。

公开(公告)号：US08723124B2

公开(公告)日：2014-05-13

申请号：US13322503

申请日：2009-05-29

申请人： Masato Endo ,  Shinya Kawamata ,  Ryuji Funayama ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Kenichi Kitahama

发明人： Masato Endo ,  Shinya Kawamata ,  Ryuji Funayama ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Kenichi Kitahama

IPC分类号： G01J5/02

CPC分类号： G01J5/02 ,  G01J1/4204 ,  G01J3/02 ,  G01J3/0264 ,  G01J3/0289 ,  G01J3/2803

摘要： Provided is a movable body spectrum measuring apparatus, which can discriminate a measuring object with high precision by photographic data from a spectrum sensor mounted on a movable body such as a vehicle and can process the photographic data in real time. A movable body spectrum measuring apparatus discriminates the measuring object around a vehicle on the basis of the spectrum data from an observation light. A spectrum sensor can measure wavelength information and light intensity information. The movable body spectrum measuring apparatus comprises a dictionary data storing unit storing, as dictionary data, the spectrum data containing the wavelength information and the light intensity information regarding a plurality of predetermined measuring objects, and an arithmetic device for discriminating the measuring object on the basis of comparison computation to compare the spectrum data of the observation light and the spectrum data stored in the dictionary data storing unit. The arithmetic device performs the computation to compare the spectrum data of the observation light with reference to only a partial wavelength band of the spectrum data stored as the dictionary data.

摘要翻译： 提供一种可移动体光谱测量装置，其能够通过来自安装在诸如车辆的可移动体上的光谱传感器的摄影数据以高精度来鉴别测量对象，并且可以实时处理摄影数据。 移动体光谱测量装置根据来自观察光的光谱数据来辨别车辆周围的测量物体。 光谱传感器可以测量波长信息和光强信息。 移动体谱测量装置包括字典数据存储单元，其存储包含波长信息的光谱数据和关于多个预定测量对象的光强度信息作为字典数据;以及运算装置，用于在此基础上鉴别测量对象 比较计算，以比较观察光的光谱数据和存储在字典数据存储单元中的光谱数据。 算术装置进行计算，仅参照作为字典数据存储的频谱数据的部分波段，比较观察光的光谱数据。

公开(公告)号：US20120123637A1

公开(公告)日：2012-05-17

申请号：US13322508

申请日：2009-05-29

申请人： Ryuji Funayama ,  Shinya Kawamata ,  Masato Endo ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Kenichi Kitahama

发明人： Ryuji Funayama ,  Shinya Kawamata ,  Masato Endo ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Kenichi Kitahama

IPC分类号： G06F7/00 ,  G01J3/28

CPC分类号： G01J3/10 ,  G01J3/02 ,  G01J3/0208 ,  G01J3/021 ,  G01J3/0235 ,  G01J3/36 ,  G01J5/0025 ,  G01J2003/104 ,  G01J2003/1213

摘要： Disclosed is a mover spectrum measuring apparatus, which is able to discriminate an object being measured more reliably by relieving the influences of an environmental light on photographic data by a spectrum sensor mounted on a mover such as a vehicle. A spectrum sensor capable of measuring wavelength information and optical intensity information is mounted on a vehicle, so that an object being measured around the vehicle is discriminated on the basis of the spectrum data relating to the observation light detected by the spectrum sensor. The mover spectrum measuring apparatus comprises an illumination device for making variable the featuring quantity of at least either the wavelength range of the observation light or the optical intensity of each wavelength, and controls the featuring quantity varying mode by the illumination device through an illumination controller on the basis of the control value according to an environmental element.

摘要翻译： 公开了一种移动频谱测量装置，其能够通过安装在诸如车辆的动子上的频谱传感器减轻环境光对摄影数据的影响，更可靠地区分被测量物体。 能够测量波长信息和光强度信息的光谱传感器被安装在车辆上，使得基于与由光谱传感器检测到的观察光有关的光谱数据来鉴别车辆周围的物体。 移动器光谱测量装置包括用于使观察光的波长范围或每个波长的光强度中的至少一个的特征量变化的照明装置，并且通过照明装置通过照明控制器控制特征量变化模式 根据环境要素的控制值的基础。

公开(公告)号：US09036147B2

公开(公告)日：2015-05-19

申请号：US13322019

申请日：2009-05-29

申请人： Ryuji Funayama ,  Shinya Kawamata ,  Yasukata Yokochi ,  Masato Endo ,  Yasuhiro Yoshida ,  Kenichi Kitahama

发明人： Ryuji Funayama ,  Shinya Kawamata ,  Yasukata Yokochi ,  Masato Endo ,  Yasuhiro Yoshida ,  Kenichi Kitahama

IPC分类号： G01J3/28 ,  G01J3/02 ,  G01J3/04 ,  G01J3/32 ,  G01J3/36

CPC分类号： G01J3/0229 ,  G01J3/02 ,  G01J3/021 ,  G01J3/0235 ,  G01J3/0294 ,  G01J3/04 ,  G01J3/32 ,  G01J3/36

摘要： Disclosed is a spectrum measuring apparatus for shortening such a measurement time period for an object being measured including two or more mutually different measurement portions as is required for the spectrum measurements of the lights from individual measurement portions. The spectrum measuring apparatus comprises a slit group having two or more slits, a spectroscope for separating the lights extracted by the slit group, for the individual slits, and a measuring unit for measuring the intensities of the individual components, which are separated by the spectroscope, for the slits. The individual slits extract such ones of the lights coming from an object being measured including two or more mutually different measurement portions, as come from the individual measurement portions.

摘要翻译： 本发明公开了一种频谱测量装置，用于根据来自各个测量部分的光的光谱测量所需的，缩短测量对象的测量时间段，包括两个或更多个相互不同的测量部分。 光谱测量装置包括具有两个或更多个狭缝的狭缝组，用于分离由狭缝组提取的光的分光镜，用于各狭缝的测量单元，以及用于测量由分光镜分离的各个部件的强度的测量单元 ，为狭缝。 各个狭缝从各个测量部分提取来自被测量物体的那些光，包括两个或更多个相互不同的测量部分。

公开(公告)号：US20120188545A1

公开(公告)日：2012-07-26

申请号：US13321968

申请日：2009-05-29

申请人： Ryuji Funayama ,  Shinya Kawamata ,  Masato Endo ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Tomoaki Handa ,  Kenichi Kitahama

发明人： Ryuji Funayama ,  Shinya Kawamata ,  Masato Endo ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Tomoaki Handa ,  Kenichi Kitahama

IPC分类号： G01J3/46

CPC分类号： G01J3/02 ,  G01J3/0264 ,  G01J3/28 ,  G01J2003/2833

摘要： Disclosed is a movable body spectrum measuring apparatus, which is capable of discriminating an object being measured highly precisely by the photographic data regarding a spectrum sensor and is capable of processing the photographic data in real time. The movable body spectrum measuring apparatus discriminates the object being measured based on the spectrum data relating to the observation light detected by a spectrum sensor. The movable body spectrum measuring apparatus comprises a dictionary data storing unit for storing the spectrum data containing the wavelength information and the light intensity information of the object being measured, and a limitation information storing unit for storing limitation information to regulate the wavelength information into partial wavelength information. The movable body spectrum measuring apparatus further comprises a discrimination level setting unit for setting selectively the limitation information corresponding to the discrimination level required of the object being measured, a restricting unit for restricting the spectrum data regarding the observation light to the spectrum data composed exclusively of the wavelength information limited by the limitation information, and a discrimination unit for discriminating the object being measured based on the comparison between the restricted spectrum data and the spectrum data regarding the dictionary data storing unit.

摘要翻译： 公开了一种可移动体光谱测量装置，其能够通过关于光谱传感器的照相数据高精度地鉴别被测物体，并能够实时处理摄影数据。 可动体光谱测量装置根据与由光谱传感器检测到的观察光有关的光谱数据来辨别被测物体。 移动体谱测定装置包括字典数据存储部，存储包含被测定物体的波长信息和光强度信息的光谱数据，以及限制信息存储部，存储用于将波长信息调整为部分波长的限制信息 信息。 所述移动体谱测定装置还具有鉴别水平设定单元，用于选择性地设定与被测定物体所需的鉴别水平相对应的限制信息，限制单元，用于将与观察光有关的频谱数据限制为仅由 由限制信息限制的波长信息，以及鉴别单元，用于基于限制频谱数据与关于字典数据存储单元的频谱数据之间的比较来鉴别被测对象。

公开(公告)号：US20120113425A1

公开(公告)日：2012-05-10

申请号：US13322503

申请日：2009-05-29

申请人： Masato Endo ,  Shinya Kawamata ,  Ryuji Funayama ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Kenichi Kitahama

发明人： Masato Endo ,  Shinya Kawamata ,  Ryuji Funayama ,  Yasukata Yokochi ,  Yasuhiro Yoshida ,  Kenichi Kitahama

IPC分类号： G01J3/28

CPC分类号： G01J5/02 ,  G01J1/4204 ,  G01J3/02 ,  G01J3/0264 ,  G01J3/0289 ,  G01J3/2803

摘要： Provided is a movable body spectrum measuring apparatus, which can discriminate a measuring object with high precision by photographic data from a spectrum sensor mounted on a movable body such as a vehicle and can process the photographic data in real time. A movable body spectrum measuring apparatus discriminates the measuring object around a vehicle on the basis of the spectrum data from an observation light. A spectrum sensor can measure wavelength information and light intensity information. The movable body spectrum measuring apparatus comprises a dictionary data storing unit storing, as dictionary data, the spectrum data containing the wavelength information and the light intensity information regarding a plurality of predetermined measuring objects, and an arithmetic device for discriminating the measuring object on the basis of comparison computation to compare the spectrum data of the observation light and the spectrum data stored in the dictionary data storing unit. The arithmetic device performs the computation to compare the spectrum data of the observation light with reference to only a partial wavelength band of the spectrum data stored as the dictionary data.

摘要翻译： 提供一种可移动体光谱测量装置，其能够通过来自安装在诸如车辆的可移动体上的光谱传感器的摄影数据以高精度来鉴别测量对象，并且可以实时处理摄影数据。 移动体光谱测量装置根据来自观察光的光谱数据来辨别车辆周围的测量物体。 光谱传感器可以测量波长信息和光强信息。 移动体谱测量装置包括字典数据存储单元，其存储包含波长信息的光谱数据和关于多个预定测量对象的光强度信息作为字典数据;以及运算装置，用于在此基础上鉴别测量对象 比较计算，以比较观察光的光谱数据和存储在字典数据存储单元中的光谱数据。 算术装置进行计算，仅参照作为字典数据存储的频谱数据的部分波段，比较观察光的光谱数据。

公开(公告)号：US20120113412A1

公开(公告)日：2012-05-10

申请号：US13322056

申请日：2009-05-29

申请人： Shinya Kawamata ,  Ryuji Funayama ,  Yasuhiro Yoshida ,  Yasukata Yokochi ,  Masato Endo ,  Toshiki Kindo ,  Kenichi Kitahama

发明人： Shinya Kawamata ,  Ryuji Funayama ,  Yasuhiro Yoshida ,  Yasukata Yokochi ,  Masato Endo ,  Toshiki Kindo ,  Kenichi Kitahama

IPC分类号： G01J3/28

CPC分类号： G01J3/2803 ,  G01J1/4204 ,  G01J3/02 ,  G01J3/0289

摘要： Provided is a moveable spectrum measuring apparatus capable of improving discrimination precision of a measuring object on the basis of observation data from a spectrum sensor mounted on a movable apparatus such as a vehicle. A measuring object and a reference body are irradiated with ambient light. A spectrum acquiring device acquires measuring object data indicating the spectrum of the measuring object, and reference body data indicating the spectrum of the reference body to become a reference at the time when the spectrum of the measuring object is corrected. A spectrum converting device has reference body reflectivity data indicating the surface reflectivity of the reference body, and creates ambient light data indicating the spectrum of the ambient light, on the basis of the reference body reflectivity data and the reference body data. By using the ambient light data, the measuring object data is converted into measuring object reflectivity data indicating the surface reflectivity of the measuring object. On the basis of the measuring object reflectivity data, a discrimination device discriminates the measuring object.

摘要翻译： 提供了一种可移动的频谱测量装置，其能够基于来自安装在诸如车辆的可移动装置的频谱传感器的观察数据来改善测量对象的辨别精度。 用环境光照射测量对象和参考体。 频谱获取装置获取指示测量对象的频谱的测量对象数据和指示在校正测量对象的频谱时参考的参考体的频谱的参考主体数据。 频谱转换装置具有指示参考体的表面反射率的参考体反射率数据，并且基于参考体反射率数据和参考体数据创建指示环境光的光谱的环境光数据。 通过使用环境光数据，将测量对象数据转换为指示测量对象的表面反射率的测量对象反射率数据。 基于测量对象反射率数据，判别装置鉴别测量对象。