公开(公告)号：US09829315B2

公开(公告)日：2017-11-28

申请号：US13348740

申请日：2012-01-12

申请人： Fumio Ohtomo ,  Hitoshi Otani ,  Tadayuki Ito ,  Kazuki Osaragi

发明人： Fumio Ohtomo ,  Hitoshi Otani ,  Tadayuki Ito ,  Kazuki Osaragi

IPC分类号： H04N13/02 ,  G06K9/00 ,  G01C15/00 ,  G01C1/04 ,  G01C11/02

CPC分类号： G01C15/002 ,  G01C1/04 ,  G01C11/02

摘要： An omnidirectional image measuring instrument includes a horizontal rotary table, a horizontal rotary driving unit capable of rotating the horizontal rotary table, an electronic distance meter (EDM) device and an image pickup device provided on the horizontal rotary table, and a control device for synchronously controlling a distance measurement by the EDM device and an image pickup by the image pickup device. The control device rotates the horizontal rotary table at every predetermined angle, operates the image pickup device, acquires single images at every predetermined rotational angle over a total circumference, combines the single images, prepares an omnidirectional image, performs scanning with a distance measuring light from the EDM device, carries out the distance measurement at every predetermined rotational angle over the total circumference, calculates a horizontal angle and a vertical angle of a distance measuring point from the omnidirectional image and obtains three-dimensional data of the measuring point.

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：US08630755B2

公开(公告)日：2014-01-14

申请号：US13238419

申请日：2011-09-21

申请人： Fumio Ohtomo ,  Kazuki Osaragi ,  Tetsuji Anai ,  Hitoshi Otani

发明人： Fumio Ohtomo ,  Kazuki Osaragi ,  Tetsuji Anai ,  Hitoshi Otani

IPC分类号： G05D1/10 ,  B64D45/00 ,  G06F19/00

CPC分类号： B64D45/08 ,  B64C39/024 ,  B64C2201/141 ,  B64C2201/145 ,  G01S5/16 ,  G01S19/15 ,  G01S19/51 ,  G05D1/0669 ,  G05D1/0676

摘要： The invention provides an automatic taking-off and landing system, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device 21 for taking images found in downward direction, navigation means 4, 5, 6, 8, 9, 10 and 11, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.

摘要翻译： 本发明提供了一种自动起飞和着陆系统，包括飞行物体和起飞着陆目标，其中飞行物体具有用于拍摄向下方向的图像的摄像装置21，导航装置4,5,6 ，8,9,10,11;以及控制单元，用于处理由图像拾取装置获取并用于控制导航装置的图像，并且其中控制单元计算起飞和着陆目标与飞行物体之间的位置关系 基于由图像拾取装置获取的起飞和着陆目标的图像，并且基于计算结果控制飞行对象的起飞和着陆操作。

公开(公告)号：US20090241358A1

公开(公告)日：2009-10-01

申请号：US12309060

申请日：2008-04-18

申请人： Fumio Ohtomo ,  Hitoshi Otani ,  Junki Kaneko ,  Tetsuji Anai ,  Terukazu Nagashima

发明人： Fumio Ohtomo ,  Hitoshi Otani ,  Junki Kaneko ,  Tetsuji Anai ,  Terukazu Nagashima

IPC分类号： G01C3/04 ,  G06K9/00 ,  H04N7/00

CPC分类号： G01C15/002

摘要： There are provided a telescope unit (5) having a first image pickup unit for acquiring a wide-angle image and a second image pickup unit for acquiring a telescopic image with higher magnification than the wide-angle image, a distance measuring unit for performing distance measurement by projecting a distance measuring light and by receiving a light reflected from an object to be measured, an angle measuring unit for detecting a horizontal angle and a vertical angle of the telescope unit, a drive unit for rotating and driving the telescope unit in a horizontal direction and in a vertical direction, and a control device for controlling image pickup of the first image pickup unit and the second image pickup unit and for controlling the drive unit based on the results of detection from the angle measuring unit, wherein the control device synthesizes a panoramic image by connecting the wide-angle image obtained by the first image pickup unit, sets up a scheduled measuring point by edge processing of the wide-angle image, and extracts the measuring point corresponding to the scheduled measuring points in the telescopic image by scanning the scheduled measuring point and acquiring the telescopic image by the second image pickup unit with respect to scheduled measuring points, and distance measurement is performed on the measuring point.

摘要翻译： 提供了具有用于获取广角图像的第一图像拾取单元和用于获取具有比广角图像更高放大率的望远图像的第二图像拾取单元的望远镜单元（5），用于执行距离的距离测量单元 通过投射距离测量光并且接收从被测量物体反射的光的测量，用于检测望远镜单元的水平角度和垂直角度的角度测量单元，用于在望远镜单元中旋转和驱动望远镜单元的驱动单元 水平方向和垂直方向的控制装置，以及用于控制第一图像拾取单元和第二图像拾取单元的图像拾取并基于来自角度测量单元的检测结果来控制驱动单元的控制装置，其中控制装置 通过连接由第一图像拾取单元获得的广角图像来合成全景图像，通过边缘处理设置预定的测量点 并且通过扫描预定测量点并且通过第二图像拾取单元相对于计划的测量点获取与伸缩图像中的预定测量点相对应的测量点并获取伸缩图像，以及距离测量 在测量点进行。

公开(公告)号：US07319511B2

公开(公告)日：2008-01-15

申请号：US10501260

申请日：2003-11-12

申请人： Shunji Murai ,  Fumio Ohtomo ,  Hitoshi Otani

发明人： Shunji Murai ,  Fumio Ohtomo ,  Hitoshi Otani

IPC分类号： G01C3/08

CPC分类号： G01C15/002

摘要： The present invention relates to a surveying instrument for measuring the distance to a target to be measured, a horizontal angle, and a vertical angle by use of reflected light. An imager can be connected to the surveying instrument. In addition, an arithmetic processing means can determine a three-dimensional position of a plane part by determining from at least three measuring points an equation that includes the plane part as the target to be measured, and then by associating digital image data to which the plane part belongs with the equation so that the plane part is identified.

摘要翻译： 本发明涉及一种测量仪器，用于通过使用反射光来测量与被测量物体的距离，水平角度和垂直角度。 成像仪可以连接到测量仪器。 此外，算术处理装置可以通过从至少三个测量点确定包括作为要测量的目标的平面部分的方程式，然后通过将数字图像数据相关联来确定平面部分的三维位置， 平面部分属于方程，使得平面部分被识别。

公开(公告)号：US20070115354A1

公开(公告)日：2007-05-24

申请号：US11598498

申请日：2006-11-13

申请人： Fumio Ohtomo ,  Hitoshi Otani

发明人： Fumio Ohtomo ,  Hitoshi Otani

IPC分类号： H04N7/18

CPC分类号： G01C11/02

摘要： A 3-dimensional data preparing method, comprising a first step of continuously taking digital images of scenes in the surrounding when moving from a first point, which is a known point, via a second point, which is a known point, to a third point, which is an unknown point, a second step of generating tracking points from an image acquired at the first point, and sequentially specifying the tracking points by the pursuit of the points generated on the continuously acquired images, a third step of obtaining 3-dimensional data of the tracking points based on the result of orientation of the tracking points at the first point and at the second point and from position data of the first point and the second point, a fourth step of sequentially obtaining a position of the third point, i.e. an unknown point, based on the result of orientation of the tracking point acquired at the third point and based on 3-dimensional position data of the tracking point, a fifth step of obtaining 3-dimensional position data of an image including the tracking point from the result of orientation of the images including the tracking points at the first point and at the second point and from the position data at the first point and at the second point, and a sixth step of sequentially obtaining 3-dimensional position data of images including the tracking points from the result of orientation of the images including the tracking points at the second point and at the third point and from the position data at the second point and at the third point.

摘要翻译： 一种三维数据准备方法，包括第一步骤，当从作为已知点的第一点经由已知点的第二点移动到第三点时，连续拍摄周围的场景的数字图像 ，其是未知点，第二步骤，从在第一点获取的图像产生跟踪点，并且通过追踪在连续获取的图像上产生的点来顺序地指定跟踪点;第三步骤，获得三维 基于第一点和第二点处的跟踪点的取向结果和第一点和第二点的位置数据的跟踪点的数据，顺序获得第三点的位置的第四步骤， 即基于在第三点获取的跟踪点的取向的结果并且基于跟踪点的三维位置数据的未知点，获得3维尺度的第五步骤 从包括在第一点和第二点处的跟踪点的图像的方位结果以及从第一点和第二点处的位置数据的包括跟踪点的图像的位置数据，以及第六步骤 从包括在第二点和第三点处的跟踪点的图像的取向结果以及从第二点和第三点处的位置数据顺序地获得包括跟踪点的图像的三维位置数据。

公开(公告)号：US20130076862A1

公开(公告)日：2013-03-28

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： H04N7/18 ,  H04N13/02

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：US07764809B2

公开(公告)日：2010-07-27

申请号：US11070750

申请日：2005-03-02

申请人： Fumio Ohtomo ,  Hitoshi Otani ,  Makoto Omori

发明人： Fumio Ohtomo ,  Hitoshi Otani ,  Makoto Omori

IPC分类号： G06K9/00 ,  G06K9/40

CPC分类号： G01C15/002

摘要： A surveying instrument, comprising an optical system for collimating a measuring point, a driving unit for performing scanning in a measurement range the optical system, a distance-measuring unit comprising a light wave distance measuring system, an image pickup unit for taking an image in the measurement range, an image processing unit for performing image processing to extract edges from the image picked up, and a control arithmetic operation unit for selecting a point near the edge as a measuring point on the image picked up and for controlling the distance-measuring unit to carry out surveying operation of the measuring point.

摘要翻译： 一种测量仪器，包括用于准直测量点的光学系统，用于在光学系统的测量范围内执行扫描的驱动单元，包括光波距离测量系统的距离测量单元，用于拍摄图像的图像拾取单元 测量范围，用于执行图像处理以从拾取的图像中提取边缘的图像处理单元，以及用于选择边缘附近的点作为拾取的图像上的测量点并用于控制距离测量的控制算术运算单元 单位进行测量点的测量操作。

公开(公告)号：US07671998B2

公开(公告)日：2010-03-02

申请号：US11096648

申请日：2005-04-01

申请人： Fumio Ohtomo ,  Hitoshi Otani

发明人： Fumio Ohtomo ,  Hitoshi Otani

IPC分类号： G01C11/06

CPC分类号： G01C15/00

摘要： A measuring method, comprising a step of drawing a line on a surface such as ground surface, a step of performing measurement along the line on a predetermined measurement range including the line, a step of acquiring an image of a range including the predetermined measurement range as an image data, a step of superimposing the image data on a measurement data, and a step of calculating a measurement data of the line from line position in the image data and from the measurement data near the line.

摘要翻译： 一种测量方法，包括在诸如地面的表面上绘制线的步骤，在包括所述线的预定测量范围上沿着所述线进行测量的步骤，获取包括所述预定测量范围的范围的图像的步骤 作为图像数据，将图像数据叠加在测量数据上的步骤，以及从图像数据中的线位置和线附近的测量数据计算线的测量数据的步骤。

公开(公告)号：US20050243329A1

公开(公告)日：2005-11-03

申请号：US11096648

申请日：2005-04-01

申请人： Fumio Ohtomo ,  Hitoshi Otani

发明人： Fumio Ohtomo ,  Hitoshi Otani

IPC分类号： G01C15/00 ,  G06T1/00 ,  G06T3/00 ,  G01B11/24

CPC分类号： G01C15/00

摘要： A measuring method, comprising a step of drawing a line on a surface such as ground surface, a step of performing measurement along the line on a predetermined measurement range including the line, a step of acquiring an image of a range including the predetermined measurement range as an image data, a step of superimposing the image data on a measurement data, and a step of calculating a measurement data of the line from line position in the image data and from the measurement data near the line.

摘要翻译： 一种测量方法，包括在诸如地面的表面上绘制线的步骤，在包括所述线的预定测量范围上沿着所述线进行测量的步骤，获取包括所述预定测量范围的范围的图像的步骤 作为图像数据，将图像数据叠加在测量数据上的步骤，以及从图像数据中的线位置和线附近的测量数据计算线的测量数据的步骤。