公开(公告)号：US20120300070A1

公开(公告)日：2012-11-29

申请号：US13473659

申请日：2012-05-17

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： H04N7/18

CPC分类号： G01C11/02 ,  G03B15/006 ,  G03B35/02 ,  G03B37/02 ,  G05D1/0094

摘要： An aerial photographing image pickup method comprises a step of making a flying object fly meanderingly, a step of taking the image at each vertex where a direction is changed in the meandering flight, a step of extracting feature points from a common overlay portion of the images taken from at least three adjacent vertices, a step of determining two images of two vertices in the images as one set and acquiring positional information of the two vertices by a GPS device for each set regarding at least two sets, a step of performing photogrammetry of the measuring points corresponding to the feature points based on positional information and based on the feature points of the two images and a step of determining the feature points when the surveying results of the measuring points coincide with each other in at least the two sets as tie points for image combination.

摘要翻译： 一种航空拍摄图像拾取方法，包括使飞行物体蜿蜒飞行的步骤，在曲折飞行中使方向改变的各顶点处的图像的步骤，从图像的公共覆盖部分提取特征点的步骤 从至少三个相邻的顶点获取步骤：将图像中的两个顶点的两个图像确定为一组，并且针对每个关于至少两组的GPS装置获取GPS装置的两个顶点的位置信息的步骤;执行摄影测量的步骤 基于位置信息和基于两个图像的特征点对应于特征点的测量点，以及当测量点的测量结果在至少两个组合中彼此重合时确定特征点的步骤 点图像组合。

公开(公告)号：US20120078451A1

公开(公告)日：2012-03-29

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 ,  G05D1/12

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：US09013576B2

公开(公告)日：2015-04-21

申请号：US13473659

申请日：2012-05-17

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： H04N7/18 ,  G01C11/02 ,  G05D1/00 ,  G03B15/00 ,  G03B35/02 ,  G03B37/02

CPC分类号： G01C11/02 ,  G03B15/006 ,  G03B35/02 ,  G03B37/02 ,  G05D1/0094

摘要： An aerial photographing image pickup method comprises a step of making a flying object fly meanderingly, a step of taking the image at each vertex where a direction is changed in the meandering flight, a step of extracting feature points from a common overlay portion of the images taken from at least three adjacent vertices, a step of determining two images of two vertices in the images as one set and acquiring positional information of the two vertices by a GPS device for each set regarding at least two sets, a step of performing photogrammetry of the measuring points corresponding to the feature points based on positional information and based on the feature points of the two images and a step of determining the feature points when the surveying results of the measuring points coincide with each other in at least the two sets as tie points for image combination.

摘要翻译： 一种航空拍摄图像拾取方法，包括使飞行物体蜿蜒飞行的步骤，在曲折飞行中使方向改变的各顶点处的图像的步骤，从图像的公共覆盖部分提取特征点的步骤 从至少三个相邻的顶点获取步骤：将图像中的两个顶点的两个图像确定为一组，并且针对每个关于至少两组的GPS装置获取GPS装置的两个顶点的位置信息的步骤;执行摄影测量的步骤 基于位置信息和基于两个图像的特征点对应于特征点的测量点，以及当测量点的测量结果在至少两个组合中彼此重合时确定特征点的步骤 点图像组合。

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：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：US20120277934A1

公开(公告)日：2012-11-01

申请号：US13453242

申请日：2012-04-23

申请人： Fumio Ohtomo ,  Kazuki Osaragi ,  Hitoshi Otani

发明人： Fumio Ohtomo ,  Kazuki Osaragi ,  Hitoshi Otani

IPC分类号： G05D1/12 ,  B64F1/18 ,  G05D1/10

CPC分类号： G05D1/0669 ,  G01S19/15 ,  G05D1/0676 ,  G08G5/025

摘要： The taking-off and landing target instrument 2 to be used in an automatic taking-off and landing system, comprising a target 37 having as many light emitting elements 44 as required for displaying patterns and a target control unit 38 for controlling light emission of the light emitting elements, wherein the light emitting elements are provided on a taking-off and landing surface of the target and are arranged so that a target mark 43 having the center of pattern under all turned-on status is formed, and wherein the target control unit controls a light emission so as to display firstly all turned-on patterns where all of the light emitting elements are turned on, and next, so as to display the light emitting elements in a predetermined pattern.

摘要翻译： 用于自动起飞和着陆系统的起飞和着陆目标仪器2，包括具有显示图案所需的发光元件44的目标37和用于控制显示图案的目标控制单元38 发光元件，其中发光元件设置在目标的起飞和着陆表面上，并且被布置成使得具有全部导通状态的图案中心的目标标记43形成，并且其中目标控制 单元控制发光，以首先显示所有发光元件导通的所有导通图案，接下来，以预定图案显示发光元件。

公开(公告)号：US20120212588A1

公开(公告)日：2012-08-23

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

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

摘要： An omnidirectional image measuring instrument comprises a horizontal rotary table, a horizontal rotary driving unit capable of rotating the horizontal rotary table at a constant speed, an 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.

摘要翻译： 一种全向图像测量仪器，包括水平旋转台，能够以恒定速度旋转水平旋转台的水平旋转驱动单元，设置在水平旋转台上的EDM装置和图像拾取装置，以及用于同步控制的控制装置 通过EDM装置的距离测量和由图像拾取装置进行的图像拾取。 控制装置以每个预定角度旋转水平旋转台，操作图像拾取装置，在总周长上以每个预定旋转角度获取单个图像，组合单个图像，准备全向图像，用距离测量光进行扫描 EDM装置在总圆周上以每个预定旋转角度进行距离测量，从全向图像计算距离测量点的水平角度和垂直角度，并获得测量点的三维数据。

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：US09020666B2

公开(公告)日：2015-04-28

申请号：US13453242

申请日：2012-04-23

申请人： Fumio Ohtomo ,  Kazuki Osaragi ,  Hitoshi Otani

发明人： Fumio Ohtomo ,  Kazuki Osaragi ,  Hitoshi Otani

IPC分类号： G06F19/00 ,  G05D1/10 ,  G05D1/06

CPC分类号： G05D1/0669 ,  G01S19/15 ,  G05D1/0676 ,  G08G5/025

摘要： The taking-off and landing target instrument 2 to be used in an automatic taking-off and landing system, comprising a target 37 having as many light emitting elements 44 as required for displaying patterns and a target control unit 38 for controlling light emission of the light emitting elements, wherein the light emitting elements are provided on a taking-off and landing surface of the target and are arranged so that a target mark 43 having the center of pattern under all turned-on status is formed, and wherein the target control unit controls a light emission so as to display firstly all turned-on patterns where all of the light emitting elements are turned on, and next, so as to display the light emitting elements in a predetermined pattern.

摘要翻译： 用于自动起飞和着陆系统的起飞和着陆目标仪器2，包括具有显示图案所需的发光元件44的目标37和用于控制显示图案的目标控制单元38 发光元件，其中发光元件设置在目标的起飞和着陆表面上，并且被布置成使得具有全部导通状态的图案中心的目标标记43形成，并且其中目标控制 单元控制发光，以首先显示所有发光元件导通的所有导通图案，接下来，以预定图案显示发光元件。