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：US20130038692A1

公开(公告)日：2013-02-14

申请号：US13565153

申请日：2012-08-02

申请人： Fumio Ohtomo ,  Kazuki Osaragi ,  Tetsuji Anai

发明人： Fumio Ohtomo ,  Kazuki Osaragi ,  Tetsuji Anai

IPC分类号： H04N13/02

CPC分类号： G05D1/0038 ,  G05D1/0016

摘要： A remote control system comprises a mobile object, a remote controller for remotely controlling the mobile object, and a storage unit where background images to simulate a driving room or an operation room of the mobile object are stored. The mobile object has a stereo camera, a camera control unit for controlling image pickup direction of the stereo camera, and a first communication unit for communicating information including at least images photographed by the stereo camera. The remote controller has a second communication unit for communicating to and from the first communication unit, a control unit for controlling the mobile object, and a display unit for synthesizing at least a part of the images photographed by the stereo camera and the background images and for displaying the images so that a stereoscopic view can be displayed.

摘要翻译： 远程控制系统包括移动对象，用于远程控制移动对象的遥控器，以及存储用于模拟移动对象的驾驶室或操作室的背景图像的存储单元。 移动体具有立体摄像机，摄像机控制单元，用于控制立体摄像机的摄像方向，以及第一通信单元，用于传送至少包含由立体摄像机拍摄的图像的信息。 遥控器具有用于与第一通信单元进行通信的第二通信单元，用于控制移动体的控制单元和用于合成由立体摄像机和背景图像拍摄的图像的至少一部分的显示单元，以及 用于显示图像，使得可以显示立体视图。

公开(公告)号：US09158305B2

公开(公告)日：2015-10-13

申请号：US13565153

申请日：2012-08-02

申请人： Fumio Ohtomo ,  Kazuki Osaragi ,  Tetsuji Anai

发明人： Fumio Ohtomo ,  Kazuki Osaragi ,  Tetsuji Anai

IPC分类号： H04N13/02 ,  G05D1/00

CPC分类号： G05D1/0038 ,  G05D1/0016

摘要： A remote control system comprises a mobile object, a remote controller for remotely controlling the mobile object, and a storage unit where background images to simulate a driving room or an operation room of the mobile object are stored. The mobile object has a stereo camera, a camera control unit for controlling image pickup direction of the stereo camera, and a first communication unit for communicating information including at least images photographed by the stereo camera. The remote controller has a second communication unit for communicating to and from the first communication unit, a control unit for controlling the mobile object, and a display unit for synthesizing at least a part of the images photographed by the stereo camera and the background images and for displaying the images so that a stereoscopic view can be displayed.

摘要翻译： 远程控制系统包括移动对象，用于远程控制移动对象的遥控器，以及存储用于模拟移动对象的驾驶室或操作室的背景图像的存储单元。 移动体具有立体摄像机，摄像机控制单元，用于控制立体摄像机的摄像方向，以及第一通信单元，用于传送至少包含由立体摄像机拍摄的图像的信息。 遥控器具有用于与第一通信单元进行通信的第二通信单元，用于控制移动体的控制单元和用于合成由立体摄像机和背景图像拍摄的图像的至少一部分的显示单元，以及 用于显示图像，使得可以显示立体视图。

公开(公告)号：US07726033B2

公开(公告)日：2010-06-01

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

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：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：US07844077B2

公开(公告)日：2010-11-30

申请号：US12166660

申请日：2008-07-02

申请人： Nobuo Kochi ,  Tetsuji Anai ,  Hitoshi Otani

发明人： Nobuo Kochi ,  Tetsuji Anai ,  Hitoshi Otani

IPC分类号： G06K9/00 ,  G03B17/00

CPC分类号： G06T7/579 ,  G06T7/74 ,  G06T2200/08 ,  G06T2207/10016

摘要： To realize high speed and high precision with device and method of three-dimensional measurement by applying estimating process to points corresponding to feature points in a plurality of motion frame images. With the device and method of calculating location information through processes of choosing a stereo pair, relative orientation, and bundle adjustment and using corresponding points of feature points extracted from respective motion frame images, each process is made up of two stages. To the first process section (stages: 5A and 6A), robust estimation is applied to determine estimated values of calculation parameters. In the second process section (stages: 5B and 6B), corresponding points and stereo pair of large residual errors are excluded, and estimating calculation is carried out again to make measurements in three dimensions.

摘要翻译： 通过对与多个运动帧图像中的特征点对应的点应用估计处理来实现具有三维测量装置和方法的高速度和高精度。 利用通过选择立体对，相对取向和束调整以及使用从各运动帧图像提取的特征点的对应点来计算位置信息的装置和方法，每个处理由两个阶段组成。 对于第一个处理部分（阶段：5A和6A），应用鲁棒估计来确定计算参数的估计值。 在第二过程部分（阶段：5B和6B）中，排除相应的点和立体对的大的残差，并再次进行估计计算以进行三维测量。

公开(公告)号：US07747151B2

公开(公告)日：2010-06-29

申请号：US11798190

申请日：2007-05-10

申请人： Nobuo Kochi ,  Tetsuji Anai ,  Hitoshi Otani

发明人： Nobuo Kochi ,  Tetsuji Anai ,  Hitoshi Otani

IPC分类号： G03B17/00 ,  G06K9/00 ,  H04N13/02

CPC分类号： G01B11/24 ,  G01C11/06 ,  G06T7/246 ,  G06T7/33 ,  G06T7/593

摘要： An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.

摘要翻译： 提供一种图像处理装置，其可以基于顺序地改变拍摄图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。 获取一系列顺序拍摄的图像，从中提取特征点。 特征点被跟踪并相互关联。 从相关的一系列拍摄的图像中选择立体图像，并进行取向和3D测量。 计算通过3D测量获得的对应点的误差范围。 根据计算的误差范围，确定对应的点是否适用于3D测量。 确定为不适当的对应点将被删除。 使用除去删除的对应点之外的其他取向和另外的3D测量，从而提高测量精度。