公开(公告)号：US20150243047A1

公开(公告)日：2015-08-27

申请号：US14188314

申请日：2014-02-24

Applicant: SAAB AB

Inventor： Leif Haglund ,  Johan Borg ,  Ingmar Andersson ,  Folke Isaksson

IPC: G06T7/40 ,  G06K9/62 ,  G06T17/05 ,  G06K9/00

CPC classification number: G06K9/00214 ,  G06K9/0063 ,  G06K9/6202 ,  G06K9/6215 ,  G06K2209/40 ,  G06T7/49 ,  G06T17/05 ,  G06T2207/10028 ,  G06T2207/30184

Abstract: The invention relates to a method for identifying a difference between a first 3D model of an environment and a second 3D model of the environment. The first and second 3D model each comprise a plurality of points or parts, wherein each point or part of the first and second model comprises geometrical information and texture information. Corresponding points or parts of the first and second 3D model are matched based on the geometrical information and/or the texture information. The matched points or parts of the first and second model are compared to determine at least one difference value based on the geometrical information and the texture information of the first and second model. A difference between the first and second model is identified if the at least one difference value exceeds a predetermined value. The invention also relates to an arrangement, a computer program, and a computer program product.

Abstract translation: 本发明涉及一种用于识别环境的第一3D模型和环境的第二3D模型之间的差异的方法。 第一和第二3D模型各自包括多个点或部分，其中第一和第二模型的每个点或部分包括几何信息和纹理信息。 基于几何信息和/或纹理信息来匹配第一和第二3D模型的对应点或部分。 比较第一和第二模型的匹配点或部分，以基于第一和第二模型的几何信息和纹理信息来确定至少一个差值。 如果至少一个差值超过预定值，则识别第一和第二模型之间的差异。 本发明还涉及一种装置，计算机程序和计算机程序产品。

公开(公告)号：US10288438B2

公开(公告)日：2019-05-14

申请号：US14993876

申请日：2016-01-12

Applicant: SAAB AB

Inventor： Ingmar Andersson ,  Magnus Brege

IPC: G01C21/34

Abstract: The present invention relates to a system and method for route planning. The system is arranged to be mounted on a moving object. The system comprises a route planning module arranged to plan a route of the object upon request, wherein occasions of being visible from any point in the map within a shooting range during a predetermined time period is minimized. The system is characterized in that the route planning module is arranged to determine areas in the 3D map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations, and determining a re-planned route avoiding said potential threat areas.

公开(公告)号：US20160123751A1

公开(公告)日：2016-05-05

申请号：US14993876

申请日：2016-01-12

Applicant: SAAB AB

Inventor： Ingmar Andersson ,  Magnus Brege

IPC: G01C21/34

CPC classification number: G01C21/3461 ,  G01C21/34 ,  G01C21/3415

Abstract: The present invention relates to a system and method for route planning. The system is arranged to be mounted on a moving object. The system comprises a route planning module arranged to plan a route of the object upon request, wherein occasions of being visible from any point in the map within a shooting range during a predetermined time period is minimized. The system is characterized in that the route planning module is arranged to determine areas in the 3D map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations, and determining a re-planned route avoiding said potential threat areas.

Abstract translation: 本发明涉及路线规划的系统和方法。 该系统被布置成安装在移动物体上。 该系统包括路线规划模块，该路线规划模块被布置为根据请求规划对象的路线，其中在预定时间段期间在拍摄范围内的地图中的任何点处可见的场合被最小化。 该系统的特征在于，路线规划模块被布置为基于视线计算来确定在预定时间段期间物体将暴露于潜在威胁的3D地图中的区域，并且确定重新计划的路线避免 说潜在的威胁地区。

公开(公告)号：US20140314307A1

公开(公告)日：2014-10-23

申请号：US13866203

申请日：2013-04-19

Applicant: SAAB AB

Inventor： Johan Bejeryd ,  Johan Borg ,  Folke Isaksson ,  Leif Haglund ,  Per Carlbom ,  Ola Nygren ,  Ingmar Andersson

IPC: G06T7/00 ,  G06T17/20

CPC classification number: G01C11/34 ,  G06T7/55 ,  G06T7/593 ,  G06T7/80 ,  G06T2207/10032 ,  G06T2207/20088

Abstract: Various embodiments provide a method for analyzing images generated from at least one imaging system on at least one satellite. The method comprises providing at least three images of an area of interest from the at least one imaging system, the provided images being provided from at least three different angles, establishing point correspondence between the provided images, generating at least two sets of three-dimensional information based on the provided images, wherein the at least two sets of three-dimensional information are generated based on at least two different combinations of at least two of the at least three provided images of the area of interest, and comparing the at least two sets of three-dimensional information so as to determine discrepancies and providing information related to the imaging system and/or errors in the images based on the determined discrepancies. Associated systems, computer programs, and computer program products are also provided.

Abstract translation: 各种实施例提供了一种用于分析由至少一个卫星上的至少一个成像系统产生的图像的方法。 该方法包括从至少一个成像系统提供感兴趣区域的至少三个图像，所提供的图像从至少三个不同的角度提供，建立提供的图像之间的点对应，产生至少两组三维 基于所提供的图像的信息，其中基于感兴趣区域的至少三个提供的图像中的至少两个的至少两个不同的组合来生成至少两组三维信息，并且将至少两个 基于所确定的差异来确定三维信息的集合以便确定差异并提供与成像系统相关的信息和/或图像中的错误。 还提供相关系统，计算机程序和计算机程序产品。

公开(公告)号：US20150254899A1

公开(公告)日：2015-09-10

申请号：US14425583

申请日：2013-01-21

Applicant: SAAB AB

Inventor： Ingmar Andersson ,  Johan Bejeryd ,  Johan Borg ,  Per Carlbom ,  Leif Haglund ,  Folke Isaksson

IPC: G06T17/05 ,  H04N13/02 ,  H04N5/357 ,  G01B11/245 ,  G01S17/02 ,  G01S17/42 ,  G01S17/89 ,  G06T7/00 ,  G01C11/06

CPC classification number: G06T17/05 ,  G01B11/245 ,  G01C11/06 ,  G01M11/0264 ,  G01S13/867 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G06T7/344 ,  G06T7/521 ,  G06T7/579 ,  G06T7/75 ,  G06T7/97 ,  G06T2207/10004 ,  G06T2207/10032 ,  G06T2207/20182 ,  G06T2207/30181 ,  H04N5/3572 ,  H04N13/275 ,  H04N2013/0085

Abstract: The present invention relates to a method for estimating values for a set of parameters of an imaging system 1. The method comprises taking at least two pictures with the imaging system (1), where the at least two pictures are taken from different positions and where the at least two pictures comprise an at least partially overlapping area. It also comprises sending out pulses to the at least partially overlapping area, and detecting the reflected pulses and calculating distances between a sender of the pulses and the respective point where the pulses were reflected based on the travel time of the pulses. Further, the method comprises associating positioning data to the pictures and to the calculated distance between the points where the pulses were reflected and the sender of the pulses. Said positioning data comprises a position and pointing direction of the imagining system 1 and the sender of the pulses. The method comprises calculating first information about the area, based on the at least two pictures, the information comprising at least one quantity of the area, the at least one quantity comprising size and/or position, and calculating second information related to the calculated distances to the at least partly overlapping area, the second information comprising at least one quantity of the area, the at least one quantity comprising size and/or position. The method also comprises comparing values for the quantities contained in the first and second information, and, if the value for at least one quantity of the area obtained from the first information differs from the value for the corresponding at least one quantity of the area obtained from the second information, calculating values and/or an error estimate for the set of parameters of the imaging system 1 based on the difference.

Abstract translation: 本发明涉及一种用于估计成像系统1的一组参数的值的方法。该方法包括用成像系统（1）拍摄至少两张照片，其中至少两张照片从不同的位置拍摄，并且其中 所述至少两个照片包括至少部分重叠的区域。 它还包括将脉冲发送到至少部分重叠的区域，并且基于脉冲的行进时间来检测反射的脉冲并计算脉冲发送器与脉冲被反射的相应点之间的距离。 此外，该方法包括将定位数据与图像相关联，并将计算出的脉冲反射点与脉冲发送器之间的距离相关联。 所述定位数据包括想象系统1和脉冲发送器的位置和指向方向。 所述方法包括基于所述至少两个图像计算关于所述区域的第一信息，所述信息包括所述区域的至少一个数量，所述至少一个数量包括大小和/或位置，以及计算与所计算的距离相关的第二信息 到所述至少部分重叠的区域，所述第二信息包括至少一个所述区域的数量，所述至少一个数量包括尺寸和/或位置。 该方法还包括比较包含在第一和第二信息中的量的值，并且如果从第一信息获得的至少一个数量的区域的值不同于所获得的对应的至少一个数量的区域的值 根据第二信息，基于该差异计算成像系统1的参数集合的值和/或误差估计。