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1.发明授权Method and system for estimating information related to a vehicle pitch and/or roll angle 有权用于估计与车辆俯仰和/或侧倾角相关的信息的方法和系统公开(公告)号：US09285460B2
公开(公告)日：2016-03-15
申请号：US14362767
申请日：2014-04-14
Applicant: SAAB Vricon Systems AB
Inventor： Leif Haglund , Folke Isaksson , Michael Felsberg , Bertil Grelsson
CPC classification number: G01S5/163 , B64C2201/00 , G01C9/06 , G01C11/00 , G01C15/14 , G01C21/005 , G01C21/20 , G01S17/06 , G06T7/80 , G06T2207/10016 , G06T2207/10024 , G06T2207/20061 , G06T2207/30244 , G06T2207/30252 , G09B9/48
Abstract: The present disclosure relates to a method (200) for estimating information related to a vehicle pitch and/or roll angle. The method comprises a step of obtaining (220) a first estimate of the information related to the pitch and/or roll angle. The method is characterized by the steps of capturing (210) an image of an area covering at least a part of the horizon using a camera mounted on the airborne vehicle, and determining (240) an improved estimate of the information related to the pitch and/or roll angle based on the first estimate of the information related to the pitch and/or roll angle, and a digital elevation model.
Abstract translation: 本公开涉及一种用于估计与车辆俯仰和/或倾斜角相关的信息的方法（200）。 该方法包括获得（220）与俯仰和/或倾斜角相关的信息的第一估计的步骤。 该方法的特征在于以下步骤：使用安装在机载车上的照相机捕获（210）覆盖至少一部分水平线的区域的图像，并且确定（240）对与音高有关的信息的改进估计， /或基于与俯仰角和/或侧倾角相关的信息的第一估计的滚角，以及数字高程模型。
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公开(公告)号：US20160171279A1
公开(公告)日：2016-06-16
申请号：US14571992
申请日：2014-12-16
Applicant: SAAB Vricon Systems AB
Inventor： Leif Haglund , Folke Isaksson , Per Carlbom , Ola Nygren , Johan Borg , Sanna Ringqvist , Anton Nordmark
CPC classification number: G06K9/0063 , G06T7/507 , G06T17/05 , G06T2207/10036 , G06T2207/30181
Abstract: A method for classifying a terrain type in an area is provided, which method comprises the steps of: obtaining a plurality of overlapping aerial images of the area; calculating at least one terrain type index for each part of each of the aerial images which lies in the area, where the at least one terrain type index represents the terrain type; determining at least one terrain type index for each part of the area based on the calculated at least one terrain type index for each part of each of the aerial images; and classifying the parts of the area for which at least one pre-determined conditions is met as containing the terrain type, wherein at least one of the at least one predetermined condition relates to a value of the determined at least one terrain type index. An associated system and computer program product are also provided.
Abstract translation: 提供了一种用于对区域中的地形类型进行分类的方法，该方法包括以下步骤：获得该区域的多个重叠的航空图像; 计算位于所述区域中的每个空中图像的每个部分的至少一个地形类型索引，其中所述至少一个地形类型索引表示地形类型; 基于所计算的每个所述空中图像的每个部分的至少一个地形类型索引来确定所述区域的每个部分的至少一个地形类型索引; 以及将满足至少一个预定条件的区域的部分分类为包含地形类型，其中至少一个预定条件中的至少一个与所确定的至少一个地形类型索引的值相关。 还提供了相关联的系统和计算机程序产品。
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公开(公告)号：US20150317828A1
公开(公告)日：2015-11-05
申请号：US14233972
申请日：2013-01-21
Applicant: SAAB VRICON SYSTEMS AB
Inventor： Folke Isaksson , Johan Bejeryd , Per Carlbom , Ingmar Andersson , Johan Borg , Leif Haglund
CPC classification number: G01C11/06 , G01C11/025 , G06F17/30241 , G06K9/00208 , G06K9/0063 , G06K9/00664 , G06K9/6203 , G06K9/6289 , G06T7/30 , G06T17/05 , G06T2207/30184
Abstract: Various embodiments relate to a method (700) and system for geo-referencing at least one sensor image. The method comprises the steps of: generating at least one sensor image of a first scene with at least one sensor, accessing a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene, matching the sensor image with the 3D model find a section of the 3D model where there is a match between the first and the second scenes, geo-referencing the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model, and determining a measure related to an uncertainty in the matching between the sensor image and the 3D model.
Abstract translation: 各种实施例涉及用于地理参考至少一个传感器图像的方法（700）和系统。 该方法包括以下步骤：利用至少一个传感器生成第一场景的至少一个传感器图像，访问包括地理编码的3D坐标数据并与至少一个第二场景相关的环境的3D模型，所述第二场景包括 所述第一场景与3D模型匹配传感器图像，找到3D模型的一部分，其中在第一和第二场景之间存在匹配，基于所找到的地理编码的3D坐标数据来对传感器图像进行地理参考 并且确定与传感器图像和3D模型之间的匹配中的不确定性相关的度量。
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4.发明申请METHOD AND SYSTEM FOR ESTIMATING INFORMATION RELATED TO A VEHICLE PITCH AND/OR ROLL ANGLE 有权用于估计与车辆倾斜角和/或角度角相关的信息的方法和系统公开(公告)号：US20150323648A1
公开(公告)日：2015-11-12
申请号：US14362767
申请日：2014-04-14
Applicant: SAAB Vricon Systems AB
Inventor： Leif Haglund , Folke Isaksson , Michael Felsberg , Bertil Grelsson
CPC classification number: G01S5/163 , B64C2201/00 , G01C9/06 , G01C11/00 , G01C15/14 , G01C21/005 , G01C21/20 , G01S17/06 , G06T7/80 , G06T2207/10016 , G06T2207/10024 , G06T2207/20061 , G06T2207/30244 , G06T2207/30252 , G09B9/48
Abstract: The present disclosure relates to a method (200) for estimating information related to a vehicle pitch and/or roll angle. The method comprises a step of obtaining (220) a first estimate of the information related to the pitch and/or roll angle. The method is characterized by the steps of capturing (210) an image of an area covering at least a part of the horizon using a camera mounted on the airborne vehicle, and determining (240) an improved estimate of the information related to the pitch and/or roll angle based on the first estimate of the information related to the pitch and/or roll angle, and a digital elevation model.
Abstract translation: 本公开涉及一种用于估计与车辆俯仰和/或侧倾角相关的信息的方法（200）。 该方法包括获得（220）与俯仰和/或倾斜角相关的信息的第一估计的步骤。 该方法的特征在于以下步骤：使用安装在机载车上的照相机捕获（210）覆盖至少一部分水平线的区域的图像，并且确定（240）对与音高有关的信息的改进估计， /或基于与俯仰角和/或侧倾角相关的信息的第一估计的滚角，以及数字高程模型。
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