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公开(公告)号：US09709673B2
公开(公告)日：2017-07-18
申请号：US14363267
申请日：2014-04-14
Applicant: SAAB Vricon Systems AB
Inventor： Per Carlbom , Tomas Toss , Patrik Dammert , Leif Haglund
CPC classification number: G01S13/90 , G01S13/9035 , G01S13/9094 , G06T15/00 , G06T15/20 , G06T17/05
Abstract: The present disclosure relates to a method (100) for rendering a simulated Synthetic Aperture Radar, SAR, image. The method comprises providing (110) a digital surface model or the like comprising 3D coordinate data in a geo-referenced coordinate system, determining (120) a sub-section of the digital surface model, and obtaining (130) the simulated SAR image based on the subsection of the digital surface model, wherein substantially each point in the simulated SAR image being associated to a 3D coordinate in the geo-referenced coordinate system.
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公开(公告)号：US20150292888A1
公开(公告)日：2015-10-15
申请号：US14363261
申请日：2014-04-14
Applicant: SAAB Vricon Systems AB
Inventor： Leif Haglund , Johan Bejeryd , Per Carlbom , Zoran Sjanic
CPC classification number: G01C21/005 , G01S19/13 , G01S19/49 , G05D1/08 , G05D1/0808 , G06T7/207 , G06T7/32 , G06T7/74 , G06T2207/10032 , G06T2207/20016
Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. The invention also relates to a system, a computer program and a computer program product.
Abstract translation: 本发明涉及一种用于航空器导航的方法。 该方法包括从飞行器传感器提供传感器图像。 该方法还包括重复地，直到达到至少一个预定标准，执行设置输入数据的步骤，其中输入数据包括与俯仰角，侧倾角，偏航角和飞行器的三维位置有关的信息， 基于输入数据从数据库提供二维图像的步骤，其中数据库包括环境的三维地理参考信息，以及从数据库比较传感器图像和二维图像的步骤。 该方法还包括使用两个图像彼此最佳对应的输入数据，以确定航空器的以下量的俯仰角，侧倾角，偏航角和三维位置中的至少一个。 本发明还涉及一种系统，计算机程序和计算机程序产品。
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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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