公开(公告)号：US20180082438A1

公开(公告)日：2018-03-22

申请号：US15563516

申请日：2016-03-30

Applicant: THALES

Inventor： Alain SIMON

IPC: G06T7/73 ,  G06T7/80

CPC classification number: G06T7/74 ,  G06T7/80 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/10048 ,  G06T2207/20081 ,  G06T2207/30244 ,  G06T2207/30252 ,  H04N5/2258 ,  H04N5/23238

Abstract: The invention relates to a method of determining the absolute direction of an object of a scene (1), with a predetermined desired performance. It comprises a learning phase and an online operation phase, the learning phase comprising the following steps: acquisition by circular scanning by means of a first optronic imaging device of determined fixed position, of a series of partially overlapping optronic images (2), including an image or several images of the scene (step A1), automatic extraction from the images, of descriptors defined by their image coordinates and their radiometric characteristics, with at least one descriptor of unknown direction in each overlap (21) of images (step B1), from the descriptors extracted from the overlaps between images, automatic estimation of the mutual relative rotation of the images and mapping of the descriptors extracted from the overlaps (step C1), identification in the images, of at least one known reference geographic direction (22) of precision compatible with the desired performance, and determination of the image coordinates of each reference (step D1), from the descriptors extracted from the overlaps and mapped, the direction and the image coordinates of each reference, automatic estimation of the attitude of each image, called fine registration step (step E1), from the attitude of each image, the position and internal parameters of the first imaging device, and the image coordinates of each descriptor, computation of the absolute directions of the descriptors according to a predetermined model of image capture of the imaging device (step F1), the online operation phase comprising the following steps: acquisition of at least one image of the object called current image (20), from a second imaging device of determined fixed position (step A2), extraction of descriptors from each current image (step B2), mapping of the descriptors of each current image with the descriptors whose absolute direction was calculated in the learning phase, to determine the absolute direction of the descriptors of each current image (step C2), from the absolute directions of the descriptors of each current image, estimation of the attitude of each current image (step D2), from the image coordinates of the object in each current image, the attitude of each current image, the position and predetermined internal parameters of the second imaging device, computation of the absolute direction of the object according to a predetermined model of image capture of each current image (step E2).

公开(公告)号：US20240069211A1

公开(公告)日：2024-02-29

申请号：US18269924

申请日：2021-12-28

Applicant: THALES

Inventor： Alain SIMON ,  Arnaud BECHE ,  Jean SOULA ,  Pierre-Yves GUINET ,  Pascal JEROT

IPC: G01S19/31 ,  G01C17/12 ,  G01C17/38 ,  G06T7/70

CPC classification number: G01S19/31 ,  G01C17/12 ,  G01C17/38 ,  G06T7/70

Abstract: The present invention relates to a method for determining positions by an optronic system in a scene, the scene comprising reference elements of known geographic coordinates, the optronic system comprising the following elements integrated into said optronic system:



a. a digital imager,
b. a memory wherein is stored, for each reference element of the scene, an indicator representative of said point associated with the geographic coordinates of said point,
c. a display element that displays the indicators stored in the memory,
d. a measurement module comprising at least one element chosen from among: a compass, a goniometer and a telemeter,
e. a calculation unit,


the method being implemented by the elements integrated in the optronic system.

公开(公告)号：US20190383609A1

公开(公告)日：2019-12-19

申请号：US16308405

申请日：2017-06-20

Applicant: THALES

Inventor： Alain SIMON

IPC: G01C17/38 ,  G01S5/16 ,  G01C9/00

Abstract: A method for estimating the bearing of an optronic system in a geographical reference frame, the optronic system being situated at a first position and denoted first optronic system is provided. It comprises the following steps: defining a collaborative configuration, by way of the first optronic system and of at least one other optronic system, the optronic systems being respectively situated at separate positions and equipped with means for communication with one another, and with acquisition devices, acquiring, in a scene, one or more objects common to the optronic systems, the direction of orientation between each optronic system and each object being unknown, determining two positions from among those of the optronic systems, for at least one common object: measuring the relative angle by way of a relative angle measurement device fitted to the first optronic system, measuring the elevation of the object by way of an elevation measurement device fitted to the first optronic system, performing additional measurements by way of each other optronic system, with the two positions and the measurements constituting observations, communication, by the other optronic system(s) to the first optronic system, of the observations that it does not have, on the basis of the observations, estimation, by the first optronic system, of the bearing of the first optronic system.