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1.发明授权公开(公告)号：US09503639B2
公开(公告)日：2016-11-22
申请号：US14774918
申请日：2014-03-15
申请人： Tolo, Inc.
IPC分类号： H04N5/232 , H04N5/369 , H04N5/33 , H04N5/235 , G06T7/00 , G06T5/50 , G08G5/00 , H04N7/18 , H04N5/247 , H04N5/357 , G01C11/02
CPC分类号： G01C11/02 , G06T5/50 , G06T7/50 , G06T7/70 , G06T2207/10 , G06T2207/10021 , G06T2207/10028 , G06T2207/10036 , G06T2207/20221 , G06T2207/30181 , G08G5/0078 , G08G5/0086 , H04N5/23229 , H04N5/23238 , H04N5/2352 , H04N5/247 , H04N5/332 , H04N5/357 , H04N5/3696 , H04N7/181
摘要： A vehicle collects oblique imagery along a nominal heading using rotated camera-groups with optional distortion correcting electronic image sensors that align projected pixel columns or rows with a pre-determined direction on the ground, thereby improving collection quality, efficiency, and/or cost. In a first aspect, the camera-groups are rotated diagonal to the nominal heading. In a second aspect, the distortion correcting electronic image sensors align projected pixel columns or rows with a pre determined direction on the ground. In a third aspect, the distortion correcting electronic image sensors are rotated around the optical axis of the camera. In a fourth aspect, cameras collect images in strips and the strips from different cameras overlap, providing large-baseline, small-time difference stereopsis.
摘要翻译： 车辆通过旋转相机组收集倾斜图像，使用可选的失真校正电子图像传感器，将投影像素列或行与地面上的预定方向对齐，从而提高收集质量，效率和/或成本。 在第一方面，相机组与标称导向对角旋转。 在第二方面，失真校正电子图像传感器将投影像素列或行与地面上的预定方向对准。 在第三方面中，畸变校正电子图像传感器围绕相机的光轴旋转。 在第四方面，照相机以条带收集图像，并且来自不同相机的条带重叠，提供大基线，小时差异立体视觉。
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2.发明授权公开(公告)号：US09071732B2
公开(公告)日：2015-06-30
申请号：US14159368
申请日：2014-01-20
申请人： TOLO, INC.
CPC分类号： G01C11/02 , G06T5/50 , G06T7/50 , G06T7/70 , G06T2207/10 , G06T2207/10021 , G06T2207/10028 , G06T2207/10036 , G06T2207/20221 , G06T2207/30181 , G08G5/0078 , G08G5/0086 , H04N5/23229 , H04N5/23238 , H04N5/2352 , H04N5/247 , H04N5/332 , H04N5/357 , H04N5/3696 , H04N7/181
摘要： A vehicle collects oblique imagery along an intercardinal nominal heading using rotated camera-groups with distortion correcting electronic image sensors that align projected pixel columns or rows with a pre-determined direction on the ground, thereby improving collection quality, efficiency, and/or cost. In a first aspect, the camera-groups are rotated diagonal to the nominal heading. In a second aspect, the distortion correcting electronic image sensors align projected pixel columns or rows with a pre-determined direction on the ground. In a third aspect, the distortion correcting electronic image sensors are rotated around the optical axis of the camera. In a fourth aspect, cameras collect images in strips and the strips from different cameras overlap, providing large-baseline, small-time difference stereopsis.
摘要翻译： 车辆通过使用具有失真校正电子图像传感器的旋转摄像机组沿着心间标称标题收集倾斜图像，其将投影像素列或行与地面上的预定方向对准，从而提高收集质量，效率和/或成本。 在第一方面，相机组与标称导向对角旋转。 在第二方面，失真校正电子图像传感器将投影像素列或行与地面上的预定方向对准。 在第三方面中，畸变校正电子图像传感器围绕相机的光轴旋转。 在第四方面，照相机以条带收集图像，并且来自不同相机的条带重叠，提供大基线，小时差异立体视觉。
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3.发明授权公开(公告)号：US09300872B2
公开(公告)日：2016-03-29
申请号：US14159360
申请日：2014-01-20
申请人： TOLO, INC.
CPC分类号： H04N5/23248 , B60R11/04 , G02B27/644
摘要： A hybrid stabilizer isolates a payload from vibrations across six degrees of freedom using an underdamped passive stabilizer in series with an active stabilizer that is mounted to the foundation, thereby improving isolation. In a first aspect, the passive stabilizer is one or more underdamped springs that reduce high frequency vibrations and in some embodiments the passive stabilizer is tuned to a resonant frequency at most half the control loop frequency of the active stabilizer. The active stabilizer is a six-axis motion platform that reduces or eliminates low frequency vibrations, particularly around the resonant frequency of the passive stabilizer. In a second aspect, the hybrid stabilizer isolates one or more cameras and is mounted to a vehicle, reducing motion blur and improving camera tracking, thereby enhancing the quality of images captured by the cameras.
摘要翻译： 混合稳定器将有效载荷与六个自由度的振动隔离，使用欠阻尼被动稳定器与安装到基础上的主动稳定器串联，从而改善隔离。 在第一方面，被动稳定器是一个或多个减弱高频振动的欠阻尼弹簧，并且在一些实施例中，被动稳定器被调谐到主动稳定器的控制回路频率的至多一半的谐振频率。 主动稳定器是一种六轴运动平台，可减少或消除低频振动，特别是在被动稳定器的谐振频率附近。 在第二方面，混合稳定器隔离一个或多个照相机并安装到车辆上，减少运动模糊并改善相机跟踪，从而提高由照相机拍摄的图像的质量。
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公开(公告)号：US09179064B1
公开(公告)日：2015-11-03
申请号：US14745662
申请日：2015-06-22
申请人： Tolo, Inc
CPC分类号： G01C11/02 , G06T5/50 , G06T7/50 , G06T7/70 , G06T2207/10 , G06T2207/10021 , G06T2207/10028 , G06T2207/10036 , G06T2207/20221 , G06T2207/30181 , G08G5/0078 , G08G5/0086 , H04N5/23229 , H04N5/23238 , H04N5/2352 , H04N5/247 , H04N5/332 , H04N5/357 , H04N5/3696 , H04N7/181
摘要： A vehicle collects oblique imagery along an intercardinal nominal heading using rotated camera-groups with distortion correcting electronic image sensors that align projected pixel columns or rows with a pre-determined direction on the ground, thereby improving collection quality, efficiency, and/or cost. In a first aspect, the camera-groups are rotated diagonal to the nominal heading. In a second aspect, the distortion correcting electronic image sensors align projected pixel columns or rows with a pre-determined direction on the ground. In a third aspect, the distortion correcting electronic image sensors are rotated around the optical axis of the camera. In a fourth aspect, cameras collect images in strips and the strips from different cameras overlap, providing large-baseline, small-time difference stereopsis.
摘要翻译： 车辆通过使用具有失真校正电子图像传感器的旋转摄像机组沿着心间标称标题收集倾斜图像，其将投影像素列或行与地面上的预定方向对准，从而提高收集质量，效率和/或成本。 在第一方面，相机组与标称导向对角旋转。 在第二方面，失真校正电子图像传感器将投影像素列或行与地面上的预定方向对准。 在第三方面中，畸变校正电子图像传感器围绕相机的光轴旋转。 在第四方面，照相机以条带收集图像，并且来自不同相机的条带重叠，提供大基线，小时差异立体视觉。
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