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公开(公告)号：US09891321B2
公开(公告)日：2018-02-13
申请号：US14762174
申请日：2013-01-21
发明人： Folke Isaksson , Ingmar Andersson , Johan Bejeryd , Johan Borg , Per Carlbom , Leif Haglund
IPC分类号： G06T15/00 , G01S17/89 , G01C11/06 , G06T17/05 , G01S17/02 , G01C21/00 , G06K9/62 , G06T19/20 , H04N13/02 , G01S17/42
CPC分类号： G01S17/89 , G01C11/06 , G01C21/00 , G01S17/023 , G01S17/42 , G06K9/6215 , G06T17/05 , G06T19/20 , G06T2200/04 , H04N13/207
摘要： The present invention relates to a method and arrangement for developing a 3D model of an environment. The method comprises steps of providing a plurality of overlapping images of the environment, each image associated of navigation data, providing distance information, said LIDAR information comprising a distance value and navigation data from a plurality of distance measurements, and developing the 3D model based on the plurality of overlapping images and the distance information. The step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process.
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2.发明授权公开(公告)号：US09619934B2
公开(公告)日：2017-04-11
申请号：US14425583
申请日：2013-01-21
发明人： Ingmar Andersson , Johan Bejeryd , Johan Borg , Per Carlbom , Leif Haglund , Folke Isaksson
IPC分类号： H04N13/02 , G06T17/05 , G01C11/06 , G01B11/245 , G01S17/02 , G01S17/42 , G01S17/89 , G01M11/02 , H04N5/357 , G06T7/00 , G01S13/86 , H04N13/00
CPC分类号： 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
摘要： A method for estimating values for a set of parameters of an imaging system is presented. At least two pictures having an overlapping area are taken with the imaging system from different positions. Pulses are sent out to the area, the reflected pulses are detected and distances between a sender of the pulses and the respective point where the pulses were reflected are calculated based on the travel time of the pulses. First information about the area is calculated based on the pictures. Second information related to the calculated distances to the area is also calculated. Values for quantities contained in the first and second information are compared. If the value for a quantity obtained from the first information differs from the value obtained from the second information, values and/or an error estimate for the set of parameters of the imaging system is calculated based on the difference.
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公开(公告)号：US20180059247A1
公开(公告)日：2018-03-01
申请号：US15791501
申请日：2017-10-24
发明人： Folke Isaksson , Ingmar Andersson , Johan Bejeryd , Johan Borg , Per Carlbom , Leif Haglund
IPC分类号： G01S17/89 , G01S17/42 , H04N13/02 , G06T19/20 , G01S17/02 , G01C21/00 , G06T17/05 , G01C11/06 , G06K9/62
CPC分类号： G01S17/89 , G01C11/06 , G01C21/00 , G01S17/023 , G01S17/42 , G06K9/6215 , G06T17/05 , G06T19/20 , G06T2200/04 , H04N13/207
摘要： The present invention relates to a method and arrangement for developing a 3D model of an environment. The method comprises steps of providing a plurality of overlapping images of the environment, each image associated of navigation data, providing distance information, said LIDAR information comprising a distance value and navigation data from a plurality of distance measurements, and developing the 3D model based on the plurality of overlapping images and the distance information. The step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process.
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公开(公告)号：US09709395B2
公开(公告)日：2017-07-18
申请号：US13866203
申请日：2013-04-19
发明人： Johan Bejeryd , Johan Borg , Folke Isaksson , Leif Haglund , Per Carlbom , Ola Nygren , Ingmar Andersson
CPC分类号： G01C11/34 , G06T7/55 , G06T7/593 , G06T7/80 , G06T2207/10032 , G06T2207/20088
摘要： A method is provided, which comprises generating at least three images of an area of interest from at least one imaging system, the generated images being provided from at least three different angles, establishing point correspondence between the provided images. The method further involves 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. The method further includes comparing the at least two sets of three-dimensional information so as to determine discrepancies, and providing information related to the imaging system or errors in the images based on the determined discrepancies.
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公开(公告)号：US09372081B2
公开(公告)日：2016-06-21
申请号：US14233972
申请日：2013-01-21
发明人： Folke Isaksson , Johan Bejeryd , Per Carlbom , Ingmar Andersson , Johan Borg , Leif Haglund
CPC分类号： G01C11/06 , G01C11/025 , G06F17/30241 , G06K9/00208 , G06K9/0063 , G06K9/00664 , G06K9/6203 , G06K9/6289 , G06T7/30 , G06T17/05 , G06T2207/30184
摘要： 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.
摘要翻译： 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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