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    Method and a system for building a three-dimensional model from satellite images
    2.
    发明授权
    Method and a system for building a three-dimensional model from satellite images 有权
    从卫星图像构建三维模型的方法和系统

    公开(公告)号：US09547935B2

    公开(公告)日：2017-01-17

    申请号：US14188454

    申请日：2014-02-24

    申请人： Vricon Systems AB

    发明人： Leif Haglund ,  Ola Nygren ,  Folke Isaksson ,  Johan Borg

    IPC分类号： G06T17/05 ,  G06T7/00 ,  G06T15/04 ,  G06T19/20 ,  G01C11/06

    CPC分类号： G06T17/05 ,  G01C11/06 ,  G06T7/55 ,  G06T7/593 ,  G06T15/04 ,  G06T19/20 ,  G06T2207/10032 ,  G06T2207/30181 ,  G09B25/00

    摘要： The invention relates to a method for building a 3D model of an area of interest on the surface of a planet. The method comprises providing a plurality of 2D images from satellites, where each 2D image out of the plurality of 2D images at least partly covers the area of interest. Also, each subarea of the area of interest is covered by at least two images, taken from different angles, out of the plurality of 2D images. Bundle adjustments are performed for the plurality of 2D images and the area of interest is divided into parts. For each part of the area of interest at least one combination and preferably all possible combinations out of two images covering that part of the area of interest are taken. Said two images are taken from the at least two images, taken from at least two different angles, out of the plurality of 2D images. Further, for each part of the area, point matching correspondence is established for a set of points for each such combination of two images. The sets of points are combined if more than one set of points exists. Even further, for each part of the area, a 3D model of said part of the area of interest is built based on the combined set of points. The 3D models from each part of the area of interest are combined to a 3D model of the whole area of interest. The invention also relates to a system, a computer program and a computer program product.

    摘要翻译： 本发明涉及一种在行星表面上建立感兴趣区域的3D模型的方法。 该方法包括从卫星提供多个2D图像，其中多个2D图像中的每个2D图像至少部分地覆盖感兴趣的区域。 此外，感兴趣区域的每个子区域由多个2D图像中的不同角度的至少两个图像覆盖。 对多个2D图像执行束调整，并且将感兴趣的区域分成多个部分。 对于感兴趣区域的每个部分至少一个组合，并且优选地采用覆盖感兴趣区域的那部分的两个图像中的所有可能的组合。 从多个2D图像中的至少两个不同的角度取出所述两个图像。 此外，对于该区域的每个部分，针对两个图像的每个这样的组合的一组点建立点匹配对应。 如果存在多个点集合，则组合点组合。 更进一步地，对于该区域的每个部分，基于组合的点来构建所述感兴趣区域的所述部分的3D模型。 来自感兴趣区域的每个部分的3D模型被组合到感兴趣的整个区域的3D模型。 本发明还涉及一种系统，计算机程序和计算机程序产品。

    Method and arrangement for identifying a difference between a first 3D model of an environment and a second 3D model of the environment
    3.
    发明授权
    Method and arrangement for identifying a difference between a first 3D model of an environment and a second 3D model of the environment 有权
    用于识别环境的第一3D模型和环境的第二3D模型之间的差异的方法和装置

    公开(公告)号：US09489563B2

    公开(公告)日：2016-11-08

    申请号：US15066511

    申请日：2016-03-10

    申请人： Vricon Systems AB

    发明人： Leif Haglund ,  Johan Borg ,  Ingmar Andersson ,  Folke Isaksson

    IPC分类号： G06K9/00 ,  G06K9/62 ,  G06T7/40 ,  G06T17/05

    CPC分类号： G06K9/00214 ,  G06K9/0063 ,  G06K9/6202 ,  G06K9/6215 ,  G06K2209/40 ,  G06T7/49 ,  G06T17/05 ,  G06T2207/10028 ,  G06T2207/30184

    摘要： The invention relates to a method for identifying a difference between a first 3D model of an environment and a second 3D model of the environment. The first and second 3D model each comprise a plurality of points or parts, wherein each point or part of the first and second model comprises geometrical information and texture information. Corresponding points or parts of the first and second 3D model are matched based on the geometrical information and/or the texture information. The matched points or parts of the first and second model are compared to determine at least one difference value based on the geometrical information and the texture information of the first and second model. A difference between the first and second model is identified if the at least one difference value exceeds a predetermined value. The invention also relates to an arrangement, a computer program, and a computer program product.

    摘要翻译： 本发明涉及一种用于识别环境的第一3D模型和环境的第二3D模型之间的差异的方法。 第一和第二3D模型各自包括多个点或部分，其中第一和第二模型的每个点或部分包括几何信息和纹理信息。 基于几何信息和/或纹理信息来匹配第一和第二3D模型的对应点或部分。 比较第一和第二模型的匹配点或部分，以基于第一和第二模型的几何信息和纹理信息来确定至少一个差值。 如果至少一个差值超过预定值，则识别第一和第二模型之间的差异。 本发明还涉及一种装置，计算机程序和计算机程序产品。

    METHOD AND SYSTEM FOR CLASSIFYING A TERRAIN TYPE IN AN AREA
    5.
    发明申请
    METHOD AND SYSTEM FOR CLASSIFYING A TERRAIN TYPE IN AN AREA 有权
    在区域内分类地层类型的方法和系统

    公开(公告)号：US20160171279A1

    公开(公告)日：2016-06-16

    申请号：US14571992

    申请日：2014-12-16

    申请人： SAAB Vricon Systems AB

    发明人： Leif Haglund ,  Folke Isaksson ,  Per Carlbom ,  Ola Nygren ,  Johan Borg ,  Sanna Ringqvist ,  Anton Nordmark

    IPC分类号： G06K9/00 ,  G06T17/05 ,  G06T7/00

    CPC分类号： G06K9/0063 ,  G06T7/507 ,  G06T17/05 ,  G06T2207/10036 ,  G06T2207/30181

    摘要： 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.

    摘要翻译： 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。

    METHOD AND SYSTEM FOR GEO-REFERENCING AT LEAST ONE SENSOR IMAGE
    6.
    发明申请
    METHOD AND SYSTEM FOR GEO-REFERENCING AT LEAST ONE SENSOR IMAGE 有权
    一种传感器图像地球参考的方法与系统

    公开(公告)号：US20150317828A1

    公开(公告)日：2015-11-05

    申请号：US14233972

    申请日：2013-01-21

    申请人： SAAB VRICON SYSTEMS AB

    发明人： Folke Isaksson ,  Johan Bejeryd ,  Per Carlbom ,  Ingmar Andersson ,  Johan Borg ,  Leif Haglund

    IPC分类号： G06T17/05 ,  G06K9/00 ,  G06K9/62 ,  G06T7/00 ,  G01C11/02 ,  G01C11/06

    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。