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公开(公告)号：US09367743B1
公开(公告)日：2016-06-14
申请号：US14571992
申请日：2014-12-16
发明人： Leif Haglund , Folke Isaksson , Per Carlbom , Ola Nygren , Johan Borg , Sanna Ringqvist , Anton Nordmark
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。
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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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3.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：US09704041B2
公开(公告)日：2017-07-11
申请号：US15150943
申请日：2016-05-10
发明人： Leif Haglund , Folke Isaksson , Per Carlbom , Ola Nygren , Johan Borg , Sanna Ringqvist , Anton Nordmark
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 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. Also provided is a system and a computer program product.
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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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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：US20160253545A1
公开(公告)日：2016-09-01
申请号：US15150943
申请日：2016-05-10
发明人： Leif Haglund , Folke Isaksson , Per Carlbom , Ola Nygren , Johan Borg , Sanna Ringqvist , Anton Nordmark
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 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. Also provided is a system and a computer program product.
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，包括以下步骤：获取该区域的多个重叠的空间图像，为位于该区域中的每个空中图像的每个部分计算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所述地形类型，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，并且对 满足至少一个预定条件的区域的部分包含地形类型，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。 还提供了一个系统和一个计算机程序产品。
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