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公开(公告)号：US11959744B1
公开(公告)日：2024-04-16
申请号：US18541978
申请日：2023-12-15
Inventor： Yina Suo , Xuebin Ning , Fuxing Yu , Ran Wang
Abstract: Disclosed is a stereophotogrammetric method based on binocular vision, including the following steps: image acquisition, image correction and stereo matching are performed; cost matching and cost aggregation are performed on images of different sizes after correction; image segmentation is performed on the corrected image to determine edge pixel points of the object to be measured; and a pixel distance at an edge of the object to be measured is calculated to measure the size of the object. The method of the present invention enhances the matching accuracy of contour pixels of the object to be measured and improves the measurement accuracy.
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公开(公告)号：US09787912B2
公开(公告)日：2017-10-10
申请号：US14565224
申请日：2014-12-09
Inventor： Takuya Asano , Tohru Yamada , Junichi Matsuo , Toshiya Fujii , Nobukazu Teranishi
IPC: H04R5/02 , H04N5/33 , G01C3/08 , G01B11/02 , H04N5/225 , H04N5/235 , H04N5/347 , H04N5/355 , H04N5/372 , H04N13/02 , G01C11/04 , G01C11/30 , H04N13/00 , H04N5/232 , G01C11/36
CPC classification number: H04N5/33 , G01B11/026 , G01C3/085 , G01C11/04 , G01C11/30 , G01C2011/36 , H04N5/2256 , H04N5/23245 , H04N5/2353 , H04N5/2354 , H04N5/347 , H04N5/35572 , H04N5/37213 , H04N13/128 , H04N13/254 , H04N13/271 , H04N13/296 , H04N2013/0081
Abstract: Read electrodes are provided to drain signal charge of pixels from photoelectric conversion units provided in the pixels separately to a vertical transfer unit. During a first exposure period during which an object is illuminated with infrared light, signal charge obtained from a first pixel, and signal charge obtained from a second pixel adjacent to the first pixel, are added together in the vertical transfer unit to produce first signal charge. During a second exposure period during which the object is not illuminated with infrared light, signal charge obtained from the first pixel, and signal charge obtained from the second pixel adjacent to the first pixel, are transferred without being added to the first signal charge in the vertical transfer unit, and are added together in another packet to produce second signal charge.
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3.发明申请公开(公告)号：US20170272726A1
公开(公告)日：2017-09-21
申请号：US15157389
申请日：2016-05-17
Applicant: Samsung Electronics Co., Ltd.
Inventor： Ilia OVSIANNIKOV
CPC classification number: H04N13/246 , G01C3/08 , G01C11/30 , G01C25/00 , H04N13/254 , H04N13/257 , H04N13/271
Abstract: Using one or more patterned markers inside the projector module of a three-dimensional (3D) camera to facilitate automatic calibration of the camera's depth sensing operation. The 3D camera utilizes epipolar geometry-based imaging in conjunction with laser beam point-scans in a triangulation-based approach to depth measurements. A light-sensing element and one or more reflective markers inside the projector module facilitate periodic self-calibration of camera's depth sensing operation. To calibrate the camera, the markers are point-scanned using the laser beam and the reflected light is sensed using the light-sensing element. Based on the output of the light-sensing element, the laser's turn-on delay is adjusted to perfectly align a laser light spot with the corresponding reflective marker. Using reflective markers, the exact direction and speed of the scanning beam over time can be determined as well. The marker-based automatic calibration can periodically run in the background without interfering with the normal camera operation.
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4.发明授权公开(公告)号：US09250328B2
公开(公告)日：2016-02-02
申请号：US12571244
申请日：2009-09-30
Applicant: Javad Ashjaee , Mikhail Gribkov , Lev Rapoport
Inventor： Javad Ashjaee , Mikhail Gribkov , Lev Rapoport
IPC: G06K9/00 , G01S19/14 , G01C15/06 , G01C15/08 , G06T7/00 , G01C11/30 , G01S19/01 , G01C15/00 , G01C15/02 , G01C11/02 , G01C21/00
CPC classification number: G01S19/14 , G01C11/02 , G01C11/30 , G01C15/002 , G01C15/02 , G01C15/06 , G01C15/08 , G01C21/005 , G01S19/01 , G06T7/70 , G06T7/97
Abstract: A graphics-aided geodesic device is provided. The device may include a display, camera, distance meter, GNSS (Global Navigation Satellite System, including GPS, GLONASS, and Galileo) receiver and antenna, and horizon sensors. Data from the camera and horizon sensors may be displayed to assist the user in positioning the device over a point of interest. In one example, the distance meter may be used to determine the position of the point of interest. In another example, images of the point of interest taken from multiple locations may be used to determine the position of the point of interest.
Abstract translation: 提供了图形辅助测地装置。 该设备可以包括显示器，照相机，距离计，GNSS（全球导航卫星系统，包括GPS，GLONASS和伽利略）接收器和天线以及水平传感器。 可以显示来自相机和地平线传感器的数据，以帮助用户将设备定位在感兴趣的点上。 在一个示例中，距离计可用于确定兴趣点的位置。 在另一示例中，可以使用从多个位置取得的兴趣点的图像来确定兴趣点的位置。
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5.发明申请Using Embedded Camera Parameters to Determine a Position for a Three-Dimensional Model 有权使用嵌入式摄像机参数确定三维模型的位置公开(公告)号：US20150228112A1
公开(公告)日：2015-08-13
申请号：US13397941
申请日：2012-02-16
Applicant: Brian BREWINGTON , David HAWKEY , Bryce STOUT
Inventor： Brian BREWINGTON , David HAWKEY , Bryce STOUT
CPC classification number: G06T15/04 , G01C11/08 , G01C11/30 , G06T7/593 , G06T7/70 , G06T7/97 , G06T17/00 , G06T17/05
Abstract: Embodiments relate to selecting textures for a user-supplied photographic image in image-based three-dimensional modeling. In a first embodiment, a computer-implemented method includes a method positioning a geographic structure using user-supplied photographic images of a geographic structure. In the method, a user-supplied photographic images inputted by a user are received. Embedded camera parameters that specify a position of the cameras when each user-supplied photographic image was taken and are embedded in each user-supplied photographic image are read. An estimated location of the geographic structure is automatically determined based on the embedded camera parameters in each user-supplied photographic image. Each user-supplied photographic image to be texture mapped to the three-dimensional model is enabled.
Abstract translation: 实施例涉及在基于图像的三维建模中为用户提供的摄影图像选择纹理。 在第一实施例中，计算机实现的方法包括使用用户提供的地理结构的摄影图像定位地理结构的方法。 在该方法中，接收由用户输入的用户提供的摄影图像。 读取当每个用户提供的摄影图像拍摄并嵌入每个用户提供的摄影图像中时指定摄像机的位置的嵌入式摄像机参数。 基于每个用户提供的摄影图像中的嵌入式摄像机参数自动确定地理结构的估计位置。 每个用户提供的要被纹理映射到三维模型的摄影图像被启用。
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Patent Agency Ranking
公开(公告)号：US08280677B2
公开(公告)日：2012-10-02
申请号：US12380225
申请日：2009-02-25
Applicant: Hitoshi Otani , Mitsutaka Nakamura
Inventor： Hitoshi Otani , Mitsutaka Nakamura
CPC classification number: G01C11/30 , G01C1/04 , G01C15/002
Abstract: The present invention provides a geographical data collecting device, including a distance measuring unit 5 for projecting a distance measuring light and for measuring a distance to an object to be measured, an image pickup unit 3 for taking an image in a measuring direction, a display unit 6 for displaying an image picked up, a touch panel installed to match a position of screen of the display unit, a tilt sensor 11 for detecting a tilting in a measuring direction, an azimuth sensor 12 for detecting a horizontal angle in the measuring direction, and a control arithmetic unit 8, wherein the control arithmetic unit displays a scale to indicate horizontal and vertical lines on the display unit and controls the scale display so that the scale always indicates the horizontal and the vertical lines in the image based on a result of detection of tilting from the tilt sensor.
Abstract translation: 本发明提供一种地理数据采集装置，包括：距离测量单元5，用于投射距离测量光并用于测量与待测物体的距离;摄像单元3，用于拍摄测量方向的图像;显示器 用于显示拾取的图像的单元6，安装成匹配显示单元的屏幕位置的触摸面板，用于检测测量方向倾斜的倾斜传感器11，用于检测测量方向上的水平角度的方位传感器12 以及控制运算单元8，其中控制运算单元显示缩放以指示显示单元上的水平和垂直线，并且控制比例显示，使得比例总是基于结果指示图像中的水平和垂直线 从倾斜传感器检测倾斜。
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公开(公告)号：US12085381B2
公开(公告)日：2024-09-10
申请号：US17599321
申请日：2020-03-13
Applicant: VMI HOLLAND B.V.
Inventor： Egbert Grietinus Kellij , John Van De Vrugt , Niels Tielenburg , Teunis Johannes Verbruggen , Peter Beekman , Cees Johan Van Voskuilen , Robin Nusselder , Gerjan Asuerus Berghorst , Titus Ruben Verlaan , Bart Kofoed , Quinten Matthijs Bergmans
CPC classification number: G01B11/2504 , B29D30/0061 , B29D30/244 , B29D30/26 , B29D30/32 , B29D30/48 , G01C11/30 , G01S7/497 , B29D2030/3207 , B29D2030/482
Abstract: The invention relates to a calibration tool and a method for calibrating a laser-triangulation measuring system, wherein the calibration tool comprises a tool body that defines a reference plane and that is rotatable relative to the measuring system about a rotation axis perpendicular to said reference plane, wherein the tool body is provided with one or more calibration surfaces that define a pattern of calibration positions, wherein the pattern comprises at least three columns extending in a radial direction away from the rotation axis and at least three rows extending in a circumferential direction about the rotation axis, wherein for each column the calibration positions within said respective column vary in height relative to the reference plane in a height direction perpendicular to said reference plane and wherein for each row the calibration positions within the respective row vary in height in the height direction relative to the reference plane.
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8.发明申请公开(公告)号：US20180188042A1
公开(公告)日：2018-07-05
申请号：US15857611
申请日：2017-12-28
Applicant: DeepMap Inc.
Inventor： Chen Chen
CPC classification number: G06T17/20 , B60W40/06 , B60W2550/14 , G01C11/12 , G01C11/30 , G01C21/005 , G01C21/32 , G01C21/3635 , G01C21/3694 , G01S17/89 , G01S19/42 , G05D1/0088 , G05D1/0246 , G05D2201/0213 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/4671 , G06K9/6212 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/55 , G06T7/593 , G06T7/68 , G06T7/70 , G06T7/73 , G06T7/74 , G06T17/05 , G06T2200/04 , G06T2207/10021 , G06T2207/10028 , G06T2207/20048 , G06T2207/30252 , G06T2207/30256 , G06T2210/56 , G06T2215/12 , G08G1/20
Abstract: A high-definition map system receives sensor data from vehicles travelling along routes and combines the data to generate a high definition map for use in driving vehicles, for example, for guiding autonomous vehicles. A pose graph is built from the collected data, each pose representing location and orientation of a vehicle. The pose graph is optimized to minimize constraints between poses. Points associated with surface are assigned a confidence measure determined using a measure of hardness/softness of the surface. A machine-learning-based result filter detects bad alignment results and prevents them from being entered in the subsequent global pose optimization. The alignment framework is parallelizable for execution using a parallel/distributed architecture. Alignment hot spots are detected for further verification and improvement. The system supports incremental updates, thereby allowing refinements of subgraphs for incrementally improving the high-definition map for keeping it up to date
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公开(公告)号：US20170116758A1
公开(公告)日：2017-04-27
申请号：US15400159
申请日：2017-01-06
Applicant: Conti Temic microelectronic GmbH
Inventor： Ralph Grewe , Stefan Hegemann
CPC classification number: G06T7/593 , B60R11/04 , G01C3/14 , G01C11/06 , G01C11/30 , G06K9/00805 , G06T7/70 , G06T2207/10016 , G06T2207/10028 , G06T2207/30261 , G06T2207/30264
Abstract: The present disclosure relates to a device for measuring distance using a camera. The camera is movably arranged on a camera holder. A controller is designed to control a movement of the camera, in particular in a stationary state of the device, in such a manner that the camera records at least two images in at least two positions. A computing device is designed to calculate and output the distance of the device from objects visible on the images based on the at least two images. Further, the present disclosure discloses a vehicle and a method.
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公开(公告)号：US08224030B2
公开(公告)日：2012-07-17
申请号：US12825750
申请日：2010-06-29
Applicant: Hitoshi Otani , Kaoru Kumagai
Inventor： Hitoshi Otani , Kaoru Kumagai
IPC: G06K9/00
CPC classification number: G01C21/005 , G01C11/30
Abstract: The present invention provides a position measuring instrument, comprising a GPS position detecting device 7, an image pickup device 9 for continuously taking a digital image, a laser distance measuring device 8, and a measuring instrument main unit 2, wherein the GPS position detecting device measures positional data at a first point and a second point, the image pickup device continuously takes digital images on sceneries in surroundings during a process where the image pickup device moves from the first point, which is a known point, via the second point to a third point, which is an unknown point, the laser distance measuring device measures a distance to the object of image pickup in parallel to the image pickup by the image pickup device, and the measuring instrument main unit generates tracking point from the image obtained at the first point, sequentially identifies the tracking points from the tracing of points generated on the images to be acquired continuously, calculates three-dimensional positional data of the tracking points of the images acquired at the first point and the images acquired at the second point from the positional data at the first point and the second point, compares the result of calculation with the result of distance measurement by the laser distance measuring device, adopts the result of calculation within a predetermined limit of errors with respect to the measurement results as positional data of the tracking point, and calculates positional data of the third point from the positional data of the tracking point.
Abstract translation: 本发明提供了一种位置测量仪器，包括GPS位置检测装置7，用于连续拍摄数字图像的图像拾取装置9，激光测距装置8和测量仪器主单元2，其中GPS位置检测装置 在第一点和第二点处测量位置数据，图像拾取装置在图像拾取装置从已知点的第一点经由第二点移动到第一点的处理期间，在环境中连续地拍摄数字图像 第三点，这是未知点，激光测距装置测量与摄像装置的图像拾取并行的图像拾取对象的距离，并且测量仪器主单元从根据图像拾取装置获得的图像生成跟踪点 第一点，从连续地获取的图像上生成的点的跟踪顺序地识别跟踪点，计算th 在第一点获取的图像的跟踪点的再维度位置数据和在第一点和第二点处的位置数据在第二点获取的图像的比较结果，将计算结果与距离测量的结果进行比较 激光距离测量装置将相对于测量结果的预定的误差范围内的计算结果作为跟踪点的位置数据，并根据跟踪点的位置数据计算第三点的位置数据。
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