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公开(公告)号：US3781104A
公开(公告)日：1973-12-25
申请号：US3781104D
申请日：1969-05-21
Applicant: OPTIQUE ET DE MECANIQUE SOC FR
Inventor： DUBUISSON B
CPC classification number: G01C11/00
Abstract: The apparatus comprises a table displaceable vertically by a manual control, and two projectors each projecting a photograph. The vertical displacement of the table causes, by a synchrotransmitter, a synchro-receiver and a threaded shaft, a proportional horizontal displacement of one of the projectors towards or away from the other projector. This apparatus brings out the relief, even if it is not very pronounced.
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公开(公告)号：US4057336A
公开(公告)日：1977-11-08
申请号：US693176
申请日：1976-06-07
Applicant: Noel Malinge
Inventor： Noel Malinge
CPC classification number: G01C11/16
Abstract: A photogrammetric plotting apparatus comprises means to move two stereographic plates in their plane with respect to two respective optical systems which are arranged to project onto a single screen images of reference marks indicating the trace of the line of sight of each optical system on the respective plate. Different polarizers are disposed on the lines of sight of the optical systems so that an operator looking at the said screen through two analyzers corresponding to the polarizers sees the images of the region of one plate and its respective reference mark with one eye and the image of the corresponding region of the other plate and its respective reference mark with the other eye.
Abstract translation: 摄影测量绘图装置包括相对于两个相应的光学系统在它们的平面中移动两个立体照相板的装置，这两个相应的光学系统被布置成投影到单个屏幕上的参考标记图像，该参考标记指示各个板上每个光学系统的视线的迹线 。 不同的偏振器被布置在光学系统的视线上，使得通过对应于偏振器的两个分析器观察屏幕的操作者用一只眼睛看到一个板的区域的图像及其相应的参考标记，并且图像 另一个板的相应区域和其对应的参考标记与另一个眼睛。
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公开(公告)号：US20190301861A1
公开(公告)日：2019-10-03
申请号：US16290798
申请日：2019-03-01
Applicant: TuSimple
Inventor： Naiyan WANG , Yuanqin LU
Abstract: The present disclosure provides a method and an apparatus for binocular ranging, capable of achieving an improved accuracy of binocular ranging. The method includes: extracting features from a left image and a right image to obtain a left feature image and a right feature image; selecting a standard feature image and obtaining a cost volume of the standard feature image by applying a correlation calculation to the left feature image and the right feature image using a block matching algorithm; obtaining a confidence volume by normalizing computational costs of all disparity values in a disparity dimension for each pixel point in the cost volume; obtaining a confidence map by selecting a maximum value from confidence levels of all the disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a mask map by mapping each pixel point having a confidence level higher than a predetermined threshold in the confidence map to 1 and mapping each pixel point having a confidence level lower than or equal to the threshold in the confidence map to 0; obtaining a disparity map by calculating an argmax value for the confidence levels of all disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a target disparity map by multiplying the mask map with the disparity map; and estimating a distance based on the target disparity map.
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公开(公告)号：US11274922B2
公开(公告)日：2022-03-15
申请号：US16290798
申请日：2019-03-01
Applicant: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Inventor： Naiyan Wang , Yuanqin Lu
Abstract: The present disclosure provides a method and an apparatus for binocular ranging, capable of achieving an improved accuracy of binocular ranging. The method includes: extracting features from a left image and a right image to obtain a left feature image and a right feature image; selecting a standard feature image and obtaining a cost volume of the standard feature image by applying a correlation calculation to the left feature image and the right feature image using a block matching algorithm; obtaining a confidence volume by normalizing computational costs of all disparity values in a disparity dimension for each pixel point in the cost volume; obtaining a confidence map by selecting a maximum value from confidence levels of all the disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a mask map by mapping each pixel point having a confidence level higher than a predetermined threshold in the confidence map to 1 and mapping each pixel point having a confidence level lower than or equal to the threshold in the confidence map to 0; obtaining a disparity map by calculating an argmax value for the confidence levels of all disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a target disparity map by multiplying the mask map with the disparity map; and estimating a distance based on the target disparity map.
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公开(公告)号：US12140427B2
公开(公告)日：2024-11-12
申请号：US17652746
申请日：2022-02-28
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Defei Jiang
Abstract: Embodiments of the present invention discloses a metering adjustment method, apparatus and device and a storage medium. The method includes: acquiring brightness information of a current image frame and a previous image frame captured by a shooting apparatus of an unmanned aerial vehicle (UAV); determining whether the brightness information of the current image frame changes relative to the brightness information of the previous image frame; if so, acquiring motion state information of the shooting apparatus; and adjusting a metering mode of the shooting apparatus according to the motion state information of the shooting apparatus.
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Patent Agency Ranking
公开(公告)号：US12031842B2
公开(公告)日：2024-07-09
申请号：US17678692
申请日：2022-02-23
Applicant: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Inventor： Naiyan Wang , Yuanqin Lu
Abstract: The present disclosure provides a method and an apparatus for binocular ranging, capable of achieving an improved accuracy of binocular ranging. The method includes: extracting features from a left image and a right image to obtain a left feature image and a right feature image; selecting a standard feature image and obtaining a cost volume of the standard feature image by applying a correlation calculation to the left feature image and the right feature image using a block matching algorithm; obtaining a confidence volume by normalizing computational costs of all disparity values in a disparity dimension for each pixel point in the cost volume; obtaining a confidence map by selecting a maximum value from confidence levels of all the disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a mask map by mapping each pixel point having a confidence level higher than a predetermined threshold in the confidence map to 1 and mapping each pixel point having a confidence level lower than or equal to the threshold in the confidence map to 0; obtaining a disparity map by calculating an argmax value for the confidence levels of all disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a target disparity map by multiplying the mask map with the disparity map; and estimating a distance based on the target disparity map.
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公开(公告)号：US11509881B2
公开(公告)日：2022-11-22
申请号：US16195659
申请日：2018-11-19
Applicant: LEICA GEOSYSTEMS AG
Inventor： Elmar Vincent Van Der Zwan
IPC: H04N13/239 , G01C11/02 , B64D47/08 , G01C11/16 , G06V10/75 , G06T7/593 , H04N13/296 , G01C3/14 , H04N5/232 , G06F3/04842 , H04N13/00
Abstract: A handheld device for the image-based measurement of a remote object, comprising a housing having a front side and a rear side, a first and second camera, which are arranged having a stereo base on the rear side, for recording images of the object, an analysis unit having an algorithm for the stereophotogrammetric analysis of the images of the cameras and a display unit, which is arranged on the front side, for displaying images of the object and results of the stereophotogrammetric analysis, wherein the housing has a longitudinal axis, the stereo base is aligned diagonally relative to the longitudinal axis, and the analysis unit is designed for the purpose of taking into consideration the relative alignment of the stereo base during the stereophotogrammetric analysis.
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公开(公告)号：US20220236056A1
公开(公告)日：2022-07-28
申请号：US17652746
申请日：2022-02-28
Applicant: AUTEL ROBOTICS CO., LTD.
Inventor： Defei JIANG
Abstract: Embodiments of the present invention discloses a metering adjustment method, apparatus and device and a storage medium. The method includes: acquiring brightness information of a current image frame and a previous image frame captured by a shooting apparatus of an unmanned aerial vehicle (UAV); determining whether the brightness information of the current image frame changes relative to the brightness information of the previous image frame; if so, acquiring motion state information of the shooting apparatus; and adjusting a metering mode of the shooting apparatus according to the motion state information of the shooting apparatus.
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公开(公告)号：US20220178688A1
公开(公告)日：2022-06-09
申请号：US17678692
申请日：2022-02-23
Applicant: BEIJING TUSEN ZHITU TECHNOLOGY CO., LTD.
Inventor： Naiyan WANG , Yuanqin LU
Abstract: The present disclosure provides a method and an apparatus for binocular ranging, capable of achieving an improved accuracy of binocular ranging. The method includes: extracting features from a left image and a right image to obtain a left feature image and a right feature image; selecting a standard feature image and obtaining a cost volume of the standard feature image by applying a correlation calculation to the left feature image and the right feature image using a block matching algorithm; obtaining a confidence volume by normalizing computational costs of all disparity values in a disparity dimension for each pixel point in the cost volume; obtaining a confidence map by selecting a maximum value from confidence levels of all the disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a mask map by mapping each pixel point having a confidence level higher than a predetermined threshold in the confidence map to 1 and mapping each pixel point having a confidence level lower than or equal to the threshold in the confidence map to 0; obtaining a disparity map by calculating an argmax value for the confidence levels of all disparity values in the disparity dimension for each pixel point in the confidence volume; obtaining a target disparity map by multiplying the mask map with the disparity map; and estimating a distance based on the target disparity map.
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公开(公告)号：US08711337B2
公开(公告)日：2014-04-29
申请号：US13131929
申请日：2009-12-16
Applicant: Nicola Rohrseitz
Inventor： Nicola Rohrseitz
Abstract: The invention is a passive method to measure the translational speed of a visual scene using the distribution of light intensities. The invention combines two principles: perspective distortion matching over a broad field of view, and temporal filtering variation. The perspective distortion of the image is used to sample the visual scene at different linear wavelengths over the visual field. The result is a spatial sensitivity map of the visual scene. The obtained signal is then temporally filtered with cutoff frequencies proportional to the spatial sensitivity. The final result is a wide-spectrum computation of a ratio between temporal and linear spatial frequencies, in other words linear speed. The technique does not require the emission of a reference signal and is independent from external infrastructures.
Abstract translation: 本发明是使用光强度分布来测量视觉场景的平移速度的被动方法。 本发明结合了两个原理：宽广视野的透视失真匹配和时间滤波变化。 图像的透视失真用于在视野上以不同的线性波长采样视觉场景。 结果是视觉场景的空间灵敏度图。 然后用与空间灵敏度成比例的截止频率对获得的信号进行时间滤波。 最后的结果是宽频率计算时间和线性空间频率之间的比例，换句话说是线速度。 该技术不需要发射参考信号，并且独立于外部基础设施。
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