专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

11. 发明申请

US20110096957A1 POSITION MEASUREMENT METHOD, POSITION MEASUREMENT DEVICE, AND PROGRAM 有权
标题翻译：位置测量方法，位置测量装置和程序
公开(公告)号：US20110096957A1
公开(公告)日：2011-04-28
申请号：US12980839
申请日：2010-12-29
申请人： Tetsuji Anai , Nobuo Kochi , Nobuyuki Fukaya
发明人： Tetsuji Anai , Nobuo Kochi , Nobuyuki Fukaya
IPC分类号： G06K9/00
CPC分类号： G01C11/10 , G01C11/06 , G06T7/74 , G06T2207/10012 , G06T2207/30244
摘要： A position measurement method includes an exterior orientation parameter correcting step S11 for correcting exterior orientation parameters calculated in a step S10, based on difference between photographing timing of an image and obtaining timing of a photographing position and/or a photographing posture measured outside, a bundle-adjusting step S12 for simultaneously adjusting a bundle of the exterior orientation parameters of one or more images and three-dimensional coordinates of characteristic points, based on the exterior orientation parameters corrected by the step S11, a three-dimensional coordinate calculating step S13 for calculating three-dimensional coordinates of characteristic points subsequently detected in an area in which the density of the characteristic points is decreased, based on the exterior orientation parameters adjusted bundle thereof, and a repeating step for repeating processing from the steps S10 to S13 until the image becomes a final image.
摘要翻译：位置测量方法包括：外部取向参数校正步骤S11，用于根据图像的拍摄定时和获得拍摄位置的定时和/或外部测量的拍摄姿势之间的差异来校正在步骤S10中计算的外部姿态参数; - 调整步骤S12，用于基于由步骤S11校正的外部取向参数，同时调整一个或多个图像的外部取向参数的束和特征点的三维坐标;三维坐标计算步骤S13，用于计算基于其特征点的密度减少的区域中随后检测到的特征点的三维坐标，以及重复步骤，用于从步骤S10至S13重复处理，直到图像变为最后的形象。

12. 发明授权

US09158305B2 Remote control system 有权
标题翻译：遥控系统
公开(公告)号：US09158305B2
公开(公告)日：2015-10-13
申请号：US13565153
申请日：2012-08-02
申请人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai
发明人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai
IPC分类号： H04N13/02 , G05D1/00
CPC分类号： G05D1/0038 , G05D1/0016
摘要： A remote control system comprises a mobile object, a remote controller for remotely controlling the mobile object, and a storage unit where background images to simulate a driving room or an operation room of the mobile object are stored. The mobile object has a stereo camera, a camera control unit for controlling image pickup direction of the stereo camera, and a first communication unit for communicating information including at least images photographed by the stereo camera. The remote controller has a second communication unit for communicating to and from the first communication unit, a control unit for controlling the mobile object, and a display unit for synthesizing at least a part of the images photographed by the stereo camera and the background images and for displaying the images so that a stereoscopic view can be displayed.
摘要翻译：远程控制系统包括移动对象，用于远程控制移动对象的遥控器，以及存储用于模拟移动对象的驾驶室或操作室的背景图像的存储单元。移动体具有立体摄像机，摄像机控制单元，用于控制立体摄像机的摄像方向，以及第一通信单元，用于传送至少包含由立体摄像机拍摄的图像的信息。遥控器具有用于与第一通信单元进行通信的第二通信单元，用于控制移动体的控制单元和用于合成由立体摄像机和背景图像拍摄的图像的至少一部分的显示单元，以及用于显示图像，使得可以显示立体视图。

13. 发明授权

US08630755B2 Automatic taking-off and landing system 有权
标题翻译：自动起降系统
公开(公告)号：US08630755B2
公开(公告)日：2014-01-14
申请号：US13238419
申请日：2011-09-21
申请人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
发明人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G05D1/10 , B64D45/00 , G06F19/00
CPC分类号： B64D45/08 , B64C39/024 , B64C2201/141 , B64C2201/145 , G01S5/16 , G01S19/15 , G01S19/51 , G05D1/0669 , G05D1/0676
摘要： The invention provides an automatic taking-off and landing system, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device 21 for taking images found in downward direction, navigation means 4, 5, 6, 8, 9, 10 and 11, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.
摘要翻译：本发明提供了一种自动起飞和着陆系统，包括飞行物体和起飞着陆目标，其中飞行物体具有用于拍摄向下方向的图像的摄像装置21，导航装置4,5,6 ，8,9,10,11;以及控制单元，用于处理由图像拾取装置获取并用于控制导航装置的图像，并且其中控制单元计算起飞和着陆目标与飞行物体之间的位置关系基于由图像拾取装置获取的起飞和着陆目标的图像，并且基于计算结果控制飞行对象的起飞和着陆操作。

14. 发明授权

US07860276B2 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US07860276B2
公开(公告)日：2010-12-28
申请号：US11567909
申请日：2006-12-07
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
IPC分类号： G06K9/00 , G03B17/00
CPC分类号： G06T7/33
摘要： A technique is provided that can precisely measure the photographing position and posture of a photographing device and the coordinates of an object from moving images or photographed images that sequentially change gradually, even in the case with the need to process the sway of the photographing device and the disappearance and reappearance of characteristic points. An image processing device 100 according to the present invention includes: a photographed image acquisition 2 section for sequentially acquiring photographed images, that change gradually, of a relatively moving object; a characteristic extraction section 3 for extracting characteristic points from a photographed image acquired with the photographed image acquisition section; a characteristic point tracking section 4 for searching a plurality of the photographed images acquired before or after the photographed image from which the characteristic points have been extracted, for candidate corresponding points corresponding to the characteristic points, to keep track of the characteristic points; and a processing section 5 for determining corresponding points from the candidate corresponding points based on tracking results to calculate coordinates of a photographing position or the object using the determined corresponding points.
摘要翻译：提供一种技术，即使在需要处理拍摄装置的摆动的情况下，也可以精确地测量拍摄装置的拍摄位置和姿势以及从逐渐变化的运动图像或拍摄图像的对象的坐标，以及特征点的消失和再现。根据本发明的图像处理装置100包括：拍摄图像获取2部分，用于顺序地获取相对移动的对象逐渐变化的拍摄图像; 特征提取部3，用于从由拍摄图像获取部获取的拍摄图像中提取特征点; 特征点追踪部分4，用于搜索在提取了特征点的拍摄图像之前或之后获取的多个拍摄图像，用于跟踪特征点的候选对应点，以跟踪特征点; 以及处理部分5，用于基于跟踪结果确定来自候选对应点的对应点，以使用所确定的相应点来计算拍摄位置或对象的坐标。

15. 发明授权

US07787689B2 Location measuring device and method 有权
标题翻译：位置测量装置及方法
公开(公告)号：US07787689B2
公开(公告)日：2010-08-31
申请号：US12166654
申请日：2008-07-02
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06T7/579 , G06T7/74 , G06T2200/08 , G06T2207/10016
摘要： With apparatus and method for measuring in three dimensions by applying an estimating process to points corresponding to feature points in a plurality of motion image frames, high speed and high accuracy are realized. The apparatus comprises: a first track determining section (4B) that determines corresponding points of feature points extracted from frames of motion images and estimates by robust estimation a coordinate transformation projection parameters between frames using part of the determined corresponding points, a second track determining section (4C) that utilizes the estimated value to determine coordinate values of estimated location of each corresponding point, to determine residuals of the coordinate values relative to the estimated values for each corresponding point, to apply threshold process, and to exclude points of large residuals as incorrect corresponding points. Three-dimensional measurement is carried out by tracking again feature points while removing those incorrect corresponding points.
摘要翻译：通过对与多个运动图像帧中的特征点对应的点应用估计处理，实现三维测量的装置和方法，实现了高速和高精度。该装置包括：第一轨道确定部分（4B），其确定从运动图像帧提取的特征点的对应点，以及使用部分所确定的相应点通过鲁棒估计帧之间的坐标变换投影参数来估计;第二轨道确定部分（4C），其使用估计值来确定每个对应点的估计位置的坐标值，以相对于每个对应点的估计值来确定坐标值的残差，以应用阈值处理，并且将大残差的点排除为不正确的对应点。通过再次跟踪特征点，同时移除那些不正确的对应点来进行三维测量。

16. 发明授权

US07747150B2 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US07747150B2
公开(公告)日：2010-06-29
申请号：US11730747
申请日：2007-04-03
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： G03B17/00 , G06K9/00 , H04N13/02
CPC分类号： G06T7/74 , G01C11/06 , G01C21/005 , G06T2207/30244
摘要： An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.
摘要翻译：提供一种图像处理装置，其可以基于顺序地改变拍摄的图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪和相关。立体图像是从相关的一系列拍摄图像中选出的。作为立体图像选择的图像在进行取向和3D测量之前被分组成一组图像，其中选择立体图像。图像根据从物体到拍摄位置的距离或拍摄倍率分组。删除具有突然变化的图像，以提高测量精度。

17. 发明申请

US20090241358A1 Multi-Point Measuring Method and Surveying Device 有权
标题翻译：多点测量方法和测量装置
公开(公告)号：US20090241358A1
公开(公告)日：2009-10-01
申请号：US12309060
申请日：2008-04-18
申请人： Fumio Ohtomo , Hitoshi Otani , Junki Kaneko , Tetsuji Anai , Terukazu Nagashima
发明人： Fumio Ohtomo , Hitoshi Otani , Junki Kaneko , Tetsuji Anai , Terukazu Nagashima
IPC分类号： G01C3/04 , G06K9/00 , H04N7/00
CPC分类号： G01C15/002
摘要： There are provided a telescope unit (5) having a first image pickup unit for acquiring a wide-angle image and a second image pickup unit for acquiring a telescopic image with higher magnification than the wide-angle image, a distance measuring unit for performing distance measurement by projecting a distance measuring light and by receiving a light reflected from an object to be measured, an angle measuring unit for detecting a horizontal angle and a vertical angle of the telescope unit, a drive unit for rotating and driving the telescope unit in a horizontal direction and in a vertical direction, and a control device for controlling image pickup of the first image pickup unit and the second image pickup unit and for controlling the drive unit based on the results of detection from the angle measuring unit, wherein the control device synthesizes a panoramic image by connecting the wide-angle image obtained by the first image pickup unit, sets up a scheduled measuring point by edge processing of the wide-angle image, and extracts the measuring point corresponding to the scheduled measuring points in the telescopic image by scanning the scheduled measuring point and acquiring the telescopic image by the second image pickup unit with respect to scheduled measuring points, and distance measurement is performed on the measuring point.
摘要翻译：提供了具有用于获取广角图像的第一图像拾取单元和用于获取具有比广角图像更高放大率的望远图像的第二图像拾取单元的望远镜单元（5），用于执行距离的距离测量单元通过投射距离测量光并且接收从被测量物体反射的光的测量，用于检测望远镜单元的水平角度和垂直角度的角度测量单元，用于在望远镜单元中旋转和驱动望远镜单元的驱动单元水平方向和垂直方向的控制装置，以及用于控制第一图像拾取单元和第二图像拾取单元的图像拾取并基于来自角度测量单元的检测结果来控制驱动单元的控制装置，其中控制装置通过连接由第一图像拾取单元获得的广角图像来合成全景图像，通过边缘处理设置预定的测量点并且通过扫描预定测量点并且通过第二图像拾取单元相对于计划的测量点获取与伸缩图像中的预定测量点相对应的测量点并获取伸缩图像，以及距离测量在测量点进行。

18. 发明申请

US20070236561A1 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US20070236561A1
公开(公告)日：2007-10-11
申请号：US11730747
申请日：2007-04-03
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： H04N13/02
CPC分类号： G06T7/74 , G01C11/06 , G01C21/005 , G06T2207/30244
摘要： An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.
摘要翻译：提供一种图像处理装置，其可以基于顺序地改变拍摄图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪和相关。立体图像是从相关的一系列拍摄图像中选出的。作为立体图像可选择的图像在进行取向和3D测量之前被分组成一组图像，其中选择立体图像。图像根据从物体到拍摄位置的距离或拍摄倍率分组。删除具有突然变化的图像，以提高测量精度。

19. 发明申请

US20130038692A1 Remote Control System 有权
标题翻译：遥控系统
公开(公告)号：US20130038692A1
公开(公告)日：2013-02-14
申请号：US13565153
申请日：2012-08-02
申请人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai
发明人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai
IPC分类号： H04N13/02
CPC分类号： G05D1/0038 , G05D1/0016
摘要： A remote control system comprises a mobile object, a remote controller for remotely controlling the mobile object, and a storage unit where background images to simulate a driving room or an operation room of the mobile object are stored. The mobile object has a stereo camera, a camera control unit for controlling image pickup direction of the stereo camera, and a first communication unit for communicating information including at least images photographed by the stereo camera. The remote controller has a second communication unit for communicating to and from the first communication unit, a control unit for controlling the mobile object, and a display unit for synthesizing at least a part of the images photographed by the stereo camera and the background images and for displaying the images so that a stereoscopic view can be displayed.
摘要翻译：远程控制系统包括移动对象，用于远程控制移动对象的遥控器，以及存储用于模拟移动对象的驾驶室或操作室的背景图像的存储单元。移动体具有立体摄像机，摄像机控制单元，用于控制立体摄像机的摄像方向，以及第一通信单元，用于传送至少包含由立体摄像机拍摄的图像的信息。遥控器具有用于与第一通信单元进行通信的第二通信单元，用于控制移动体的控制单元和用于合成由立体摄像机和背景图像拍摄的图像的至少一部分的显示单元，以及用于显示图像，使得可以显示立体视图。

20. 发明申请

US20120300070A1 Aerial Photograph Image Pickup Method And Aerial Photograph Image Pickup Apparatus 有权
标题翻译：航空照片图像拾取方法和空中照片图像拾取装置
公开(公告)号：US20120300070A1
公开(公告)日：2012-11-29
申请号：US13473659
申请日：2012-05-17
申请人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
发明人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
IPC分类号： H04N7/18
CPC分类号： G01C11/02 , G03B15/006 , G03B35/02 , G03B37/02 , G05D1/0094
摘要： An aerial photographing image pickup method comprises a step of making a flying object fly meanderingly, a step of taking the image at each vertex where a direction is changed in the meandering flight, a step of extracting feature points from a common overlay portion of the images taken from at least three adjacent vertices, a step of determining two images of two vertices in the images as one set and acquiring positional information of the two vertices by a GPS device for each set regarding at least two sets, a step of performing photogrammetry of the measuring points corresponding to the feature points based on positional information and based on the feature points of the two images and a step of determining the feature points when the surveying results of the measuring points coincide with each other in at least the two sets as tie points for image combination.
摘要翻译：一种航空拍摄图像拾取方法，包括使飞行物体蜿蜒飞行的步骤，在曲折飞行中使方向改变的各顶点处的图像的步骤，从图像的公共覆盖部分提取特征点的步骤从至少三个相邻的顶点获取步骤：将图像中的两个顶点的两个图像确定为一组，并且针对每个关于至少两组的GPS装置获取GPS装置的两个顶点的位置信息的步骤;执行摄影测量的步骤基于位置信息和基于两个图像的特征点对应于特征点的测量点，以及当测量点的测量结果在至少两个组合中彼此重合时确定特征点的步骤点图像组合。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式