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1. 发明授权

US08612151B2 Apparatus for and method of junction view display 有权
标题翻译：连接图显示装置及方法
公开(公告)号：US08612151B2
公开(公告)日：2013-12-17
申请号：US12736764
申请日：2008-07-11
申请人： Marcus Winkler , Krzysztof Miksa
发明人： Marcus Winkler , Krzysztof Miksa
IPC分类号： G01C21/36
CPC分类号： G01C21/3647 , G01C21/3638 , G01C21/3658
摘要： A navigation method and navigation system are disclosed. In at least one embodiment, the method has the following actions: a.) receiving position data from a position determining device; b.) when approaching a junction with the navigation system, displaying the junction view on a display, the junction view showing data as to a real-life view of the junction inclusive of an image of each signpost present on the junction as visible to a user of the navigation system; c.) receiving route information from route planning software indicating a route to be followed by the user; and d.) highlighting on the display a signpost related to a road segment to be followed by the user relative to all other signposts as shown on the display.
摘要翻译：公开了一种导航方法和导航系统。在至少一个实施例中，该方法具有以下动作：a）从位置确定装置接收位置数据; b。）当接近与导航系统的连接处时，在显示器上显示结点视图，结合视图显示关于连接点的现实生活视图的数据，其中包括存在于交界处的每个路标的图像，对于导航系统用户; c）从路由规划软件接收指示用户遵循的路由的路由信息; 和d。）在显示器上突出显示与用户相对于所有其他路标跟随的路段相关的路标，如显示器上所示。

2. 发明授权

US08571354B2 Method of and arrangement for blurring an image 有权
标题翻译：模糊图像的方法和布置
公开(公告)号：US08571354B2
公开(公告)日：2013-10-29
申请号：US12736915
申请日：2008-09-25
申请人： Krzysztof Miksa , Marcin Michal Kmiecik
发明人： Krzysztof Miksa , Marcin Michal Kmiecik
IPC分类号： G06K9/32
CPC分类号： G06T5/002 , G06T5/20 , G06T2207/30201 , G06T2207/30252
摘要： A method of reducing the spatial resolution of images is disclosed. At least one embodiment of the method includes: —acquiring an input image including image parts having a spatial resolution larger than SR pixels/meter; —acquiring a depth map associated with the input image; —determining for each pixel p(x,y) a spatial resolution value by means of the depth map; —processing a region of pixels of the input image for which holds that the spatial resolution value is larger than a predefined threshold corresponding to SR pixels/meter to obtain a corresponding region of pixels having a spatial resolution smaller then or equal to SR pixels/meter in an output image. The method enables to removes privacy information from images by reducing the spatial resolution to a level that the privacy information cannot be recognized in the image anymore.
摘要翻译：公开了降低图像的空间分辨率的方法。该方法的至少一个实施例包括： - 获取包括具有大于SR像素/米的空间分辨率的图像部分的输入图像; - 获取与输入图像相关联的深度图; - 通过深度图确定每个像素p（x，y）的空间分辨率值; 处理其输入图像的像素区域，其中空间分辨率值大于对应于SR像素/米的预定阈值，以获得具有小于或等于SR像素/米的空间分辨率的像素的对应区域在输出图像中。该方法能够通过将空间分辨率降低到无法再在图像中识别隐私信息的水平来从图像中去除隐私信息。

3. 发明授权

US08958980B2 Method of generating a geodetic reference database product 有权
标题翻译：生成大地测量参考数据库产品的方法
公开(公告)号：US08958980B2
公开(公告)日：2015-02-17
申请号：US13132935
申请日：2008-12-09
申请人： Krzysztof Miksa , Jay Clark , James Edward Hagan
发明人： Krzysztof Miksa , Jay Clark , James Edward Hagan
IPC分类号： G01C21/28 , G06F17/30 , G01S17/89 , G01S13/89 , G01C11/04
CPC分类号： G06F17/30241 , G01C11/04 , G01S13/89 , G01S17/89
摘要： A method of generating a geodetic reference database product is disclosed The method comprises acquiring mobile mapping data captured by means of digital cameras, range sensors and position determination means including GPS and IMU mounted to a vehicle driving across the earth surface, the mobile mapping data comprising simultaneously captured image data, range data and associated position data in a geographic coordinate system. Linear stationary earth surface features are derived from the mobile mapping data by processing the image data, range data and associated position data. 3D-models are generated for the linear stationary earth surface features in the geographic coordinate system from the image data, range data and associated position data and stored in a database to obtain the geodetic reference database product. A 3D-model could include an image representing the colors of the surface of the 3D model or a set of smaller images representing photo-identifiable objects along the model. The 3D-models could be used to rectify aerial imagery, to correct digital elevation models and to improve the triangulation of digital elevation models.
摘要翻译：公开了一种生成大地测量参考数据库产品的方法。该方法包括获取通过数字照相机捕获的移动映射数据，范围传感器和位置确定装置，其包括安装在跨越地球表面的车辆的GPS和IMU，所述移动映射数据包括在地理坐标系中同时捕获图像数据，范围数据和相关联的位置数据。通过处理图像数据，范围数据和相关位置数据，从移动映射数据导出线性固定地表面特征。根据图像数据，范围数据和相关位置数据，为地理坐标系中的线性静止地球表面特征生成3D模型，并存储在数据库中以获得大地测量参考数据库产品。 3D模型可以包括表示3D模型的表面的颜色的图像或者表示沿模型的可识别光的对象的一组较小的图像。 3D模型可用于纠正航空图像，纠正数字高程模型，并改进数字高程模型的三角测量。

4. 发明申请

US20110123068A1 METHOD OF AND ARRANGEMENT FOR BLURRING AN IMAGE 有权
标题翻译：打印图像的方法和布置
公开(公告)号：US20110123068A1
公开(公告)日：2011-05-26
申请号：US12736915
申请日：2008-09-25
申请人： Krzysztof Miksa , Marcin Michal Kmiecik
发明人： Krzysztof Miksa , Marcin Michal Kmiecik
IPC分类号： G06K9/46 , G06K9/00
CPC分类号： G06T5/002 , G06T5/20 , G06T2207/30201 , G06T2207/30252
摘要： A method of reducing the spatial resolution of images is disclosed. At least one embodiment of the method includes: —acquiring an input image including image parts having a spatial resolution larger than SR pixels/meter; —acquiring a depth map associated with the input image; —determining for each pixel p(x,y) a spatial resolution value by means of the depth map; —processing a region of pixels of the input image for which holds that the spatial resolution value is larger than a predefined threshold corresponding to SR pixels/meter to obtain a corresponding region of pixels having a spatial resolution smaller then or equal to SR pixels/meter in an output image. The method enables to removes privacy information from images by reducing the spatial resolution to a level that the privacy information cannot be recognized in the image anymore.
摘要翻译：公开了降低图像的空间分辨率的方法。该方法的至少一个实施例包括： - 获取包括具有大于SR像素/米的空间分辨率的图像部分的输入图像; - 获取与输入图像相关联的深度图; - 通过深度图确定每个像素p（x，y）的空间分辨率值; 处理其输入图像的像素区域，其中空间分辨率值大于对应于SR像素/米的预定义阈值，以获得具有小于或等于SR像素/米的空间分辨率的像素的对应区域在输出图像中。该方法能够通过将空间分辨率降低到无法再在图像中识别隐私信息的水平来从图像中去除隐私信息。

5. 发明授权

US08326532B2 Arrangement for and method of two dimensional and three dimensional precision location and orientation determination 有权
标题翻译：二维和三维精密位置和方向确定的方法和方法
公开(公告)号：US08326532B2
公开(公告)日：2012-12-04
申请号：US12312301
申请日：2006-11-06
申请人： Marcin Michal Kmiecik , Krzysztof Miksa
发明人： Marcin Michal Kmiecik , Krzysztof Miksa
IPC分类号： G01S1/00 , G01S5/02
CPC分类号： G01C21/28 , G01C21/165 , G01S19/23 , G01S19/47
摘要： In one embodiment of the present invention, a method of and apparatus for determining inaccurate GPS samples in a set of GPS samples is disclosed, according to the following actions: a) obtaining GPS samples as taken by a global positioning system on board a vehicle when traveling along a trajectory; b) obtaining a first estimation of the trajectory based on the GPS samples; c) obtaining a second estimation of the trajectory at least based on measurements made by an inertial measurement unit on board vehicle when traveling along the trajectory; d) comparing the first and second estimations; e) establishing locations where the first estimation shows a variation compared with the second estimation above a predetermined threshold; f) if no such locations can be established continue with action j), otherwise continue with action g); g) removing GPS samples associated with the locations of high variation as being inaccurate GPS samples, thus forming a set of remaining GPS samples; h) calculating the first estimation anew of the trajectory based on the remaining GPS samples and calculating the second estimation anew; i) repeating actions d) to h); j) ending the actions.
摘要翻译：在本发明的一个实施例中，公开了一种用于在一组GPS样本集中确定不准确的GPS样本的方法和装置，所述方法和装置根据以下动作：a）获得由车辆上的全球定位系统采取的GPS样本，沿着轨迹行进; b）基于GPS样本获得轨迹的第一估计; c）至少基于沿着所述轨迹行驶时由所述车辆上的惯性测量单元进行的测量获得所述轨迹的第二估计; d）比较第一和第二估计; e）建立位置，其中所述第一估计显示与所述第二估计高于预定阈值的变化; f）如果不能建立这样的位置，继续采取行动j），否则继续采取行动g）; g）将与高变化位置相关联的GPS样本移除为不准确的GPS样本，从而形成一组剩余的GPS样本; h）基于剩余的GPS样本计算新的轨迹的第一估计，并重新计算第二估计; i）重复动作d）至h）; j）结束行动。

6. 发明申请

US20110282578A1 Method of generating a Geodetic Reference Database Product 有权
标题翻译：生成大地测量参考数据库产品的方法
公开(公告)号：US20110282578A1
公开(公告)日：2011-11-17
申请号：US13132935
申请日：2008-12-09
申请人： Krzysztof Miksa , Jay Clark , Edward Hagan
发明人： Krzysztof Miksa , Jay Clark , Edward Hagan
IPC分类号： G01C21/28
CPC分类号： G06F17/30241 , G01C11/04 , G01S13/89 , G01S17/89
摘要： A method of generating a geodetic reference database product is disclosed The method comprises acquiring mobile mapping data captured by means of digital cameras, range sensors and position determination means including GPS and IMU mounted to a vehicle driving across the earth surface, the mobile mapping data comprising simultaneously captured image data, range data and associated position data in a geographic coordinate system. Linear stationary earth surface features are derived from the mobile mapping data by processing the image data, range data and associated position data. 3D-models are generated for the linear stationary earth surface features in the geographic coordinate system from the image data, range data and associated position data and stored in a database to obtain the geodetic reference database product. A 3D-model could include an image representing the colors of the surface of the 3D model or a set of smaller images representing photo-identifiable objects along the model. The 3D-models could be used to rectify aerial imagery, to correct digital elevation models and to improve the triangulation of digital elevation models.
摘要翻译：公开了一种生成大地测量参考数据库产品的方法。该方法包括获取通过数字照相机捕获的移动映射数据，范围传感器和位置确定装置，其包括安装在跨越地球表面的车辆的GPS和IMU，所述移动映射数据包括在地理坐标系中同时捕获图像数据，范围数据和相关联的位置数据。通过处理图像数据，范围数据和相关位置数据，从移动映射数据导出线性固定地表面特征。根据图像数据，范围数据和相关位置数据，为地理坐标系中的线性静止地球表面特征生成3D模型，并存储在数据库中以获得大地测量参考数据库产品。 3D模型可以包括表示3D模型的表面的颜色的图像或者表示沿模型的可识别光的对象的一组较小的图像。 3D模型可用于纠正航空图像，纠正数字高程模型，并改进数字高程模型的三角测量。

7. 发明授权

US09052207B2 System and method for vehicle navigation using lateral offsets 有权
标题翻译：使用侧向偏移的车辆导航系统和方法
公开(公告)号：US09052207B2
公开(公告)日：2015-06-09
申请号：US13503399
申请日：2009-10-22
申请人： Krzysztof Miksa , Krzysztof Smiechowicz
发明人： Krzysztof Miksa , Krzysztof Smiechowicz
IPC分类号： G01C21/30 , G01S13/93 , G01S13/86 , G01C21/00 , G01S19/48
CPC分类号： G01C21/30 , B60W30/12 , G01C21/26 , G01C21/28 , G01S13/865 , G01S13/867 , G01S13/931 , G01S19/48 , G01S2013/9339 , G01S2013/936 , G06K9/00791 , G08G1/09626 , G08G1/167
摘要： A navigation system for use in a vehicle (402). The system includes an absolute position sensor, such as GPS, in addition to one or more additional sensors, such as a camera, laser scanner, or radar. The system further comprises a digital map or database that includes records for at least some of the vehicle's surrounding objects (400). These records can include relative positional attributes with respect to a reference axis (404). As the vehicle (402) moves, sensors sense the presence of at least some of these objects (400), and measure the vehicle's relative position to those objects. This information is used to determine the vehicle's instantaneous lateral offset (428) relative to the reference axis (404), and support features such as enhanced driving directions, collision avoidance, or automatic assisted driving. The system also allows new objects (408, 414) to be attributed using relative positioning, and thereby factored into the enhanced navigation features.
摘要翻译：一种用于车辆（402）的导航系统。除了一个或多个附加的传感器，例如照相机，激光扫描仪或雷达，该系统还包括诸如GPS之类的绝对位置传感器。该系统还包括数字地图或数据库，该数字地图或数据库包括用于车辆周围物体（400）中的至少一些的记录。这些记录可以包括相对于参考轴的相对位置属性（404）。当车辆（402）移动时，传感器感测到这些物体（400）中的至少一些的存在，并且测量车辆对那些物体的相对位置。该信息用于确定车辆相对于参考轴（404）的瞬时侧向偏移（428），并且支持诸如增强的驾驶方向，避免碰撞或自动辅助驾驶的特征。该系统还允许使用相对定位来归属新对象（408,414），并由此考虑到增强的导航特征中。

8. 发明申请

US20120271540A1 SYSTEM AND METHOD FOR VEHICLE NAVIGATION USING LATERAL OFFSETS 有权
标题翻译：使用侧向偏差进行车辆导航的系统和方法
公开(公告)号：US20120271540A1
公开(公告)日：2012-10-25
申请号：US13503399
申请日：2009-10-22
申请人： Krzysztof Miksa , Krzysztof Smiechowicz
发明人： Krzysztof Miksa , Krzysztof Smiechowicz
IPC分类号： G01C21/26
CPC分类号： G01C21/30 , B60W30/12 , G01C21/26 , G01C21/28 , G01S13/865 , G01S13/867 , G01S13/931 , G01S19/48 , G01S2013/9339 , G01S2013/936 , G06K9/00791 , G08G1/09626 , G08G1/167
摘要： A navigation system for use in a vehicle (402). The system includes an absolute position sensor, such as GPS, in addition to one or more additional sensors, such as a camera, laser scanner, or radar. The system further comprises a digital map or database that includes records for at least some of the vehicle's surrounding objects (400). These records can include relative positional attributes with respect to a reference axis (404). As the vehicle (402) moves, sensors sense the presence of at least some of these objects (400), and measure the vehicle's relative position to those objects. This information is used to determine the vehicle's instantaneous lateral offset (428) relative to the reference axis (404), and support features such as enhanced driving directions, collision avoidance, or automatic assisted driving. The system also allows new objects (408, 414) to be attributed using relative positioning, and thereby factored into the enhanced navigation features.
摘要翻译：一种用于车辆（402）的导航系统。除了一个或多个附加的传感器，例如照相机，激光扫描仪或雷达，该系统还包括诸如GPS之类的绝对位置传感器。该系统还包括数字地图或数据库，该数字地图或数据库包括用于车辆周围物体（400）中的至少一些的记录。这些记录可以包括相对于参考轴的相对位置属性（404）。当车辆（402）移动时，传感器感测到这些物体（400）中的至少一些的存在，并且测量车辆对那些物体的相对位置。该信息用于确定车辆相对于参考轴（404）的瞬时侧向偏移（428），并且支持诸如增强的驾驶方向，避免碰撞或自动辅助驾驶的特征。该系统还允许使用相对定位来归属新对象（408,414），并由此考虑到增强的导航特征中。

9. 发明申请

US20110112756A1 APPARATUS FOR AND METHOD OF JUNCTION VIEW DISPLAY 有权
标题翻译：连接视图显示的装置和方法
公开(公告)号：US20110112756A1
公开(公告)日：2011-05-12
申请号：US12736764
申请日：2008-07-11
申请人： Marcus Winkler , Krzysztof Miksa
发明人： Marcus Winkler , Krzysztof Miksa
IPC分类号： G01C21/36
CPC分类号： G01C21/3647 , G01C21/3638 , G01C21/3658
摘要： A navigation method and navigation system are disclosed. In at least one embodiment, the method has the following actions: a.) receiving position data from a position determining device; b.) when approaching a junction with the navigation system, displaying the junction view on a display, the junction view showing data as to a real-life view of the junction inclusive of an image of each signpost present on the junction as visible to a user of the navigation system; c.) receiving route information from route planning software indicating a route to be followed by the user; and d.) highlighting on the display a signpost related to a road segment to be followed by the user relative to all other signposts as shown on the display.
摘要翻译：公开了一种导航方法和导航系统。在至少一个实施例中，该方法具有以下动作：a）从位置确定装置接收位置数据; b。）当与导航系统接近连接点时，在显示器上显示结点视图，结点图显示关于连接点的现实生活视图的数据，其中包括存在于交界处的每个路标的图像，对于导航系统用户; c）从路由规划软件接收指示用户遵循的路由的路由信息; 和d。）在显示器上突出显示与用户相对于所有其他路标跟随的路段相关的路标，如显示器上所示。

10. 发明申请

US20100039318A1 ARRANGEMENT FOR AND METHOD OF TWO DIMENSIONAL AND THREE DIMENSIONAL PRECISION LOCATION AND ORIENTATION DETERMINATION 有权
标题翻译：两维和三维精密位置的安排和方法和方位确定
公开(公告)号：US20100039318A1
公开(公告)日：2010-02-18
申请号：US12312301
申请日：2006-11-06
申请人： Marcin Michal Kmiecik , Krzysztof Miksa
发明人： Marcin Michal Kmiecik , Krzysztof Miksa
IPC分类号： G01S5/14
CPC分类号： G01C21/28 , G01C21/165 , G01S19/23 , G01S19/47
摘要： In one embodiment of the present invention, a method of and apparatus for determining inaccurate GPS samples in a set of GPS samples is disclosed, according to the following actions: a) obtaining GPS samples as taken by a global positioning system on board a vehicle when traveling along a trajectory; b) obtaining a first estimation of the trajectory based on the GPS samples; c) obtaining a second estimation of the trajectory at least based on measurements made by an inertial measurement unit on board vehicle when traveling along the trajectory; d) comparing the first and second estimations; e) establishing locations where the first estimation shows a variation compared with the second estimation above a predetermined threshold; f) if no such locations can be established continue with action j), otherwise continue with action g); g) removing GPS samples associated with the locations of high variation as being inaccurate GPS samples, thus forming a set of remaining GPS samples; h) calculating the first estimation anew of the trajectory based on the remaining GPS samples and calculating the second estimation anew; i) repeating actions d) to h); j) ending the actions.
摘要翻译：在本发明的一个实施例中，公开了一种用于在一组GPS样本集中确定不准确的GPS样本的方法和装置，所述方法和装置根据以下动作：a）获得由车辆上的全球定位系统采取的GPS样本，沿着轨迹行进; b）基于GPS样本获得轨迹的第一估计; c）至少基于沿着所述轨迹行驶时由所述车辆上的惯性测量单元进行的测量获得所述轨迹的第二估计; d）比较第一和第二估计; e）建立位置，其中所述第一估计显示与所述第二估计高于预定阈值的变化; f）如果不能建立这样的位置，继续采取行动j），否则继续采取行动g）; g）将与高变化位置相关联的GPS样本移除为不准确的GPS样本，从而形成一组剩余的GPS样本; h）基于剩余的GPS样本计算新的轨迹的第一估计，并重新计算第二估计; i）重复动作d）至h）; j）结束行动。

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