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1. 发明授权

US09013576B2 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航空照片图像拾取装置
公开(公告)号：US09013576B2
公开(公告)日：2015-04-21
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 , G01C11/02 , G05D1/00 , G03B15/00 , G03B35/02 , G03B37/02
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。

2. 发明授权

US07860273B2 Device and method for position measurement 有权
标题翻译：位置测量装置和方法
公开(公告)号：US07860273B2
公开(公告)日：2010-12-28
申请号：US11905404
申请日：2007-09-28
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani , Hirokazu Sato
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani , Hirokazu Sato
IPC分类号： G06K9/00 , H04N5/225
CPC分类号： G01C11/00 , G01C11/10 , G01C21/005 , G01C21/165 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10021 , G06T2207/30252
摘要： A position measurement 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 position measuring device 100 of the invention comprises: an image acquisition section 2 for acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed; a positional relationship measurement section 9 for measuring position displacement and posture change of the image acquisition section 2; a feature extraction section 3 for extracting feature points from the photographed images obtained with the image acquisition section 2; a feature point tracking section 4 for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images; an image selection section 61 for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section 9; and a position measurement section 7 for measuring the photographing position and the photographing posture of the image acquisition section 2 based on the image to be processed selected with the image selection section 61.
摘要翻译：提供一种位置测量装置，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。本发明的位置测量装置100包括：图像获取部分2，用于获取连续或一点一点地连续变化的拍摄图像以及相对于被拍摄对象的位置位移; 用于测量图像获取部分2的位置偏移和姿势变化的位置关系测量部分9; 特征提取部分3，用于从由图像获取部分2获得的拍摄图像中提取特征点; 特征点跟踪部分4，用于通过搜索与多个拍摄图像上的特征点相对应的对应点来跟踪特征点; 图像选择部分61，用于基于由位置关系测量部分9进行的测量结果从一系列拍摄的图像中选择要处理的图像; 以及位置测量部分7，用于基于通过图像选择部分61选择的被处理图像来测量图像获取部分2的拍摄位置和拍摄姿势。

3. 发明授权

US07726033B2 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：US07726033B2
公开(公告)日：2010-06-01
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
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。

4. 发明申请

US20070263924A1 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：US20070263924A1
公开(公告)日：2007-11-15
申请号：US11798190
申请日：2007-05-10
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G06K9/00
CPC分类号： G01B11/24 , G01C11/06 , G06T7/246 , G06T7/33 , G06T7/593
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 to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving 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。特征点被跟踪并相互关联。从相关的一系列拍摄的图像中选择立体图像，并进行取向和3D测量。计算通过3D测量获得的对应点的误差范围。根据计算的误差范围，确定对应的点是否适用于3D测量。确定为不适当的对应点将被删除。使用除去删除的对应点之外的其他取向和另外的3D测量，从而提高测量精度。

5. 发明申请

US20070140528A1 IMAGE PROCESSING DEVICE AND METHOD 有权
标题翻译：图像处理装置和方法
公开(公告)号：US20070140528A1
公开(公告)日：2007-06-21
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
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。

6. 发明授权

US07860302B2 Image processing apparatus 有权
标题翻译：图像处理装置
公开(公告)号：US07860302B2
公开(公告)日：2010-12-28
申请号：US12339780
申请日：2008-12-19
申请人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
发明人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
IPC分类号： G06K9/00 , G03B17/00
CPC分类号： G06T7/74 , G06T7/97 , G06T2207/10012 , G06T2207/30244
摘要： An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.
摘要翻译：一种图像处理装置包括：输入部分，用于输入通过相对于拍摄对象逐渐移动的摄影部分拍摄的多个连续图像; 提取部分，用于从由所述输入部分输入的图像中提取特征点; 跟踪部分，用于跟踪对应于多个连续图像中的特征点的点; 一个嵌入部分，用于将包括由提取部分和跟踪部分提取的跟踪点的数据的跟踪数据嵌入到每个图像中; 以及输出部分，用于输出由嵌入部分嵌入跟踪数据的顺序的多个连续图像。

7. 发明授权

US07844077B2 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：US07844077B2
公开(公告)日：2010-11-30
申请号：US12166660
申请日：2008-07-02
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G06K9/00 , G03B17/00
CPC分类号： G06T7/579 , G06T7/74 , G06T2200/08 , G06T2207/10016
摘要： To realize high speed and high precision with device and method of three-dimensional measurement by applying estimating process to points corresponding to feature points in a plurality of motion frame images. With the device and method of calculating location information through processes of choosing a stereo pair, relative orientation, and bundle adjustment and using corresponding points of feature points extracted from respective motion frame images, each process is made up of two stages. To the first process section (stages: 5A and 6A), robust estimation is applied to determine estimated values of calculation parameters. In the second process section (stages: 5B and 6B), corresponding points and stereo pair of large residual errors are excluded, and estimating calculation is carried out again to make measurements in three dimensions.
摘要翻译：通过对与多个运动帧图像中的特征点对应的点应用估计处理来实现具有三维测量装置和方法的高速度和高精度。利用通过选择立体对，相对取向和束调整以及使用从各运动帧图像提取的特征点的对应点来计算位置信息的装置和方法，每个处理由两个阶段组成。对于第一个处理部分（阶段：5A和6A），应用鲁棒估计来确定计算参数的估计值。在第二过程部分（阶段：5B和6B）中，排除相应的点和立体对的大的残差，并再次进行估计计算以进行三维测量。

8. 发明授权

US07747151B2 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：US07747151B2
公开(公告)日：2010-06-29
申请号：US11798190
申请日：2007-05-10
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G03B17/00 , G06K9/00 , H04N13/02
CPC分类号： G01B11/24 , G01C11/06 , G06T7/246 , G06T7/33 , G06T7/593
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 to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving 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。特征点被跟踪并相互关联。从相关的一系列拍摄的图像中选择立体图像，并进行取向和3D测量。计算通过3D测量获得的对应点的误差范围。根据计算的误差范围，确定对应的点是否适用于3D测量。确定为不适当的对应点将被删除。使用除去删除的对应点之外的其他取向和另外的3D测量，从而提高测量精度。

9. 发明申请

US20090161946A1 IMAGE PROCESSING APPARATUS 有权
标题翻译：图像处理设备
公开(公告)号：US20090161946A1
公开(公告)日：2009-06-25
申请号：US12339780
申请日：2008-12-19
申请人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
发明人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
IPC分类号： G06K9/00 , G06K9/46
CPC分类号： G06T7/74 , G06T7/97 , G06T2207/10012 , G06T2207/30244
摘要： An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.
摘要翻译：一种图像处理装置包括：输入部分，用于输入通过相对于拍摄对象逐渐移动的拍摄部分拍摄的多个连续图像; 提取部分，用于从由所述输入部分输入的图像中提取特征点; 跟踪部分，用于跟踪对应于多个连续图像中的特征点的点; 一个嵌入部分，用于将包括由提取部分和跟踪部分提取的跟踪点的数据的跟踪数据嵌入到每个图像中; 以及输出部分，用于输出由嵌入部分嵌入跟踪数据的顺序的多个连续图像。

10. 发明授权

US08811718B2 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：US08811718B2
公开(公告)日：2014-08-19
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 , G01C11/10 , G01C11/06
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。

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