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1. 发明申请

WO2020136633A1 METHODS AND SYSTEMS FOR CAMERA 3D POSE DETERMINATION 审中-公开
公开(公告)号：WO2020136633A1
公开(公告)日：2020-07-02
申请号：PCT/IL2019/051225
申请日：2019-11-10
申请人： ELBIT SYSTEMS LAND AND C4I LTD.
发明人： GOLDMAN, Benny , HAHAM, Eli
IPC分类号： G06T7/73 , G06T7/70 , G06T7/33 , G06T7/00
摘要： Method/system for determining pose of camera using another camera imaging common scene, by capturing first scene image with first camera and obtaining first camera pose by georegistering to 3D-model, extracting scene features in first image, determining 3D coordinates of extracted features by mapping to 3D model, transmitting feature descriptors and feature coordinates, capturing second scene image with second camera, extracting scene features in second image and matching with first image features, determining second camera pose using 3D scene coordinates and corresponding 2D projections in second image. Method/system for determining pose of one camera using another camera in same camera assembly with known relative pose between cameras in assembly, by capturing image of scene with first camera and determining 3D coordinates of first camera by georegistering to 3D-model, and determining pose of second camera based on determined global pose of first camera and relative pose between second camera and first camera.

2. 发明公开

EP3149698A1 METHOD AND SYSTEM FOR IMAGE GEOREGISTRATION 有权
标题翻译：系统在VERFAHREN ZUR GEOREGISTRIERUNG VON BILDERN
公开(公告)号：EP3149698A1
公开(公告)日：2017-04-05
申请号：EP15799568.9
申请日：2015-05-28
申请人： Elbit Systems Land and C4I Ltd.
发明人： GOLDMAN, Benny , HAHAM, Eli
IPC分类号： G06T1/00
CPC分类号： G06T7/75 , G06T2207/30244
摘要： Image georegistration method and system. An imaging sensor acquires a sensor-image of a scene. Imaging parameters of the acquired sensor-image are obtained, the imaging parameters including at least the detected 3D position and orientation of the imaging sensor when acquiring the sensor-image, as detected using a location measurement unit. A model-image of the scene is generated from a textured 3D geographic model, the model-image representing a texture-based 2D image of the scene as acquired in the 3D model using the imaging parameters. The sensor-image and the model-image are compared and the discrepancies between them determined. An updated 3D position and orientation of the imaging sensor is determined in accordance with the discrepancies. The updated position and orientation may be used to display supplementary content overlaid on the sensor-image in relation to a selected location on the sensor-image, or for determining the geographic location coordinates of a scene element.
摘要翻译：图像地理分配方法与系统。成像传感器获取场景的传感器图像。获取所获得的传感器图像的成像参数，当使用位置测量单元检测到时，成像参数至少包括检测到的3D位置和获取传感器图像时的成像传感器的取向。从纹理3D地理模型生成场景的模型图像，模型图像表示使用成像参数在3D模型中获取的场景的基于纹理的2D图像。比较传感器图像和模型图像，确定它们之间的差异。根据差异确定成像传感器的更新的3D位置和取向。更新的位置和方向可以用于显示相对于传感器图像上的所选位置覆盖在传感器图像上的补充内容，或者用于确定场景元素的地理位置坐标。

3. 发明公开

EP4296943A3 METHODS AND SYSTEMS FOR CAMERA 3D POSE DETERMINATION 审中-实审
公开(公告)号：EP4296943A3
公开(公告)日：2024-04-03
申请号：EP23204547.6
申请日：2019-11-10
申请人： Elbit Systems Land and C4I Ltd.
发明人： GOLDMAN, Benny , HAHAM, Eli
IPC分类号： G06T7/73 , G06T7/70 , G06T7/33 , G06T7/00
摘要： Method/system for determining pose of camera using another camera imaging common scene, by capturing first scene image with first camera and obtaining first camera pose by georegistering to 3D-model, extracting scene features in first image, determining 3D coordinates of extracted features by mapping to 3D model, transmitting feature descriptors and feature coordinates, capturing second scene image with second camera, extracting scene features in second image and matching with first image features, determining second camera pose using 3D scene coordinates and corresponding 2D projections in second image. Method/system for determining pose of one camera using another camera in same camera assembly with known relative pose between cameras in assembly, by capturing image of scene with first camera and determining 3D coordinates of first camera by georegistering to 3D-model, and determining pose of second camera based on determined global pose of first camera and relative pose between second camera and first camera.

4. 发明公开

EP4296943A2 METHODS AND SYSTEMS FOR CAMERA 3D POSE DETERMINATION 审中-实审
公开(公告)号：EP4296943A2
公开(公告)日：2023-12-27
申请号：EP23204547.6
申请日：2019-11-10
申请人： Elbit Systems Land and C4I Ltd.
发明人： GOLDMAN, Benny , HAHAM, Eli
IPC分类号： G06T7/00
摘要： Method/system for determining pose of camera using another camera imaging common scene, by capturing first scene image with first camera and obtaining first camera pose by georegistering to 3D-model, extracting scene features in first image, determining 3D coordinates of extracted features by mapping to 3D model, transmitting feature descriptors and feature coordinates, capturing second scene image with second camera, extracting scene features in second image and matching with first image features, determining second camera pose using 3D scene coordinates and corresponding 2D projections in second image. Method/system for determining pose of one camera using another camera in same camera assembly with known relative pose between cameras in assembly, by capturing image of scene with first camera and determining 3D coordinates of first camera by georegistering to 3D-model, and determining pose of second camera based on determined global pose of first camera and relative pose between second camera and first camera.

5. 发明公开

EP3903285A1 METHODS AND SYSTEMS FOR CAMERA 3D POSE DETERMINATION 有权
公开(公告)号：EP3903285A1
公开(公告)日：2021-11-03
申请号：EP19904780.4
申请日：2019-11-10
申请人： Elbit Systems Land and C4I Ltd.
发明人： GOLDMAN, Benny , HAHAM, Eli
IPC分类号： G06T7/73 , G06T7/70 , G06T7/33 , G06T7/00

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