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1. 发明授权

EP2834668B1 METHOD FOR LOCALIZING A VEHICLE EQUIPPED WITH TWO LIDAR SYSTEMS 有权转让
公开(公告)号：EP2834668B1
公开(公告)日：2018-11-14
申请号：EP13715420.9
申请日：2013-04-02
申请人： Oxford University Innovation Limited
发明人： NEWMAN, Paul, Michael , BALDWIN, Ian, Alan
IPC分类号： G01S17/87 , G01S17/58 , G01S7/48 , G01S17/89 , G06T7/00 , G01C21/00
CPC分类号： G01S17/875 , G01S7/4808 , G01S17/58 , G01S17/87 , G01S17/89
摘要： A method of localizing transportable apparatus (200) within an environment includes receiving (402) data obtained from a first ranging sensor device (202) that is configured to collect information relating to a 2D representation of an environment (301) through which the transportable device is moving. Further data is received (404), that data being obtained from a second ranging sensor device (204) of the transportable apparatus configured to collect information relating to at least a surface (218) over which the transportable apparatus is moving. The ranging sensor device data is used (406) to estimate linear and rotational velocities of the transportable apparatus and the estimates are used (408) to generate a new 3D point cloud (212) of the environment. The method seeks to match (412) the new 3D point cloud with, or within, existing 3D point cloud (216) in order to localize the transportable apparatus with respect to the existing point cloud.

2. 发明授权

EP2959315B1 GENERATION OF 3D MODELS OF AN ENVIRONMENT 有权转让
公开(公告)号：EP2959315B1
公开(公告)日：2018-06-27
申请号：EP14711839.2
申请日：2014-02-21
申请人： Oxford University Innovation Limited
发明人： NEWMAN, Paul Michael , BALDWIN, Ian
IPC分类号： G06T17/05 , H04N5/225 , G06T7/246 , G06T7/262 , G06T7/285 , G01S17/87 , G01S17/89
CPC分类号： G06T17/05 , G01S17/87 , G01S17/875 , G01S17/89 , G06T7/246 , G06T7/262 , G06T7/285 , G06T2200/04 , G06T2207/10021 , G06T2207/10028 , G06T2207/30241 , G06T2207/30252 , G06T2215/16 , H04N5/2253 , H04N13/239 , H04N13/296
摘要： Generating a 3D reconstruction of an environment around a monitoring-unit as that monitoring-unit is moved through the environment: a) providing at least a camera and a LIDAR sensor, each being controlled by independent clocks; b) using the camera to determine the trajectory of the monitoring-unit and determining a first time series using the clock of the camera, where the first time series details when the monitoring-unit was at predetermined points of the trajectory; c) recording the returns from the LIDAR sensor and determining a second time series using the clock of the LIDAR sensor, where the second time series details when each scan from the LIDAR was taken; d) using a timer to relate the first and second series in order to match the return from the LIDAR sensor to the point on the trajectory at which the return was received; and e) creating the 3D reconstruction based upon the LIDAR returns using information from the two time series.

3. 发明公开

EP3055649A4 SYSTEM AND METHOD FOR CAMERA BASED POSITION AND ORIENTATION MEASUREMENT 有权
标题翻译： SYSTEM UND VERFAHRENFÜREINE KAMERABASIERTE POSITIONS- UND AUSRICHTUNGSMESSUNG
公开(公告)号：EP3055649A4
公开(公告)日：2017-06-21
申请号：EP14851781
申请日：2014-10-07
申请人： HILTI AG
发明人： MONTGOMERY PAUL YALDEN , WINTER ANDREAS , CRAMER TILL
IPC分类号： G01C21/00 , G01C25/00
CPC分类号： G01S17/023 , F16M11/08 , F16M11/18 , G01S5/163 , G01S17/42 , G01S17/875 , G03B17/561 , G03B37/00
摘要： A system and a method for determining a position and an orientation of an object relative to a defined reference frame is disclosed. A plurality of targets are disposed at known locations relative to the defined reference frame. A head assembly is disposed on the object, where the head assembly includes a plurality of cameras. The head assembly determines the position and the orientation of the object from location data associated with the plurality of targets and image data from the plurality of cameras.
摘要翻译：公开了用于确定对象相对于定义的参考帧的位置和方向的系统和方法。多个目标设置在相对于限定的参考框架的已知位置处。头部组件设置在物体上，其中头部组件包括多个相机。头部组件根据与多个目标相关联的位置数据和来自多个相机的图像数据来确定物体的位置和方向。

4. 发明公开

EP2972085A1 METHOD AND APPARATUS FOR PROJECTION OF BIM INFORMATION 有权
标题翻译：方法和设备的投影BIM信息的
公开(公告)号：EP2972085A1
公开(公告)日：2016-01-20
申请号：EP14716150.9
申请日：2014-03-12
申请人： Trimble Navigation Limited
发明人： KAHLE, Kent Wayne , JIANG, Jinwei , GRAESSER, Christian , WINTER, Andreas , VOLLATH, Ulrich
IPC分类号： G01C15/02 , B25H7/00 , G01S5/16 , G06F17/50 , G06T19/00
CPC分类号： H04N9/3185 , B25H7/00 , G01B11/14 , G01C15/02 , G01S5/163 , G01S17/08 , G01S17/875 , G03B17/54 , G03B21/00 , G03B21/145 , G03B21/53 , G06F17/5004 , H04N5/2251 , H04N9/3141
摘要： A system for projecting an image, including layout information, on a surface in a building under construction has a projector mounted on a moveable support for supporting a worker at a work position in the building. The projector projects an image on a surface above the moveable support in response to an image signal defining the image to be projected. The image indicates the location of connectors, anchors, and holes to be affixed to, or cut through, the surface. A system determines the two dimensional position of the projector in the building, and a distance measuring system for determines the distance from the projector to said surface. A processor, responsive to a memory having stored building plan images, provides an image signal to the projector adjusted for the two dimensional location of the projector and for the distance from the projector to the surface.

5. 发明授权

EP2109062B1 Aircraft identification and docking guidance systems 有权
标题翻译：飞机识别和对接指导系统
公开(公告)号：EP2109062B1
公开(公告)日：2013-01-23
申请号：EP09008930.1
申请日：2000-10-27
申请人： Safegate International AB
发明人： Millgard, Lars
IPC分类号： G06K9/62 , G01S17/02 , G01S17/06 , G01S17/08 , G01S17/42 , G01S17/66 , G01S17/87 , G01S17/88 , G01S17/89 , G01S17/93 , B64F1/00 , G01B11/24 , G06K9/32 , G06T7/00 , G06T7/60 , G08G5/06
CPC分类号： G01S17/026 , B64F1/305 , G01S17/06 , G01S17/08 , G01S17/42 , G01S17/66 , G01S17/875 , G01S17/88 , G01S17/89 , G01S17/933 , G06K9/00 , G06K9/00791 , G06K9/3241 , G08G5/0026 , G08G5/045 , G08G5/065

6. 发明授权

EP1230620B1 AIRCRAFT IDENTIFICATION AND DOCKING GUIDANCE SYSTEMS 有权
标题翻译：识别与ANDOCKUNGSFÜHRUNGSANLAGEFOR飞机
公开(公告)号：EP1230620B1
公开(公告)日：2012-11-21
申请号：EP00990177.8
申请日：2000-10-27
申请人： Safegate International AB
发明人： MILLGARD, Lars
IPC分类号： G06K9/62 , G01S17/02 , G01S17/06 , G01S17/08 , G01S17/42 , G01S17/66 , G01S17/87 , G01S17/88 , G01S17/89 , G01S17/93 , B64F1/00 , G01B11/24 , G06K9/32 , G06T7/00 , G06T7/60 , G08G5/06
CPC分类号： G01S17/026 , B64F1/305 , G01S17/06 , G01S17/08 , G01S17/42 , G01S17/66 , G01S17/875 , G01S17/88 , G01S17/89 , G01S17/933 , G06K9/00 , G06K9/00791 , G06K9/3241 , G08G5/0026 , G08G5/045 , G08G5/065

7. 发明授权

EP2169419B1 Système de détection par balayage optique de position et/ou d'orientation d'objets 有权
标题翻译：系统，用于在检测到过光学扫描物体的位置和/或取向
公开(公告)号：EP2169419B1
公开(公告)日：2012-11-14
申请号：EP09171226.5
申请日：2009-09-24
申请人： Thales
发明人： Barbier, Bruno , Rouzes, Siegfried
IPC分类号： G01S5/16 , G01S17/87 , F41G3/22
CPC分类号： G01S17/875 , F41G3/225 , G01S5/163

8. 发明公开

EP2440982A1 CENTERING ABOVE A PREDETERMINED AREA OF A LANDING PLATFORM 审中-公开
标题翻译：定心上述土地面积的预定区域
公开(公告)号：EP2440982A1
公开(公告)日：2012-04-18
申请号：EP09845913.4
申请日：2009-06-12
申请人： Saab AB
发明人： EHLIN, Johan , HÖGSTRÖM, Tomas
IPC分类号： G05D1/08 , G01S17/87 , G01S5/16
CPC分类号： G05D1/0684 , G01S17/023 , G01S17/875 , G01S17/88
摘要： A system arranged in an aerial vehicle for determining the position of the aerial vehicle relative to a center of a remote predetermined landing area arranged on a surface. A beam emitter is configured to emit beams towards the surface. A detector is configured to detect the beams reflected from the surface. A control is configured to control the beam emitter to emit beams onto the surface to form a plurality of lines thereon. A processor is configured to detect at least one edge providing a difference in height relative to the surface based on the detected reflected line forming beams. The edge substantially surrounds the predetermined landing area. The processor is further configured to determine the position of the aerial vehicle relative to the center of the remote predetermined landing area based on the detected at least one edge.

9. 发明公开

EP2109065A3 Aircraft identification and docking guidance systems 有权
公开(公告)号：EP2109065A3
公开(公告)日：2010-05-19
申请号：EP09008939.2
申请日：2000-10-27
申请人： Safegate International AB
发明人： Millgard, Lars
IPC分类号： G06K9/62 , G01S17/02 , G01S17/06 , G01S17/08 , G01S17/42 , G01S17/66 , G01S17/87 , G01S17/88 , G01S17/89 , G01S17/93 , B64F1/00 , G01B11/24 , G06K9/32 , G06T7/00 , G06T7/60 , G08G5/06
CPC分类号： G01S17/026 , B64F1/305 , G01S17/06 , G01S17/08 , G01S17/42 , G01S17/66 , G01S17/875 , G01S17/88 , G01S17/89 , G01S17/933 , G06K9/00 , G06K9/00791 , G06K9/3241 , G08G5/0026 , G08G5/045 , G08G5/065
摘要： A laser range finder (LRF) (20) is used to identify an aircraft (12) approaching a gate. The LRF (20) is directed at the aircraft (12), and from the echoes, a profile is derived and compared to known profiles. To distinguish among aircraft (12) with similar profiles, the LRF is directed at a volume in which a feature such as an engine is expected and at another volume in which the engine is not expected. The echoes from the two volumes are used to determine whether the engine is in its expected location. If so, the aircraft (12) is identified as the correct type and is allowed to dock at the gate (16). Otherwise, the aircraft (12) is stopped. The nose height can be used as yet another identifying criterion.

10. 发明公开

EP2169419A1 Système de détection par balayage optique de position et/ou d'orientation d'objets 有权
标题翻译：系统，用于在检测到过光学扫描物体的位置和/或取向
公开(公告)号：EP2169419A1
公开(公告)日：2010-03-31
申请号：EP09171226.5
申请日：2009-09-24
申请人： Thales
发明人： Barbier, Bruno , Rouzes, Siegfried
IPC分类号： G01S5/16 , G01S17/87 , F41G3/22
CPC分类号： G01S17/875 , F41G3/225 , G01S5/163
摘要： Le dispositif optique de détermination de position et d'orientation d'un objet comprenant une partie fixe comprend un projecteur de faisceau laser à balayage séquentiel et un centre de projection (O), définissant le centre d'un repère (R) de l'espace.
Le projecteur émet dans une zone comprenant au-moins quatre capteurs fixés sur ledit objet, les quatre capteurs ayant une disposition connue sur l'objet.
Les instants auxquels chacun des capteurs fournit une impulsion électrique déterminent les directions angulaires desdits capteurs dans le repère, les quatre droites passant par l'origine et par chacun des capteurs interceptant un plan image de la partie fixe en quatre points projetés.
Les positions dans le plan image des projetés des quatre points déterminent une forme géométrique permettant de calculer la position et l'orientation de l'objet dans l'espace.
摘要翻译：该装置具有用于在区域包括光电检测器（A'-D“）例如，在扫描光束投影仪（P）光电二极管，固定到对象，在那里光束扫描定向被保持在时刻确定性开采。光电检测器形成平行四边形，且在时刻到在一个刻度标记的每个光电探测器的确定性矿方向由光束扫描。线包括在所投影的点（A-D）的固定部分的图像的截取面内方向（PI）。在平面确定性矿四边形来计算物体在空间中的位置和方向的投影点的位置。因此独立claimsoft被包括在用于确定性采矿的位置和对象的定位的光学方法。

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