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1. 发明公开

EP2625081A4 DIAGNOSIS AND REPAIR FOR AUTONOMOUS VEHICLES 有权转让
标题翻译： DIAGNOSE UND REPARATUR自主体FAHRZEUGE
公开(公告)号：EP2625081A4
公开(公告)日：2017-05-10
申请号：EP11831505
申请日：2011-10-05
申请人： GOOGLE INC
发明人： DOLGOV DMITRI A , URMSON CHRISTOPHER PAUL
IPC分类号： B60W30/00 , B60W30/10 , B60W30/14 , B60W40/02 , G05D1/02
CPC分类号： G05D1/0088 , B60R1/00 , B60R2300/30 , B60W30/08 , B60W30/186 , B60W2050/0292 , B60W2530/14 , B60W2550/22 , B62D6/00 , G01C21/3617 , G05D1/0055 , G05D1/021 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/0274 , G05D1/0276 , G05D1/0278 , G05D2201/0213 , G06K9/00201 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/3241 , G06T7/0044 , G06T7/0057 , G06T7/20 , G06T2207/10004 , G06T2207/10028 , G06T2207/30236 , G06T2207/30252 , G06T2207/30261
摘要： Aspects of the invention relate generally to autonomous vehicles 101. Specifically, the features described may be used alone or in combination in order to improve the safety, use, driver experience, and performance of these vehicles.
摘要翻译：道路图可以包括诸如道路，车道，交叉路口之类的信息的图形网络以及这些特征之间的连接。道路图也可以包括与特定规则相关联的一个或多个区域。这些区域可能包括驾驶通常具有挑战性的地点，如合并，施工区域或其他障碍物。在一个示例中，规则可能需要自主车辆来警告驾驶员车辆正在接近区域。因此，车辆可能需要驾驶员对转向，加速，减速等进行控制。在另一个示例中，这些区域可以由驾驶员指定并且可以被广播给其他附近的车辆，例如使用无线电链路或其他网络其他车辆能够在相同的位置观察相同的规则，或者至少通知其他车辆的驾驶员另一驾驶员感觉到该位置对于自动驾驶是不安全的。

2. 发明公开

EP3081900A1 MEASUREMENT DEVICE AND METHOD FOR MEASURING THE SHAPE OF AN OBJECT TO BE MEASURED, SYSTEM, AND ARTICLE PRODUCTION METHOD 审中-公开
标题翻译：测量装置和测量方法测量一个形状来测量点，系统和方法文章
公开(公告)号：EP3081900A1
公开(公告)日：2016-10-19
申请号：EP16163811.9
申请日：2016-04-05
申请人： Canon Kabushiki Kaisha
发明人： KITAMURA, Tsuyoshi , TOKIMITSU, Takumi
IPC分类号： G01B11/25 , G06T7/00 , G06T1/00 , G06K9/20
CPC分类号： G06T7/0057 , B25J9/1687 , B25J19/021 , G01B11/24 , G01B11/2513 , G05B2219/45063 , G06K9/2036 , G06K2209/401 , G06T1/0014 , G06T7/521
摘要： A measurement device (1) measuring a shape of an object (5), including a processing unit (4) obtaining information on the shape of the object based on an image obtained by imaging the object on which a pattern light including a plurality of lines in which a distinguishing portion that distinguishes the lines from each other has been provided. In the measurement device the processing unit acquires, in a luminosity distribution of the image, in a direction intersecting the lines, positions including positions in which luminance is the largest and is the smallest, and the processing unit specifies a position to be excluded from the positions in which the luminance is the largest and is the smallest on a basis of the position of the distinguishing portion and obtains the information on the shape of the object based on positions except for the specified position.
摘要翻译：的测量装置（1）测量物体（5）包括：（4）基于通过成像对象而获得的图像上获得的物体的形状信息的处理部的形状在其上的图案的光包括条线的多个其中A特征部分没有区别，已经提供彼此的行。在该测量装置中的处理单元获取，在图像的亮度分布，在一个方向交叉的线，职位，包括位置在哪个亮度是大最大和是最小的，并且所述处理单元指定的位置处从所述排除其位置在亮度为大最大和最小区别部分的位置的基础上，获得关于基于除的指定位置的位置的物体的形状的信息。

3. 发明公开

EP2990995A3 LINE PARAMETRIC OBJECT ESTIMATION 审中-公开
标题翻译：估计对象LINIENPARAMETRISCHEM的
公开(公告)号：EP2990995A3
公开(公告)日：2016-04-20
申请号：EP15182358.0
申请日：2015-08-25
申请人： Leica Geosystems AG
发明人： SCHROETER, Derik , WALSH, Gregory Charles
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/0057 , G06K9/00201 , G06T15/08 , G06T17/00 , G06T2207/10028 , G06T2210/56 , G06T2210/61 , G06T2215/16
摘要： A method may include projecting, onto a first projection plane of a first projection volume, first points from a point cloud of a setting that are within the first projection volume. Further, the method may include matching a plurality of the projected first points with a cross-section template that corresponds to a line parametric object (LPO) of the setting to determine a plurality of first element points of a first primary projected element. Additionally, the method may include projecting, onto a second projection plane of a second projection volume, second points from the point cloud that are within the second projection volume and matching a plurality of the projected second points with the cross-section template to determine a plurality of second element points of a second primary projected element. Moreover, the method may include generating a parameter function based on the first element points and the second element points.

4. 发明公开

EP2874097A3 Automatic scene parsing 审中-公开
标题翻译：自动场景解析
公开(公告)号：EP2874097A3
公开(公告)日：2015-07-29
申请号：EP14191033.1
申请日：2014-10-30
申请人： Nokia Corporation
发明人： Fan, Lixin , Hajiani, M. Pouria
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/0057 , G06K9/00201 , G06K9/00791 , G06T2207/10028 , G06T2207/20112 , G06T2207/30244 , G06T2207/30252
摘要： A method comprising: obtaining an image about an at least one object of interest and a three-dimensional (3D) point cloud about said object of interest; aligning the 3D point cloud with the image; segmenting the image into a plurality of superpixels preserving a graph structure and spatial neighbourhood of pixel data of the image; associating the superpixels in the image with a subset of said 3D points, said subset of 3D points representing a planar patch in said object of interest; extracting a plurality of 3D features for each patch; and assigning at least one vector representing at least one 3D feature with a semantic label on the basis of at least one extracted 3D feature of the patch.
摘要翻译：一种方法，包括：获得关于至少一个感兴趣对象和关于所述感兴趣对象的三维（3D）点云的图像; 将3D点云与图像对齐; 将图像分割成保存图像的像素数据的图形结构和空间邻域的多个超像素; 将图像中的超像素与所述3D点的子集相关联，所述3D点的子集表示所述感兴趣对象中的平面块; 为每个小片提取多个3D特征; 以及基于所述补片的至少一个提取的3D特征，将代表至少一个3D特征的至少一个矢量与语义标签分配。

5. 发明公开

EP2372648A3 Optical acquisition of object shape from coded structured light 有权
标题翻译：从编码结构光线中获取物体形状
公开(公告)号：EP2372648A3
公开(公告)日：2011-10-12
申请号：EP11156340.9
申请日：2011-03-01
申请人： Canon Kabushiki Kaisha
发明人： Sonoda, Tetsuri
IPC分类号： G06T7/00 , G01B11/25
CPC分类号： G06T7/0057 , G01B11/2513 , G06T7/521
摘要： An information processing apparatus generates pattern data including a plurality of measurement lines, and a reference line which has a plurality of intersection points with the plurality of measurement lines, respectively, and has a shape that is defined in an interval between the intersection points by a specific feature, captures an image of an object onto which projection pattern light, based on the generated pattern data, is projected, extracts the intersection points from the captured image, and obtains information, concerning the shape with a specific feature in the interval between the intersection points on the reference line in the captured image, as identification information used to identify the measurement lines.
摘要翻译：信息处理设备生成包括多个测量线和与多个测量线分别具有多个交点的基准线的图案数据，并且该图案数据具有在交点之间的间隔中由特定特征，捕获到其上的投影图案的光，基于所生成的图形数据，被投影的对象的图像，从捕获的图像中提取交叉点，并获得信息，关于在之间的间隔具有特定功能的形状作为用于识别测量线的识别信息，将摄像图像中的基准线上的交点作为识别信息。

6. 发明公开

EP3155370A1 A METHOD AND SYSTEM TO IDENTIFY A POSITION OF A MEASUREMENT POLE 审中-公开
标题翻译： VERFAHREN UND SYSTEM ZUR IDENTIFIZIERUNG EINER POSITION EINES MESSPOLS
公开(公告)号：EP3155370A1
公开(公告)日：2017-04-19
申请号：EP15730331.4
申请日：2015-05-29
申请人： Topcon Positioning Systems, Inc.
发明人： HALLETT, Jason
IPC分类号： G01C15/06 , G06F3/03
CPC分类号： G06T7/0057 , G01C15/06 , G06F3/0325 , G06T7/521 , G06T2207/10004 , G06T2207/10028 , G06T2207/30204
摘要： A method and a system in which an image of an object having a tip end and a plurality of markings disposed on an outer surface is acquired, a distance between the measurement system and each of the plurality of markings and a plurality of angles at which the object is positioned in the three-dimensional space are determined, a three-dimensional vector of the object is determined based on the distance between the measurement system and each of the plurality of markings and based on the plurality of angles at which the object is positioned in the three-dimensional space, and a position of the tip end in the three-dimensional space is determined based on the distance to each of the plurality of markings and based on the three-dimensional vector of the object.
摘要翻译：一种方法和系统，其中获取具有设置在外表面上的顶端和多个标记的对象的图像，测量系统与多个标记中的每一个之间的距离以及多个角度确定对象在三维空间中的位置，基于测量系统与多个标记中的每一个之间的距离并且基于物体所在的多个角度来确定对象的三维向量在三维空间中，并且基于与多个标记中的每一个的距离并且基于对象的三维向量来确定三维空间中的末端的位置。

7. 发明公开

EP3102908A4 STRUCTURED LIGHT MATCHING OF A SET OF CURVES FROM TWO CAMERAS 有权转让
标题翻译： STR AS AS UNG UNG UNG UNG AS AS AS AS AS AS AS AS AS AS AS AS AS AS AS
公开(公告)号：EP3102908A4
公开(公告)日：2017-01-25
申请号：EP15746050
申请日：2015-02-04
申请人： CREAFORM INC
发明人： TUBIC DRAGAN , SOUCY MARTIN , GIGNAC OLIVIER , CARON ANTOINE THOMAS
IPC分类号： G06T7/00 , G01B11/245
CPC分类号： G06T7/0057 , G01B11/25 , G06K9/4609 , G06T7/521 , G06T7/593 , G06T2207/10021 , G06T2207/10028 , G06T2207/10152 , G06T2207/20068 , G06T2207/30204 , G06T2207/30244 , H04N13/0239 , H04N13/0246
摘要： A method for matching points between two images of a scene acquired by two cameras, the method including: extracting blobs from the reflection in the images and individually labelling the blobs with a unique identifier; selecting a selected epipolar plane and defining a conjugate epipolar line on each of the images; identifying plausible combinations including a light sheet label of the projected pattern and the unique identifier for a plausible blob selected from the blobs in each of the images; calculating a matching error for each of the plausible combinations; repeating the steps of selecting, identifying and calculating for at least some epipolar planes; determining a most probable combination by computing a figure of merit for the plausible combinations; identifying matching points in the frame from the most probable combination.
摘要翻译：一种用于匹配由两个相机获取的场景的两个图像之间的点的方法，所述方法包括：从图像中的反射中提取斑点并用唯一标识符单独标记斑点; 选择所选择的对极平面并在每个图像上限定共轭核线; 识别合适的组合，包括投影图案的光照标签和从每个图像中的斑点中选择的合理的斑点的唯一标识符; 计算每个合理组合的匹配误差; 重复选择，识别和计算至少一些对极平面的步骤; 通过计算可信组合的品质因数来确定最可能的组合; 从最可能的组合中识别帧中的匹配点。

8. 发明公开

EP2881702A4 IMAGE PROCESSING SYSTEM, AND IMAGE PROCESSING METHOD 失效转让
标题翻译：图像处理系统和图像处理方法
公开(公告)号：EP2881702A4
公开(公告)日：2016-03-23
申请号：EP13825095
申请日：2013-06-28
申请人： NAT INST OF ADVANCED IND SCIEN , UNIV KAGOSHIMA , HIROSHIMA CITY UNIVERSITY
发明人： SAGAWA RYUSUKE , KAWASAKI HIROSHI , FURUKAWA RYO
IPC分类号： G01B11/25 , G06T1/00 , G06T7/00
CPC分类号： G06T7/73 , G01B11/2513 , G01B11/2545 , G06T1/0007 , G06T7/0057 , G06T7/521 , G06T2207/10012
摘要： A high-density shape reconstruction is conducted in measuring animal bodies as well. An image processing system has a projection device, an imaging device, and an image processing apparatus connected to the projection device and the imaging device, wherein the projection device projects a projected pattern to an observation target, the imaging device captures the projected pattern, and the image processing apparatus performs shape reconstruction based on an input image including the projected pattern. The image processing apparatus includes a unit for fetching the input image captured by the imaging device and performing line detection for the projected pattern projected by the projection device, wherein the projected pattern is a grid pattern formed of wave lines; and a unit for performing shape reconstruction by associating intersection points of vertical and horizontal lines extracted by the line detection with the projected pattern.
摘要翻译：在测量动物体中进行高密度形状重建。图像处理系统具有投影装置，成像装置和连接到投影装置和成像装置的图像处理装置，其中投影装置将投影图案投射到观察对象，成像装置捕获投影图案，并且图像处理装置基于包括投影图案的输入图像进行形状重建。图像处理装置包括用于取出由成像装置拍摄的输入图像并对由投影装置投射的投影图案进行线检测的单元，其中投影图案是由波线形成的网格图案; 以及通过将由线检测提取的垂直线和水平线的交点与投影图案相关联来进行形状重建的单元。

9. 发明公开

EP2769551A4 GENERATING A DEPTH MAP 审中-公开
标题翻译：产生深度图
公开(公告)号：EP2769551A4
公开(公告)日：2016-03-09
申请号：EP12841669
申请日：2012-10-21
申请人： MICROSOFT TECHNOLOGY LICENSING LLC
发明人： KIRK ADAM G , ESHET YARON , PATIEJUNAS KESTUTIS , KANG SING BING , ZITNICK CHARLES LAWRENCE III , ERAKER DAVID , WINDER SIMON
IPC分类号： H04N13/00 , G06T7/00
CPC分类号： G06T7/0057 , G06T7/521 , G06T7/593 , G06T2207/10048

10. 发明公开

EP2990995A2 LINE PARAMETRIC OBJECT ESTIMATION 审中-公开
标题翻译：线参数对象估计
公开(公告)号：EP2990995A2
公开(公告)日：2016-03-02
申请号：EP15182358.0
申请日：2015-08-25
申请人： Leica Geosystems AG
发明人： SCHROETER, Derik , WALSH, Gregory Charles
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/0057 , G06K9/00201 , G06T15/08 , G06T17/00 , G06T2207/10028 , G06T2210/56 , G06T2210/61 , G06T2215/16
摘要： A method may include projecting, onto a first projection plane of a first projection volume, first points from a point cloud of a setting that are within the first projection volume. Further, the method may include matching a plurality of the projected first points with a cross-section template that corresponds to a line parametric object (LPO) of the setting to determine a plurality of first element points of a first primary projected element. Additionally, the method may include projecting, onto a second projection plane of a second projection volume, second points from the point cloud that are within the second projection volume and matching a plurality of the projected second points with the cross-section template to determine a plurality of second element points of a second primary projected element. Moreover, the method may include generating a parameter function based on the first element points and the second element points.
摘要翻译：一种方法可以包括在第一投影体积的第一投影平面上投射来自位于第一投影体积内的设置的点云的第一点。此外，该方法可以包括将多个投影的第一点与对应于该设置的线参数对象（LPO）的横截面模板进行匹配以确定第一主要投影元素的多个第一元素点。另外，该方法可以包括将第二投影体积的第二投影平面投影到第二投影体积内的来自点云的第二点并且将多个投影的第二点与横截面模板进行匹配以确定第二主投影元件的多个第二元件点。此外，该方法可以包括基于第一元素点和第二元素点生成参数函数。

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