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1. 发明授权

US10116842B2 Gathering range and dimensional information for underwater surveys 有权
公开(公告)号：US10116842B2
公开(公告)日：2018-10-30
申请号：US14436869
申请日：2013-10-17
申请人： Cathx Research Ltd.
发明人： Adrian Boyle , Michael Flynn , James Mahon
IPC分类号： H04N9/47 , H04N5/225 , G06T3/40 , G06F17/30 , G01C3/08 , G01C11/02 , H04N5/247 , H04N5/265 , H04N7/18 , B60R1/00 , G06K9/46 , G06T1/00 , G06T11/00
摘要： The present invention relates to an underwater method and system for gathering range and dimensional information of subsea objects, the system comprising a camera module suitable for capturing images of sub-sea scenes; and a reference projection light source that, in use, projects a structured light beam onto a target. The structured light beam is preferably generated by a laser and may comprise spots, lines, grids and the like.

2. 发明申请

US20160198074A1 IMPROVEMENTS IN RELATION TO UNDERWATER IMAGING FOR UNDERWATER SURVEYS 审中-公开
标题翻译：关于水下测量的水下成像的改进
公开(公告)号：US20160198074A1
公开(公告)日：2016-07-07
申请号：US14436868
申请日：2013-10-17
申请人： CATHX RESEARCH LTD
发明人： Adrian Boyle , Michael FLYNN
IPC分类号： H04N5/225 , B60R1/00 , G06K9/46 , G06F17/30 , H04N7/18 , H04N5/265
CPC分类号： H04N5/2251 , B60R1/00 , G01C3/08 , G01C11/02 , G06F17/30265 , G06F17/30268 , G06K9/46 , G06T1/0007 , G06T3/4038 , G06T11/00 , G06T2200/32 , G06T2207/10144 , G06T2207/10152 , H04N5/2256 , H04N5/247 , H04N5/265 , H04N7/18
摘要： The present invention relates to methods and systems for performing underwater surveys, in particular on sub-sea installations such as oil and gas pipelines, risers, well-heads and so on. Further the invention relates to providing an augmented underwater image of a scene for use in an under-water survey, using an underwater imaging system comprising a light module, image processing module and a camera module, the light module comprising a plurality of light classes each light class having one or more light sources. The invention uses sequential imaging to provide the augmented output image.
摘要翻译：本发明涉及用于执行水下测量的方法和系统，特别是在诸如石油和天然气管道，立管，井头等的海底设施上。此外，本发明涉及使用包括光模块，图像处理模块和相机模块的水下成像系统来提供在水下测量中使用的场景的增强水下图像，所述光模块包括多个光类别具有一个或多个光源的光级。本发明使用顺序成像来提供增强的输出图像。

3. 发明授权

US10163213B2 3D point clouds 有权
公开(公告)号：US10163213B2
公开(公告)日：2018-12-25
申请号：US15306378
申请日：2015-04-24
申请人： CATHX RESEARCH LTD
发明人： Adrian Boyle , Michael Flynn
IPC分类号： G06T7/00 , G06T7/521 , G06T7/73
摘要： Provided is a method for generating a 3D point cloud and colour visualisation of an underwater scene, the point cloud comprising a set of (x, y, z) coordinates relating to points in the scene, the method operating in a system comprising at least one camera module, at least one structured light source, and a processing module, each of the at least one camera module being directed at the scene and having substantially the same overlapped field of view.

4. 发明申请

US20170046845A1 3D POINT CLOUDS 审中-公开
标题翻译： 3D点云
公开(公告)号：US20170046845A1
公开(公告)日：2017-02-16
申请号：US15306378
申请日：2015-04-24
申请人： CATHX RESEARCH LTD
发明人： Adrian Boyle , Michael Flynn
IPC分类号： G06T7/00
CPC分类号： G06T7/73 , G06T7/521 , G06T2207/10024 , G06T2207/10028
摘要： Provided is a method for generating a 3D point cloud and colour visualisation of an underwater scene, the point cloud comprising a set of (x, y, z) coordinates relating to points in the scene, the method operating in a system comprising at least one camera module, at least one structured light source, and a processing module, each of the at least one camera module being directed at the scene and having substantially the same overlapped field of view.
摘要翻译：提供了一种用于生成水下场景的3D点云和颜色可视化的方法，所述点云包括与场景中的点相关的一组（x，y，z）坐标，所述方法在包括至少一个相机模块，至少一个结构化光源和处理模块，所述至少一个相机模块中的每一个被引导到场景并具有基本上相同的重叠视野。

5. 发明授权

US10943321B2 Method and system for processing image data 有权
公开(公告)号：US10943321B2
公开(公告)日：2021-03-09
申请号：US16069857
申请日：2016-11-14
申请人： Cathx Research Ltd
发明人： Adrian Boyle , Marie Flynn , Michael Flynn
IPC分类号： G06T1/00 , G06K9/00 , G06N20/00
摘要： Provided are a method and system for processing image data, the method comprising: capturing raw image data of multiple images of one or more scenes under one or more lighting conditions; machine vision processing the raw image data to generate machine vision data; classifying the machine vision data according to a type of the machine vision data; and storing the classified machine vision data in a multi-tiered data structure according to the machine vision data type, configured to enable each of the tiers of data to be processed independently of each other.

6. 发明申请

US20190019266A1 METHOD AND SYSTEM FOR PROCESSING IMAGE DATA 审中-公开
公开(公告)号：US20190019266A1
公开(公告)日：2019-01-17
申请号：US16069857
申请日：2016-11-14
申请人： Cathx Research Ltd
发明人： Adrian Boyle , Marie Flynn , Michael Flynn
IPC分类号： G06T1/00 , G06F15/18
摘要： Provided are a method and system for processing image data, the method comprising: capturing raw image data of multiple images of one or more scenes under one or more lighting conditions; machine vision processing the raw image data to generate machine vision data; classifying the machine vision data according to a type of the machine vision data; and storing the classified machine vision data in a multi-tiered data structure according to the machine vision data type, configured to enable each of the tiers of data to be processed independently of each other.

7. 发明授权

US10158793B2 Processing survey data of an underwater scene 有权
公开(公告)号：US10158793B2
公开(公告)日：2018-12-18
申请号：US14436871
申请日：2013-10-17
申请人： Cathx Research Ltd.
发明人： Adrian Boyle , Michael Flynn
IPC分类号： H04N5/225 , G06T3/40 , G06F17/30 , G01C3/08 , G01C11/02 , H04N5/247 , H04N5/265 , H04N7/18 , B60R1/00 , G06K9/46 , G06T1/00 , G06T11/00
摘要： The present invention relates to a method of processing survey data of an underwater scene comprising acquiring an augmented image of each of a plurality of fields of view within the scene, wherein each augmented image comprises at least a scene image of the scene, a location tag associated with that scene image, and metadata associated with that scene image.

8. 发明授权

US10116841B2 Relation to underwater imaging for underwater surveys 有权
公开(公告)号：US10116841B2
公开(公告)日：2018-10-30
申请号：US14436868
申请日：2013-10-17
申请人： Cathx Research Ltd.
发明人： Adrian Boyle , Michael Flynn
IPC分类号： H04N7/18 , H04N5/225 , G06T3/40 , G06F17/30 , G01C3/08 , G01C11/02 , H04N5/247 , H04N5/265 , B60R1/00 , G06K9/46 , G06T1/00 , G06T11/00
摘要： The present invention relates to methods and systems for performing underwater surveys, in particular on sub-sea installations such as oil and gas pipelines, risers, well-heads and so on. Further the invention relates to providing an augmented underwater image of a scene for use in an under-water survey, using an underwater imaging system comprising a light module, image processing module and a camera module, the light module comprising a plurality of light classes each light class having one or more light sources. The invention uses sequential imaging to provide the augmented output image.

9. 发明申请

US20170048494A1 UNDERWATER SURVEYS 审中-公开
标题翻译：水下调查
公开(公告)号：US20170048494A1
公开(公告)日：2017-02-16
申请号：US15306373
申请日：2015-04-24
申请人： CATHX RESEARCH LTD
发明人： Adrian Boyle , Michael Flynn
IPC分类号： H04N7/18 , H04N5/235 , G01C11/02 , H04N5/225
CPC分类号： H04N7/181 , G01B11/2513 , G01C11/02 , G01C13/00 , G01S17/48 , G01S17/89 , G03B15/03 , G03B17/08 , H04N5/2256 , H04N5/2258 , H04N5/2354 , Y02A90/32
摘要： Provided is a method of carrying out an underwater video survey of a scene, the method operating in an underwater imaging system comprising a first camera module, a second camera module and a lighting module to provide a plurality of illumination profiles, wherein the method comprises repeating the following steps at a desired frame rate: the first camera module capturing a first image of the scene, where the scene is illuminated according to a first illumination profile; and the second camera module capturing a second image of the scene, where the scene is illuminated according to a second illumination profile; characterised in that the first camera module is a HD colour camera module and the first illumination profile provides white light suitable for capturing a HD image; and the second camera module is a low light camera module, and the second illumination profile is suitable for use with the low light camera module.
摘要翻译：本发明提供了一种对场景执行水下视频调查的方法，该方法在包括第一相机模块，第二相机模块和照明模块的水下成像系统中操作，以提供多个照明轮廓，其中该方法包括重复以所需帧速率执行以下步骤：第一相机模块捕获场景的第一图像，其中根据第一照明轮廓照亮场景; 并且第二相机模块捕获场景的第二图像，其中根据第二照明轮廓照亮场景; 其特征在于，第一相机模块是HD彩色相机模块，并且第一照明轮廓提供适合于拍摄HD图像的白光; 并且第二相机模块是低光照相机模块，并且第二照明轮廓适合于与低光照相机模块一起使用。

10. 发明申请

US20160198069A1 IMPROVEMENTS IN AND RELATING TO GATHERING RANGE AND DIMENSIONAL INFORMATION UNDERWATER SURVEYS 审中-公开
标题翻译：改进和相关于水下测量范围和尺寸信息
公开(公告)号：US20160198069A1
公开(公告)日：2016-07-07
申请号：US14436869
申请日：2013-10-17
申请人： CATHX RESEARCH LTD
发明人： Adrian Boyle , Michael FLYNN , James MAHON
IPC分类号： H04N5/225 , G01C11/02 , H04N5/265 , G01C3/08 , H04N7/18 , H04N5/247
CPC分类号： H04N5/2251 , B60R1/00 , G01C3/08 , G01C11/02 , G06F17/30265 , G06F17/30268 , G06K9/46 , G06T1/0007 , G06T3/4038 , G06T11/00 , G06T2200/32 , G06T2207/10144 , G06T2207/10152 , H04N5/2256 , H04N5/247 , H04N5/265 , H04N7/18
摘要： The present invention relates to an underwater method and system for gathering range and dimensional information of subsea objects, the system comprising a camera module suitable for capturing images of sub-sea scenes; and a reference projection light source that, in use, projects a structured light beam onto a target. The structured light beam is preferably generated by a laser and may comprise spots, lines, grids and the like.
摘要翻译：本发明涉及一种用于收集海底物体的范围和尺寸信息的水下方法和系统，该系统包括适于捕获海底场景的图像的相机模块; 以及在使用中将结构化光束投射到目标上的参考投影光源。结构化光束优选地由激光产生，并且可以包括点，线，网格等。

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