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1. 发明申请

WO2011080669A1 SYSTEM AND METHOD FOR RECONSTRUCTION OF RANGE IMAGES FROM MULTIPLE TWO-DIMENSIONAL IMAGES USING A RANGE BASED VARIATIONAL METHOD 审中-公开
标题翻译：使用基于范围的变化方法从多个二维图像重建范围图像的系统和方法
公开(公告)号：WO2011080669A1
公开(公告)日：2011-07-07
申请号：PCT/IB2010/056004
申请日：2010-12-22
申请人： RAFAEL ADVANCED DEFENSE SYSTEMS LTD. , AVIDOR, Tomer , BRISKIN, Gil , PELEG, Omri
发明人： AVIDOR, Tomer , BRISKIN, Gil , PELEG, Omri
IPC分类号： G06T7/00
CPC分类号： G06T7/596
摘要： Reconstruction of range images from multiple two-dimensional images uses 2D images of a scene, defining a reference 2D image and then defining an initial generated range image associated with the reference 2D image. The initial generated range image includes depth information for at least a portion of the pixels of the reference 2D image. A cost-functional is provided to calculate a cost reflecting how well the generated range image matches a set of criteria. Each criterion is evaluated as a cost sub-functional of the cost-functional, together with a factor that reflects the criterion's importance to the overall cost. A variational method is used to find an optimal generated range image in regards to this cost. The variational method includes repeatedly updating the generated range image and re-calculating the cost using the cost-functional until a given stopping criterion is reached.
摘要翻译：来自多个二维图像的距离图像的重建使用场景的2D图像，定义参考2D图像，然后定义与参考2D图像相关联的初始生成的范围图像。初始生成的范围图像包括用于参考2D图像的至少一部分像素的深度信息。提供成本功能来计算反映生成的范围图像与一组标准匹配的程度的成本。每个标准被评估为成本功能的成本子功能，以及反映标准对总体成本的重要性的因素。使用变分方法来找到关于该成本的最佳生成范围图像。变分方法包括重复地更新生成的范围图像并且使用成本函数重新计算成本，直到达到给定的停止标准。

2. 发明申请

WO2011067713A2 METHOD AND SYSTEM OF GENERATING A THREE-DIMENSIONAL VIEW OF A REAL SCENE FOR MILITARY PLANNING AND OPERATIONS 审中-公开
标题翻译：生成军事规划和作战的真实场景的三维视图的方法和系统
公开(公告)号：WO2011067713A2
公开(公告)日：2011-06-09
申请号：PCT/IB2010/055492
申请日：2010-11-30
申请人： RAFAEL ADVANCED DEFENSE SYSTEMS LTD. , BEN-DAVID, Amit , PELEG, Omri , BRISKIN, Gil , SHIMONOVITCH, Eran
发明人： BEN-DAVID, Amit , PELEG, Omri , BRISKIN, Gil , SHIMONOVITCH, Eran
IPC分类号： G06T17/05
CPC分类号： G06T15/04 , G06T17/05
摘要： Generation of views of a real scene is based on selection of view criteria and the content of multiple types of source data. The viewpoint and at least one other criterion are used to determine which texture to use for each surface, or portion of a surface, of a three- dimensional model. Regions of the images of the scene are associated with at least one portion of at least one surface of the three-dimensional model of the scene, wherein at least one of the portions is associated with the regions of at least two of the images. View selection criteria includes a criterion other than viewpoint Based on the view selection criteria, selecting at least one of the regions for at least one of the portions and rendering a multi-view using the selected regions in combination with the three-dimensional model of the scene.
摘要翻译：生成真实场景的视图基于视图标准的选择和多种类型的源数据的内容。该视点和至少一个其他标准被用于确定针对三维模型的每个表面或表面的一部分使用哪个纹理。场景图像的区域与场景的三维模型的至少一个表面的至少一部分相关联，其中至少一个部分与至少两个图像的区域相关联。视图选择标准包括视点之外的标准基于视图选择标准，为至少一个部分选择至少一个区域，并使用选择的区域结合三维模型渲染多视图场景。

3. 发明申请

WO2015022681A1 MISSILE SYSTEM WITH NAVIGATION CAPABILITY BASED ON IMAGE PROCESSING 审中-公开
标题翻译：基于图像处理的具有导航能力的MISSILE系统
公开(公告)号：WO2015022681A1
公开(公告)日：2015-02-19
申请号：PCT/IL2014/050540
申请日：2014-06-15
申请人： RAFAEL ADVANCED DEFENSE SYSTEMS LTD
发明人： PELEG, Omri , SHIMONOVITZ, Eran , LEVY, Aviram
IPC分类号： F42B15/01 , G05D1/00
CPC分类号： G05D1/107 , F41G7/007 , F41G7/008 , F41G7/2206 , F41G7/2213 , F41G7/2253 , F41G7/2293 , F41G7/30 , F41G7/343 , F42B15/01 , G01C21/12 , G01S5/16 , G05D1/0038
摘要： The present invention relates to electro-optic guided missile systems and, in particular, it concerns systems and methods providing enhanced navigation capabilities based on ego-motion processing of seeker images. The missile system comprising: a missile;a seeker located at a nose portion of said missile, said seeker comprising an electro-optic imaging sensor; and a control arrangement for steering the missile along a flight path to a target, characterized in that the missile system further comprises: a navigation subsystem receiving images from said imaging sensor, said navigation subsystem being configured to: co-process a plurality of said images from said imaging sensor to derive ego-motion of said missile relative to a region viewed by said imaging sensor;derive from said ego-motion a calculated target direction from said missile to a target.
摘要翻译：本发明涉及电光导弹系统，特别涉及提供基于探测器图像的自动运动处理的增强导航能力的系统和方法。所述导弹系统包括：导弹;位于所述导弹的鼻部的探测器，所述探测器包括电光成像传感器; 以及用于将导弹沿着飞行路径转向目标的控制装置，其特征在于，所述导弹系统还包括：导航子系统，从所述成像传感器接收图像，所述导航子系统被配置为：协同处理多个所述图像从所述成像传感器导出所述导弹相对于由所述成像传感器观看的区域的自身运动;从所述自我运动导出从所述导弹到目标的计算的目标方向。

4. 发明申请

WO2012056443A2 TRACKING AND IDENTIFICATION OF A MOVING OBJECT FROM A MOVING SENSOR USING A 3D MODEL 审中-公开
标题翻译：使用3D模型从运动传感器跟踪和识别移动物体
公开(公告)号：WO2012056443A2
公开(公告)日：2012-05-03
申请号：PCT/IL2011/000791
申请日：2011-10-06
申请人： RAFAEL ADVANCED DEFENSE SYSTEMS LTD. , BERKOVICH, Erez , SHAPIRA, Dror , BRISKIN, Gil , PELEG, Omri
发明人： BERKOVICH, Erez , SHAPIRA, Dror , BRISKIN, Gil , PELEG, Omri
IPC分类号： G06T7/20
CPC分类号： G06K9/3233 , G06T7/215 , G06T7/579 , G06T2207/10016 , G06T2207/10032 , G06T2207/30232 , G06T2207/30244 , H04N13/204
摘要： A system and method for detection, tracking, classification, and/or identification of a moving object from a moving sensor uses a three-dimensional (3D) model. The system facilitates generation of a 3D model using images from a variety of sensors, in particular passive two-dimensional (2D) image capture devices. 2D images are processed to determine viewpoint and find moving objects in the 2D images. Conventional techniques or an innovative technique can be used to find segments of 2D images having moving objects. Viewpoint and segment information is used for generation of a 3D model of an object, in particular using both object motion and sensor motion to generate the 3D model.
摘要翻译：用于从移动传感器检测，跟踪，分类和/或识别移动物体的系统和方法使用三维（3D）模型。该系统使用来自各种传感器，特别是无源二维（2D）图像捕获设备的图像来促进3D模型的生成。处理2D图像以确定视点并在2D图像中找到移动对象。可以使用常规技术或创新技术来找到具有移动对象的2D图像的片段。视点和段信息用于生成对象的3D模型，特别是使用对象运动和传感器运动来生成3D模型。

5. 发明申请

WO2011024116A3 SYSTEM AND METHOD FOR VIRTUAL RANGE ESTIMATION 审中-公开
公开(公告)号：WO2011024116A3
公开(公告)日：2011-03-03
申请号：PCT/IB2010/053797
申请日：2010-08-24
申请人： RAFAEL ADVANCED DEFENSE SYSTEMS LTD. , KAMON, Yishay , PELEG, Omri , BRISKIN, Gil , HOFFMAN, Nir
发明人： KAMON, Yishay , PELEG, Omri , BRISKIN, Gil , HOFFMAN, Nir
IPC分类号： G01C3/18 , G01C11/06
摘要： A system and method for estimating the range to a target is based on logging images and related information as a vehicle is moving. When the vehicle is at a first observation point and an event of interest occurs at a target location, the log can be accessed to provide an image and related information of the target from a time in the past. This logged information provides a prior observation point, or in other words a second observation point, to use for triangulation, eliminating the need and time required to move the vehicle and acquire a second observation point. Using the current information from the first observation point, and the logged information of a prior observation point, triangulation can be used to estimate the range from the current observation point to the target.

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