Method for providing target point candidates for selecting a target point

Method for providing target point candidates forming a candidate set for selecting a target point from the candidate set by means of a geodetic measuring device. The measuring device is coarsely oriented toward the target point, and an image is recorded in the sighting direction. A search process for certain target object candidates in the recorded image is performed by means of image processing and wherein at least one respective point representing the target object candidate is associated with each of the target object candidates as a target point candidate. Candidates are associated with a candidate set. respective weight values are derived according to at least one value of a predetermined target point property of the candidates and associated with the target point candidates. The target point candidates from the candidate set are each provided together with respective information representing the weight value associated with the target point candidate.

Method and apparatus for determining spatial parameter based on image and terminal device

A method for determining a spatial parameter for an object displayed on a device includes determining a first pixel coordinate corresponding to a first point of an image of the object and a second pixel coordinate corresponding to a second point of an image of the object displayed on the device, determining an image distance between the first pixel coordinate and the second pixel coordinate, and determining a spatial parameter for the object based on a distance between an imaging element of the device and the object, and a focal length of a lens of the imaging element for photographing the object. According to the technical solution of the present disclosure, the real size of the photographed object can be quantized based on the image, without having to illustrating the real size of the photographed object in contrast with a reference object placed in the image, thereby improving the user experience.

METHOD, APPARATUS, AND SYSTEM FOR RECOMMENDING GROUND CONTROL POINTS FOR IMAGE CORRECTION

An approach is provided for automatically recommending ground control points or any other feature points for image correction (e.g., satellite image correction). The approach, for example, involves collecting a plurality of images depicting a geographic area of interest. The approach also involves processing the plurality of images to detect one or more candidate feature points (e.g., ground control points or other features detectable in the images). The approach further involves performing a feature correspondence of the one or more candidate feature points across the plurality of images. The approach also involves triangulating respective locations of the one or more candidate feature points based on the feature correspondence. The approach further involves filtering the one or more candidate feature points based on the respective locations. The approach further involves providing the filtered one or more candidate feature points as an output comprising one or more recommended feature points. 1. A method comprising:collecting a plurality of images depicting a geographic area of interest;processing the plurality of images to detect one or more candidate ground control points;performing a feature correspondence of the one or more candidate ground control points across the plurality of images;triangulating respective locations of the one or more candidate ground control points based on the feature correspondence;filtering the one or more candidate ground control points based on the respective locations; andproviding the filtered one or more candidate ground control points as an output comprising one or more recommended ground control points.2. The method of claim 1 , wherein the filtering of the one or more candidate ground control points comprises filtering out the one or more candidate ground control points associated with the respective locations determined to be within an area that is outside of a collectible range.3. The method of claim 1 , wherein the filtering ...

Sending location information from within a communication application

A method in a wireless communications device for transmitting current location information representing a current location of the wireless communications device. The method entails, from within a communication application executing on a processor of the wireless communications device, causing the wireless communications device to obtain the current location information representing the current location of the wireless communications device, including the current location information in a communication generated from within the communication application, and transmitting the communication that includes the current location information. The method optionally entails a further step of performing a reverse look-up of GPS coordinates representing the current location to determine address information for including in the communication. Location information, such as maps or URLs to maps can be sent directly from an e-mail application or instant messenger without having to separately launch a mapping application.

Method for water level measurement and method for obtaining 3d water surface spatial information using unmanned aerial vehicle and virtual water control points

The present disclosure relates to a method for measuring a water level by using a UAV and virtual water control points and a method for generating 3D water surface spatial information, and a UAV used therefor. According to an embodiment, an UAV for a water surface survey includes: a position measurement unit configured to receive a GPS signal and to obtain position information of the UAV; a distance measurement unit including a plurality of laser measurement devices configured to project lasers toward the water surface; and a controller configured to calculate a moving distance of the UAV, based on measurement values of the position measurement unit and the distance measurement unit.

MEASUREMENT DEVICE, METHOD OF OPERATING MEASUREMENT DEVICE, AND RECORDING MEDIUM

A display control unit causes a display unit to display an image and designation point information. The designation point information indicates whether or not a position of at least one designation point included in a plurality of designation points is suitable for measurement of a subject. After position information of the at least one designation point is input to an input device, the display control unit causes the display unit to display the designation point information in only a period except a non-display period. The non-display period includes at least a portion of a period from a first timing to a second timing. The first timing is a timing at which the position information of a first designation point is input to the input device. The second timing is a timing at which the position information of a second designation point is input to the input device. 1. A measurement device comprising:an image acquisition unit that acquires an image of a subject;a designation point setting unit that sets a plurality of designation points on the image on the basis of position information which is input to an input device, the position information indicating a position of each designation point of the plurality of designation points in the image;a display control unit that causes a display unit to display the image and designation point information, the designation point information indicating whether or not a position of at least one designation point included in the plurality of designation points is suitable for measurement of the subject; anda measurement unit that executes the measurement on the basis of the plurality of designation points,wherein after the position information of the at least one of the designation points included in the plurality of designation points is input to the input device, the display control unit causes the display unit to display the designation point information in only a period except a non-display period, the non-display period ...

SELECTIVE PROCESSING OF SENSOR DATA

Systems and methods for navigating a vehicle within an environment are provided. In one aspect, a method comprises: (a) selecting, with aid of a processor, a subset of a plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria, wherein the plurality of sensors are arranged on the vehicle such that each sensor of the plurality of sensors is configured to obtain sensor data from a different field of view; (b) processing, with aid of the processor, the sensor data from the selected sensor(s) so as to generate navigation information for navigating the vehicle within the environment; and (c) outputting, with aid of the processor, signals for controlling the vehicle based on the navigation information. 120-. (canceled)21. A navigation system for a vehicle within an environment , comprising:one or more imaging devices each configured to capture a plurality of images; andone or more processors operably coupled to the imaging devices and individually or collectively configured to:calculate a number of feature points of the plurality of images from each imaging device,determine whether the number of feature points meets a predetermined threshold,select at least one of the imaging devices having the number of feature points that meets the predetermined threshold to be used for navigating the vehicle within the environment,process the plurality of images from the at least one of selected imaging devices without processing the plurality of images from unselected imaging device so as to generate state information for navigating the vehicle within the environment, andoutput control signals based on the state information for controlling the vehicle within the environment.22. The navigation system according to claim 21 , wherein the predetermined threshold is a minimum feature point number claim 21 , and each selected imaging device has a number of feature points that is larger than or equal to the minimum feature ...

Sending location information from within a communication application

A method in a wireless communications device for transmitting current location information representing a current location of the wireless communications device entails engaging in a voice call with a communications device and, during the voice call: receiving input on a user interface of the wireless communications device; responsive to receiving the input, automatically launching an application that generates a message; obtaining, by the application, the current location information representing the current location of the wireless communications device from within the application; automatically including the current location information in the message; and transmitting the message to the communications device. The input is a press of a dedicated hotkey or a press of a combination of keys. The message is one of an email, an SMS message, a MMS message or an instant message.

Underwater Inspection System Using An Autonomous Underwater Vehicle ("AUV") In Combination With A Laser Micro Bathymetry Unit (Triangulation Laser) and High Definition Camera

A system for inspecting underwater objects includes an untethered, autonomous underwater vehicle (AUV), having a laser micro bathymetry system, namely a triangulation laser system, and a high resolution digital camera carried on the AUV. 1. A system for inspecting underwater objects , comprising:an autonomous underwater vehicle;said autonomous underwater vehicle further comprising a laser micro bathymetry system and a high resolution digital camera.2. The system of claim 1 , wherein said laser micro bathymetry system comprises a triangulation laser system claim 1 , said triangulation laser system comprising a transmitter adapted to project a laser onto a target claim 1 , a receiver adapted to receive a returned laser signal claim 1 , and a means for detecting and determining an angle between said projected and returned laser and for determining a distance between said autonomous underwater vehicle and said target.3. The system of claim 2 , further comprising a multi-beam sonar and a side scan sonar.4. The system of claim 3 , further comprising an acoustic communication system.5. The system of claim 4 , further comprising a navigation system.6. The system of claim 5 , further comprising a means for guiding said autonomous underwater vehicle along a desired underwater path.7. The system of claim 6 , further comprising:a geochemical sensor;a motion reference unit;conductivity, temperature, and depth sensors;a velocity measurement unit; anda magnetometer.8. The system of claim 7 , further comprising a microprocessor and a means for data display.9. A system for inspecting underwater objects claim 7 , comprising:a) an autonomous underwater vehicle comprising a propulsion system and an acoustic communication system for acoustically communicating with a support vessel;b) a triangulation laser system, said triangulation laser system carried by said autonomous underwater vehicle and comprising a transmitter adapted to project a laser onto a target, a receiver adapted to ...

IMAGE CAPTURE DEVICE

Read electrodes are provided to drain signal charge of pixels from photoelectric conversion units provided in the pixels separately to a vertical transfer unit. During a first exposure period during which an object is illuminated with infrared light, signal charge obtained from a first pixel, and signal charge obtained from a second pixel adjacent to the first pixel, are added together in the vertical transfer unit to produce first signal charge. During a second exposure period during which the object is not illuminated with infrared light, signal charge obtained from the first pixel, and signal charge obtained from the second pixel adjacent to the first pixel, are transferred without being added to the first signal charge in the vertical transfer unit, and are added together in another packet to produce second signal charge. 2. The image capture device of claim 1 , whereinthe first and second pixels alternate in each row, andthe signal charge from the first pixel and the signal charge from the second pixel are added together, the first and second pixels being adjacent to each other in the vertical direction.3. The image capture device of claim 2 , whereinafter signal charge is read from the first pixel, the signal charge is vertically transferred by one pixel, and the signal charge is read from the second pixel, so that the signal charge from the first pixel and the signal charge from the second pixel are added together.4. The image capture device of claim 2 , whereina distance between the read electrode of the first pixel and the read electrode of the second pixel is smaller than one pixel interval, so that the signal charge is simultaneously read into a single packet.6. The image capture device of claim 5 , whereinthe signal charge is read from the first and the second pixels into a single packet through the read electrode common to the first and second pixels.7. The image capture device of claim 5 , whereinthe signal charge is read from the first and the second ...

SURVEY SYSTEM

Provided is a survey system capable of more highly accurately obtaining a product of a three-dimensional survey. A survey system includes a mobile body, a scanner including an emitting unit, a light receiving unit, a distance measuring unit, a first optical axis deflecting unit disposed on an optical axis of the distance measuring light and configured to deflect a distance measuring light, a second optical axis deflecting unit disposed on a light receiving optical axis of the reflected distance measuring light and configured to deflect a reflected distance measuring light at the same angle in the same direction as those of the first optical axis deflecting unit, and an emitting direction detecting unit to detect deflection angles and directions of the first and the second optical axis deflecting units, a posture detecting device of the scanner, and a position measuring device of the scanner. 1. A survey system comprising:a mobile body;a scanner including an emitting unit configured to emit a distance measuring light, a light receiving unit configured to receive a reflected distance measuring light, a distance measuring unit configured to perform a distance measurement based on an output of the light receiving unit, a first optical axis deflecting unit disposed on an optical axis of the distance measuring light and configured to deflect the distance measuring light, a second optical axis deflecting unit disposed on a light receiving optical axis of the reflected distance measuring light and configured to deflect the reflected distance measuring light at the same angle in the same direction as those of the first optical axis deflecting unit, and an emitting direction detecting unit configured to detect a deflection angle and a direction of the first optical axis deflecting unit and the second optical axis deflecting unit;a posture detecting device configured to detect a posture of the scanner; anda position measuring device configured to measure a position of the ...

SYSTEM AND METHOD FOR DETERMINING A POSITION OF A LIGHT FIXTURE

A system for determining a position of a light fixture that projects a beam of light on to a stage to form a first beam pattern on the stage includes an observing device located at a predetermined position relative to the stage to observe the first beam pattern. The system also includes a controller in communication with the observing device. The controller is configured to capture from the observing device an image of the first beam pattern on the stage, determine a major dimension and a minor dimension of the first beam pattern from the image, and calculate a position of the light fixture based on the major dimension and the minor dimension. 1. A system for determining a position of a light fixture that projects a beam of light onto a stage to form a first beam pattern on the stage , the system comprising:an observing device located at a position relative to the stage to observe the first beam pattern; and capture from the observing device an image of the first beam pattern on the stage,', 'determine a major dimension and a minor dimension of the first beam pattern from the image, and', 'calculate a position of the light fixture based on the major dimension and the minor dimension., 'a controller in communication with the observing device, the controller configured to'}2. The system of claim 1 , wherein the controller is configured to calculate the position of the light fixture by triangulation.3. The system of claim 1 , wherein the controller is configured to determine the eccentricity of the first beam pattern based on the major dimension and the minor dimension.4. The system of claim 1 , wherein the controller is configured to orient the light fixture based on the calculated position of the light fixture to aim the light fixture onto a target location on the stage.5. The system of claim 1 , wherein the beam of light defines a beam angle claim 1 , and wherein the controller is configured to calculate the position of the light fixture based on the major dimension ...

Method and device for measuring distance using a camera

The present disclosure relates to a device for measuring distance using a camera. The camera is movably arranged on a camera holder. A controller is designed to control a movement of the camera, in particular in a stationary state of the device, in such a manner that the camera records at least two images in at least two positions. A computing device is designed to calculate and output the distance of the device from objects visible on the images based on the at least two images. Further, the present disclosure discloses a vehicle and a method.

DISTANCE MEASUREMENT SYSTEM AND MOBILE OBJECT SYSTEM

A distance measurement system includes: an imaging device including an imaging element where a plurality of imaging pixels are arranged in matrix, and an optical system forming an image of a predetermined region on an imaging surface of the imaging element; and a distance measurer determining a distance to a target object based on data of the image obtained from the imaging element, wherein the optical system includes a free-form surface lens having a rotationally asymmetric shape that forms the image on the imaging surface such that a resolution of a first region in front of the region is higher than that of a second region at a lateral side of the region, each of the resolutions being a ratio of the number of ones of the imaging pixels used to pick up an image included in per unit angle of view to a total number of the imaging pixels. 1. A distance measurement system comprising:an imaging device including an imaging element in which a plurality of imaging pixels are arranged in matrix, and an optical system that forms an image of a predetermined region on an imaging surface of the imaging element; anda distance measurer that determines a distance to a target object based on data of the image obtained from the imaging element,wherein the optical system includes a free-form surface lens having a rotationally asymmetric shape that forms the image on the imaging surface such that a resolution of a first region in front of the predetermined region is higher than a resolution of a second region at a lateral side of the predetermined region, each of the resolutions being a ratio of the number of imaging pixels, among the imaging pixels, used to pick up an image included in per unit angle of view to a total number of the imaging pixels.2. The distance measurement system according to claim 1 ,wherein the rotationally asymmetric shape of the free-form surface lens is a shape that forms the image such that a resolution of a portion at a predetermined first distance away from ...

Method for Improving Position Information Associated With a Collection of Images

A method and system for improving position information associated with a collection of images is disclosed, more in particular, a method and system for improving position information of images obtained using a camera system including at least one camera mounted on or to a vehicle. A 3D model is constructed from an overlapping region in which at least two images obtained at different positions of the vehicle among the collection of images at least partially overlap. By comparing the 3D model to an aerial image, the position of the 3D model can be updated. 1. A method for improving position information associated with a collection of images , wherein the images in the collection have been obtained using a camera that was positioned at different positions along a trajectory , each of the obtained images being associated with a respective first position and respective first orientation , representing a position and orientation of the camera with which the image was taken , the method comprising:determining an overlapping region in which at least two images obtained at different positions of the vehicle among the collection of images at least partially overlap, the overlapping region comprising graphical information about objects that are visible in said at least two images;constructing a 3D model of the objects that are visible in the overlapping region using triangulation;providing an aerial image in which the objects visible in the overlapping region are at least partially visible, the aerial image being associated with a second position and second orientation representing a position and orientation of a camera with which the image was taken;determining a positional offset of the 3D model relative to the aerial image; andupdating the respective first positions of the images in the collection using the determined positional offset;wherein the overlapping region comprises:a first overlap between a first image and a second image that correspond to adjacent positions of ...

System and method for photographing moving subject by means of fixed camera, and acquiring projection image of actual movement trajectory of subject based on photographed image

The present invention relates to a system and method for photographing a moving subject by means of a fixed camera, and acquiring a projection image of the actual movement trajectory of the subject on the basis of the photographed image. One embodiment of the present invention provides a method for acquiring a projection image of the actual movement trajectory of a subject, the method comprising: a step for photographing a moving subject by means of a fixed camera; and a step for converting the coordinates of the photographed image of the subject on the camera image frame to coordinates of the image on an actual background portion, the conversion being implemented on the basis of information on mapping between coordinates on an actual background portion having a specific pattern, acquired by pre-photographing, with a fixed camera, the specific pattern of the actual background portion, and the coordinates on the camera image frame of the photographed image thereof.

Method and Arrangement for Robust, Depth-Scanning/Focusing Strip Triangulation by Means of a Plurality of Wavelets

Proposed are an arrangement and a method for depth-scanning strip triangulation with internal or external depth scan, particularly also for the 3D shape measurement in microscopy and mesoscopy. The robustness of the measurement with wavelet signal generation from an image stack is to be increased. The occurrence of the known and very undesirable 2Pi phase jumps in the phase map is to be avoided as much as possible. To do this, with a measurement instead of a wavelet at least two wavelets with contrast envelope are generated. This is done by a concurrent—then preferably with spectral separation—or by a sequential projection of two strip images with different triangulation wavelengths on the measured object.

Systems and Methods of Determining Image Scaling

An example system includes two objects each having a known dimension and positioned spaced apart by a known distance, and a fixture having an opening for receiving an imaging device and for holding the two objects in a field of view of the imaging device such that the field of view of the imaging device originates from a point normal to a surface of the base. The fixture holds the imaging device at a fixed distance from an object being imaged and controls an amount of incident light on the imaging device. An example method of determining image scaling includes holding an imaging device at a fixed distance from an object being imaged, and positioning the two objects in the field of view of the imaging device such that the field of view of the imaging device originates from a point normal to a line formed by the known distance. 1. A system comprising:two objects each having a known dimension and positioned on a base spaced apart by a known distance; anda fixture having an opening for receiving a lens portion of an imaging device and for holding the two objects in a field of view of the imaging device such that the field of view of the imaging device originates from a point normal to a surface of the base, wherein the fixture holds the imaging device at a fixed distance from an object being imaged as well as controls an amount of incident light on the imaging device.2. The system of claim 1 , wherein the two objects each comprise a disc-shape.3. The system of claim 1 , wherein at least one of the two objects comprises a spherical-shape.4. The system of claim 1 , wherein the two objects have different dimensions.5. The system of claim 1 , wherein the fixture has a flat distal portion for abutting an edge of the object to be imaged.6. The system of claim 1 , wherein the fixture comprises:a hollow elongate section having a first end and a second end, wherein the opening for receiving the lens portion of the imaging device is disposed at the first end and the second end is ...

TRUE TO SIZE 3D-MODEL CONGLOMERATION

A method for a three dimensional surveying of a 3D-scene for deriving a true-to-size 3D-model. It involves deriving a first 3D-partial-model of a section of the 3D-scene together with a capturing of at least one first 2D-visual-image and a second 3D-partial-model of another section of the 3D-scene, together with a capturing of at least one second 2D-visual-image, wherein the 3D-partial-models are partially overlapping. The first 3D-partial-model is conglomerated with the second 3D-partial-model to form the 3D-model of the 3D-scene, which is done with defining a first line segment in the first 2D-visual-image and a second line segment in the second 2D-visual-image, which first and second line segments are representing a visual feature, which is common in both of the 2D-visual-images. The line segments in the 2D-visual-images are utilized in conglomerating the corresponding 3D-partial models to form the 3D-model of the whole 3D-scene. 1. A method for a three dimensional surveying of a three-dimensional (3D) scene for deriving a true-to-size 3D-model , the method comprising:deriving a first 3D-partial-model of a section of the 3D-scene, which deriving comprises a capturing of at least one first 2D-visual-image having a first line segment defined therein;deriving a second 3D-partial-model of a section of the 3D-scene, which deriving comprises a capturing of at least one second 2D-visual-image, the second 3D-partial-model being different from the first 3D-partial-model, the second 2D-visual-image having a second line segment defined therein, and the first and the second 3D-partial-models are partially overlapping; andconglomerating the first 3D-partial-model with the second 3D-partial-model to form the 3D-model of the 3D-scene,wherein the first and second line segments represent a visual feature in each of the first and second 2D-visual-image and are utilized in the conglomerating of the corresponding first 3D-partial-model and second 3D-partial-model to form the 3D- ...

METHOD AND DEVICE FOR PARAMETER PROCESSING FOR CAMERA AND IMAGE PROCESSING DEVICE

Embodiments of the present disclosure provide a method for processing camera parameters. The method includes obtaining an environmental image set, the environmental image set including a first type image and two or more second type images, a direction of a light sensing element of the camera capturing the first type image being different from the direction of the light sensing element of the camera capturing the two or more second type images; calculating internal parameters of the camera based on a plurality of target object image points on the first type image and the two or more second type images in the environmental image set. The camera is mounted on an aircraft. The camera is configured to capture a plurality of environmental images of an environment below the aircraft. The calculated internal parameters of the camera include an image position of the principal point of the camera. 1. A method for processing camera parameters , comprising:obtaining an environmental image set, the environmental image set including a first type image and two or more second type images, a direction of a light sensing element of the camera capturing the first type image being different from the direction of the light sensing element of the camera capturing the two or more second type images;calculating internal parameters of the camera based on a plurality of target object image points on the first type image and the two or more second type images in the environmental image set, whereinthe camera is mounted on an aircraft, the camera is configured to capture a plurality of environmental images of an environment below the aircraft, and the calculated internal parameters of the camera include an image position of the principal point of the camera.2. The method of claim 1 , wherein:the camera is mounted on the aircraft via a gimbal; andthe method further includes:controlling the gimbal to rotate during a flight of the aircraft for the camera capturing the plurality of environmental ...

REAL TIME POSITION AND ORIENTATION TRACKER

The present disclosure relates to a tracking system for tracking the position and/or orientation of an object in an environment, the tracking system including: at least one camera mounted to the object; a plurality of spaced apart targets, at least some of said targets viewable by the at least one camera; and, one or more electronic processing devices configured to: determine target position data indicative of the relative spatial position of the targets; receive image data indicative of an image from the at least one camera, said image including at least some of the targets; process the image data to: identify one or more targets in the image; determine pixel array coordinates corresponding to a position of the one or more targets in the image; and, use the processed image data to determine the position and/or orientation of the object by triangulation. 1) A tracking system for tracking the position and/or orientation of an object in an environment , the tracking system including:a) at least one camera mounted to the object;b) a plurality of spaced apart targets, at least some of said targets viewable by the at least one camera; and, i) determine target position data indicative of the relative spatial position of the targets;', 'ii) receive image data indicative of an image from the at least one camera, said image including at least some of the targets;', (1) identify one or more targets in the image;', '(2) determine pixel array coordinates corresponding to a position of the one or more targets in the image; and,, 'iii) process the image data to, 'iv) use the processed image data to determine the position and/or orientation of the object by triangulation., 'c) one or more electronic processing devices configured to2) The system of claim 1 , wherein the system includes a body attachable to the object claim 1 , the body having a camera array including a plurality of spaced apart cameras each having a field of view with a central axis claim 1 , with the central axis ...

VISUAL ODOMETRY AND PAIRWISE ALIGNMENT FOR HIGH DEFINITION MAP CREATION

As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area. 1. A method , comprising:receiving, from an imaging system mounted on a vehicle, a plurality of image frames, each image frame associated with a local area surrounding the vehicle at a particular point in time, and comprising a first image captured using a first camera of the imaging system and a second image captured using a second camera of the imaging system; identifying a first set of feature points on the first image of the image frame, and a second set of feature points on the second image of the image frame;', 'determining the set of features for the image frame, each corresponding to a feature point of the first set of feature points matched with a feature point of the second set of feature points; and', 'determining a location of each feature of the set of features by triangulating the corresponding feature points of the first and second set of feature points;, 'for each image frame of the plurality of image frames, determining locations of a set of features corresponding to features within the local area, by selecting a first subset of features from the set of features associated with the first image frame;', 'identifying a second subset of features from the second image frame corresponding to the first subset of features, based upon a level of geometric similarity between ...

VISUAL ODOMETRY AND PAIRWISE ALIGNMENT FOR HIGH DEFINITION MAP CREATION

As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area. 1. A method , comprising:receiving, from an imaging system comprising one or more cameras mounted on a vehicle, a plurality of image frames, each image frame associated with a local area surrounding the vehicle at a particular point in time, and comprising at least a first image captured using a first camera of the one or more cameras of the imaging system; extracting from the first image of the image frame, a first region, the first region corresponding to a region of the first image depicting a section of ground in front of the vehicle;', 'determining locations of a set of features corresponding to features on the section of ground within the first region;, 'for each image frame of the plurality of image framesidentifying, from the plurality of image frames, a first image frame corresponding to a first point in time, and a second image frame corresponding to a second point in time;identifying one or more correspondences between one or more features of the set of features of the first image frame, and one or more features of the set of features of the second image frame;determining a transformation between a first position of the vehicle at the first point in time and a second position of the vehicle at the second point in time, based upon a transformation between the positions of ...

Method and apparatus for planning sample points for surveying and mapping, control terminal, and storage medium

A method for planning sample points for surveying and mapping is disclosed, which includes: acquiring a reference photographing location point corresponding to a region to be surveyed and mapped, and establishing a mapping relation between one shooting point in a combined shooting point set and the reference photographing location point; determining a plurality of auxiliary photographing location points corresponding to the reference photographing location point based on the mapping relation preset relative positional relations between the shooting points in the combined shooting point set; and using the reference photographing location point and the plurality of auxiliary photographing location points as sample points for surveying and mapping based on which an unmanned aerial vehicle for surveying and mapping performs surveying and mapping in the region to be surveyed and mapped. An apparatus for planning sample points for surveying and mapping, a control terminal, and a storage medium are also disclosed.

SYSTEM AND METHODS FOR IMPROVED AERIAL MAPPING WITH AERIAL VEHICLES

A method for image generation, preferably including: generating a set of mission parameters for a UAV mission of the UAV associated with aerial scanning of a region of interest; controlling the UAV to perform the mission; generating an image subassembly corresponding to the mission; and/or rendering the image subassembly at a display. 1. A method comprising: 'at a camera of the aircraft, capturing an image of the geographic region;', 'controlling an aircraft within a geographic region comprising determining a set of features for the image;', 'determining a window of images, within a set of previous images of the geographic region, based on a terrain homogeneity, wherein the set of previous images are captured by the aircraft;', 'based on the window, determining a refined camera pose associated with the image and a set of feature positions, comprising:, 'concurrently with controlling the aircraft, at a user devicefor each feature of the set of features, determining a set of matches within the window of previous images;based on the set of matches, determining a set of estimated positions; andperforming a bundle adjustment to refine the set of estimated positions.2. The method of claim 1 , further comprising:recording telemetry data associated with the image; anddetermining a relative camera pose associated with the image based on the telemetry data associated with the image.3. The method of claim 1 , further comprising claim 1 , at the user device claim 1 , generating an orthophoto based on the set of feature positions.4. The method of claim 3 , further comprising: at the user device claim 3 , displaying the orthophoto in real time.5. The method of claim 1 , further comprising generating a thermal analysis based on the set of images.6. The method of claim 1 , wherein the window comprises a temporal window.7. The method of claim 1 , wherein the window is determined based on telemetry data.8. The method of claim 1 , wherein the window comprises a number of images ...

SYSTEM AND METHODS FOR IMPROVED AERIAL MAPPING WITH AERIAL VEHICLES

A method for image generation, preferably including: generating a set of mission parameters for a UAV mission of the UAV associated with aerial scanning of a region of interest; controlling the UAV to perform the mission; generating an image subassembly corresponding to the mission; and/or rendering the image subassembly at a display. 1. A method for orthophoto generation , the method comprising:determining a region;generating a set of mission parameters for a mission, the mission associated with aerial imaging of the region; controlling a camera of the aircraft to capture a first photo at a first aircraft position, the first photo depicting a first subset of the region; and', 'controlling the camera to capture a second photo at a second aircraft position, the second photo depicting a second subset of the region; and, 'based on the mission parameters, controlling an aircraft to perform the mission, comprising determining, based on the first photo, a set of features, each feature of the set associated with a respective first photo subset of the first photo, wherein the respective first photo subset depicts the feature;', 'determining a set of matches, comprising, for each feature of the set, determining a respective second photo subset of the second photo, wherein the respective second photo subset depicts the feature;', 'based on the set of matches, generating an orthomosaic map, comprising: orthorectifying the first photo and the second photo to generate a first orthophoto and a second orthophoto; and combining the first orthophoto and the second orthophoto; and', 'displaying the orthomosaic map in near real-time following the capture of the second photo., 'concurrent with controlling the aircraft to perform the mission, at a user device2. The method of claim 1 , wherein:the orthomosaic map is generated based further on a set of feature positions; and the respective position comprises a respective three-dimensional coordinate set representative of a respective ...

Mobile mapping system

Embodiments of systems and methods for a mobile mapping system are described. In an embodiment, a method includes capturing a plurality of images of an object point using a mobile computing platform. The method may also include determining an initial set of orientation parameters in response to one or more orientation sensors on the mobile computing platform. Additionally, the method may include calculating a corrected set of orientation parameters by matching object points in the plurality of images. Further, the method may include estimating a three-dimensional ground coordinate associated with the captured images in response to the corrected set of orientation parameters.

CLASSIFICATION OF SURFACES AS HARD/SOFT FOR COMBINING DATA CAPTURED BY AUTONOMOUS VEHICLES FOR GENERATING HIGH DEFINITION MAPS

A high-definition map system receives sensor data from vehicles traveling along routes and combines the data to generate a high definition map for use in driving vehicles, for example, for guiding autonomous vehicles. A pose graph is built from the collected data, each pose representing location and orientation of a vehicle. The pose graph is optimized to minimize constraints between poses. Points associated with surface are assigned a confidence measure determined using a measure of hardness/softness of the surface. A machine-learning-based result filter detects bad alignment results and prevents them from being entered in the subsequent global pose optimization. The alignment framework is parallelizable for execution using a parallel/distributed architecture. Alignment hot spots are detected for further verification and improvement. The system supports incremental updates, thereby allowing refinements of subgraphs for incrementally improving the high-definition map for keeping it up to date 1. A method for generating high definition maps based on classification of surfaces , for use in driving of autonomous vehicles , the method comprising:generating a first three dimensional representation of a geographical region based on sensor data captured by autonomous vehicles driving through the geographical region;generating a second three dimensional representation of a geographical region based on sensor data captured by autonomous vehicles driving through the geographical region; identifying a surface of a structure associated with the point;', 'determining a measure of hardness of the surface based on one or more criteria; and', 'determining a measure of confidence for the point based on the determined measure of hardness of the surface of the structure;, 'for each of a plurality of points in the three dimensional representationdetermining a transformation to map the first 3D representation to the second 3D representation based on iterative closest point (ICP) method ...

Image processing device, image processing method, and imaging device

A depth map generation unit ( 15 ) generates a depth map through a matching process using a first image generated by a first imaging unit which has a pixel configuration including pixels having different polarization directions and a second image generated by a second imaging unit which has a different pixel configuration from the pixel configuration of the first imaging unit. A normal-line map generation unit ( 17 ) generates a normal-line map based on a polarization state of a polarized image of at least one of the first and second images. A map unifying unit ( 19 ) performs a process of unifying the generated depth map and the generated normal-line map and acquires an image in which the number of pixels is not reduced while generating the depth map with precision equal to or greater than the generated depth map. The image in which the number of pixels is not reduced can be acquired while generating the highly precise depth map.

Sending location information from within a communication application

A method in a wireless communications device for transmitting location information entails, from within a communication application executing on a processor of the wireless communications device, receiving input on a user interface of the wireless communications device, including location information comprising a current location of the wireless communications device obtained by the wireless communications device and path information delineating a recent path taken by the user, in a communication being generated from within the communication application, and transmitting the communication that includes the current location information. The path information is determined based on recent location fixes for the wireless communications device. Location information, such as maps can be sent directly from an instant messenger without having to separately launch a mapping application.

Laser scanner with photogrammetry shadow filling

A three-dimensional (3D) measuring device and a method are provided. The measuring device includes a processor system including a scanner controller. A housing is provided with a 3D scanner that is coupled to the processor system. The scanner determining a first distance to a first object point and cooperating with the processor system to determine 3D coordinates of the first object point. The measuring device further includes a photogrammetry camera coupled to the housing, the photogrammetry camera having a lens and an image sensor that define a field of view. The photogrammetry camera is arranged to position the field of view at least partially in a shadow area, the shadow area being outside of the scan area.

Image Processor with Static Hand Pose Recognition Utilizing Contour Triangulation and Flattening

An image processing system comprises an image processor having image processing circuitry and an associated memory. The image processor is configured to implement a gesture recognition system utilizing the image processing circuitry and the memory. The gesture recognition system implemented by the image processor comprises a static pose recognition module. The static pose recognition module is configured to identify a hand region of interest in at least one image, to determine a contour of the hand region of interest, to triangulate the determined contour, to flatten the triangulated contour, to compute one or more features of the flattened contour, and to recognize a static pose of the hand region of interest based at least in part on the one or more computed features. 1. A method comprising steps of:identifying a hand region of interest in at least one image;determining a contour of the hand region of interest;triangulating the determined contour;flattening the triangulated contour;computing one or more features of the flattened contour; andrecognizing a static pose of the hand region of interest based at least in part on the one or more computed features;wherein the steps are implemented in an image processor comprising a processor coupled to a memory.2. The method of wherein the steps are implemented in a static pose recognition module of a gesture recognition system of the image processor.3. The method of wherein identifying a hand region of interest comprises generating a hand image comprising a binary region of interest mask in which pixels within the hand region of interest all have a first binary value and pixels outside the hand region of interest all have a second binary value complementary to the first binary value.4. The method of wherein the determined contour comprises an ordered list of points.5. The method of wherein triangulating the determined contour comprises covering substantially all of an area bounded by the determined contour using triangles ...

Visual Odometry and Pairwise Alignment for High Definition Map Creation

As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area. 1. A method , comprising:receiving a plurality of image frames depicting a local area surrounding a vehicle, each image frame corresponding to a point in time, and comprising at least a first image of the local area captured by a first camera and a second image of the local area captured by a second camera; identifying a first set of feature points on the first image of the image frame, and a second set of feature points on the second image of the image frame;', 'determining features of the image frame associated with features within the local area, each feature corresponding to a first feature point of the first set of feature points matched with a second feature point of the second set of feature points; and', 'for each determined feature, determining a location of the feature based upon the first and second feature points of the feature;, 'for each image frame of the plurality of image frames selecting a first subset of features of the first image frame;', 'identifying a second subset of features of the second image frame corresponding to the first subset of features, based upon a level of similarity between features of the first and second subsets;', 'determining the transformation based upon a transformation between the determined positions of features of the first and second ...

Visual Odometry and Pairwise Alignment for High Definition Map Creation

As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area. 1receiving a set of image frames depicting a local area of a vehicle, comprising a first image frame corresponding to a first point in time and a second image frame corresponding to a second point in time;determining a first set of features of the first image frame and a second set of features of the second image frame, each feature of the first and second set of features associated with a respective location within the local area captured by the respective image frame; selecting a first subset of features from the first set of features;', 'identifying a second subset of features from the second set of features, each corresponding to a respective feature of first subset of features, based upon a level of similarity to the respective feature of the first subset of features;', 'determining the transformation based upon the respective locations of corresponding features of the first subset of features and the second subset of features; and, 'determining a transformation between a first position of the vehicle at the first point in time, and a second position of the vehicle at the second point in time, byupdating a high definition map of the local area based on the transformation, the high definition map for use in driving by one or more autonomous vehicles.. A method, comprising: This ...

APPARATUS AND METHOD FOR THREE DIMENSIONAL SURFACE MEASUREMENT

A system and method for three-dimensional measurement of surfaces. In one embodiment, a measurement system includes a laser projector, a first camera, and a processor. The laser projector is configured to emit a laser projection onto a surface for laser triangulation. The first camera is configured to provide images of the surface, and is disposed at an oblique angle with respect to the laser projector. The processor is configured to apply photogrammetric processing to the images, to compute calibrations for laser triangulation based on a result of the photogrammetric processing, and to compute, based on the calibrations, coordinates of points of the surface illuminated by the laser projection via laser triangulation. 1. A measurement system , comprising:a laser projector configured to emit a laser projection onto a surface for laser triangulation;a first camera configured to provide images of the surface, and disposed at an oblique angle with respect to the laser projector; and apply photogrammetric processing to the images;', 'compute calibrations for laser triangulation based on a result of the photogrammetric processing; and', 'compute, based on the calibrations, coordinates of points of the surface illuminated by the laser projection via laser triangulation., 'a processor configured to2. The system of claim 1 , wherein the first camera is mounted relative to the laser projector such that an optical axis of the first camera intersects the laser projection at approximately a 30 degree angle.3. The system of claim 1 , wherein the first camera is configured to capture video and the processor is configured to extract pictures from the video as the images.4. The system of claim 1 , wherein the processor is configured to claim 1 , as part of the photogrammetric processing:identify points of the surface across the images;compute coordinates of the points in three dimensions; anddetermine location and orientation of the first camera with respect to the coordinates.5. ...

Imaging device

An imaging device having an optical system including a free-form surface lens with rotationally asymmetric shape that forms an image on an imaging surface such that a resolution of a first region in front of the predetermined region is higher than a resolution of a second region at a lateral side of the predetermined region. The free-form surface lens has a shape that forms the image such that a resolution of a portion at a predetermined first distance away from a center of the first region in a vertical direction is different from a resolution of a portion at the predetermined first distance away from the center of the first region in a horizontal direction, the vertical direction being orthogonal to the horizontal direction, in the imaging element, in which the first region and the second region are aligned.

METHOD AND ARRANGEMENT FOR CAPTURING COORDINATES OF AN OBJECT SURFACE BY TRIANGULATION

The disclosure relates to an arrangement and a method for capturing coordinates of an object surface by triangulation. At least two partial light patterns are generated representing a decomposition of a corresponding basic light pattern. The partial light patterns are separately projected onto the object surface, an image of the object surface is captured during the projection of one of the partial light patterns, and components of the total intensity of the captured images are ascertained. A balance of direct and indirect intensity components is established per image and for each pixel under the assumption that the indirect intensity components in all images are equal. A reflection image is established based on the direct and/or indirect intensity components which approximates the image that would be capturable during a projection of the basic light pattern without indirect intensity components. Based on the reflection image, coordinates of the object surface are ascertained. 1. A method for capturing coordinates of an object surface by triangulation , the method comprising:generating at least two partial light patterns representing a decomposition of a basic light pattern;separately projecting the at least two partial light patterns onto the object surface;capturing images by respectively capturing one image of the object surface during the projecting of one of the at least two partial light patterns, the images including a plurality of pixels;ascertaining, in a pixel-wise fashion, initially unknown intensity components of a total intensity of the images by establishing a balance of direct intensity components and of indirect intensity components per image and for each pixel, and the indirect intensity components in all images captured during the projecting of partial light patterns of a same basic light pattern being equal;establishing a reflection image including a plurality of pixels of the basic light pattern based on at least one of the direct intensity ...

Augmented video system providing enhanced situational awareness

A facility, comprising systems and methods, for providing enhanced situational awareness to captured image data is disclosed. The disclosed techniques are used in conjunction with image data, such as a real-time or near real-time image stream captured by a camera attached to an unmanned system, previously captured image data, rendered image data, etc. The facility enhances situational awareness by projecting overlays onto captured video data or “wrapping” captured image data with previously-captured and/or “synthetic world” information, such as satellite images, computer-generated images, wire models, textured surfaces, and so on. The facility also provides enhanced zoom techniques that allow a user to quickly zoom in on an object or area of interest using a combined optical and digital zoom technique. Additionally, the facility provides a digital lead indicator designed to reduce operator-induced oscillations in commanding an image capturing device.

SENDING LOCATION INFORMATION FROM WITHIN A COMMUNICATION APPLICATION

A method in a wireless communications device for transmitting current location information representing a current location of the wireless communications device. The method entails, from within a communication application executing on a processor of the wireless communications device, causing the wireless communications device to obtain the current location information representing the current location of the wireless communications device, including the current location information in a communication generated from within the communication application, and transmitting the communication that includes the current location information. The method optionally entails a further step of performing a reverse look-up of GPS coordinates representing the current location to determine address information for including in the communication. Location information, such as maps or URLs to maps can be sent directly from an e-mail application or instant messenger without having to separately launch a mapping application. 1. A method in a wireless communications device for transmitting current location information representing a current location of the wireless communications device , the method comprising:obtaining the current location information representing the current location of the wireless communications device from within a communication application executing in the wireless communication device;including the current location information in a communication generated from within the communication application; andtransmitting the communication that includes the current location information.2. The method as claimed in further comprising:performing a reverse look-up of GPS coordinates representing the current location to determine address information for including in the communication.3. The method as claimed in further comprising: a set of position coordinates;', 'a street address;', 'a name associated with the street address;', 'a map; and', 'a URL to a map., 'transmitting ...

DISTANCE MEASURING APPARATUS, DISTANCE MEASURING METHOD, AND IMAGE PICKUP APPARATUS

A distance measuring apparatus includes: an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light including a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not including a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image. 1. A distance measuring apparatus comprising:one or more processors; anda memory storing instructions which, when executed by the processors, cause the information processing apparatus to function as:an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light comprising a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not comprising a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light;and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio of the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.2. The distance measuring apparatus according to claim 1 , whereinthe third image is generated by adding to the first image a seventh image at the first viewpoint where the object is irradiated with a third light comprising a reversed pattern that has light and dark reversed with respect to the pattern, ...

Selective processing of sensor data

Systems and methods for navigating a vehicle within an environment are provided. In one aspect, a method comprises: (a) selecting, with aid of a processor, a subset of a plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria, wherein the plurality of sensors are arranged on the vehicle such that each sensor of the plurality of sensors is configured to obtain sensor data from a different field of view; (b) processing, with aid of the processor, the sensor data from the selected sensor(s) so as to generate navigation information for navigating the vehicle within the environment; and (c) outputting, with aid of the processor, signals for controlling the vehicle based on the navigation information.

Method for Determining Distance Information from Images of a Spatial Region

A method includes defining a disparity range having discrete disparities and taking first, second, and third images of a spatial region using first, second, and third imaging units. The imaging units are arranged in an isosceles triangle geometry. The method includes determining first similarity values for a pixel of the first image for all the discrete disparities along a first epipolar line associated with the pixel in the second image. The method includes determining second similarity values for the pixel for all discrete disparities along a second epipolar line associated with the pixel in the third image. The method includes combining the first and second similarity values and determining a common disparity based on the combined similarity values. The method includes determining a distance to a point within the spatial region for the pixel from the common disparity and the isosceles triangle geometry. 1. A method for determining distance information , the method comprising:defining a disparity range having a number of discrete disparities;taking a first image of a spatial region with a first imaging unit, a second image of the spatial region with a second imaging unit, and a third image of the spatial region with a third imaging unit, wherein the first imaging unit, the second imaging unit, and the third imaging unit are arranged in a defined imaging geometry in which the imaging units form an isosceles triangle;determining first similarity values for at least one pixel of the first image for all discrete disparities in the defined disparity range along a first epipolar line associated with the pixel in the second image;determining second similarity values for the at least one pixel of the first image for all discrete disparities in the defined disparity range along a second epipolar line associated with the pixel in the third image;combining the first similarity values with the second similarity values;determining a common disparity between the first image, ...

SENDING LOCATION INFORMATION FROM WITHIN A COMMUNICATION APPLICATION

A method in a first wireless communication device for displaying current location information representing a current location of a second wireless communication device. The method entails, from within a communication application executing on a processor of the first wireless communication device, receiving the current location information representing the current location of the second wireless communication device, performing a reverse look-up of the received current location of the second wireless communication device to determine address information, displaying a map from within the communication application, and identifying the received current location information on the displayed map with a name associated with the determined address information. 1. A method in a first wireless communication device for displaying current location information representing a current location of a second wireless communication device , the method comprising:receiving the current location information representing the current location of the second wireless communication device at a communication application executing in the first wireless communication device;performing a reverse look-up of the received current location of the second wireless communication device to determine address information;displaying a map from within the communication application; andidentifying the received current location information on the displayed map with a name associated with the determined address information.2. The method as claimed in claim 1 , further comprising receiving one or more of a set of position coordinates and a URL to a map.3. The method as claimed in claim 2 , wherein the set of position coordinates are GPS coordinates.4. The method as claimed in claim 1 , wherein the current location is received at the first wireless communication device while the first wireless communication device is in a voice call with the second wireless communication device.5. The method as claimed in claim 4 ...

Real time position and orientation tracker

The present disclosure relates to a tracking system for tracking the position and/or orientation of an object in an environment, the tracking system including: at least one camera mounted to the object; a plurality of spaced apart targets, at least some of said targets viewable by the at least one camera; and, one or more electronic processing devices configured to: determine target position data indicative of the relative spatial position of the targets; receive image data indicative of an image from the at least one camera, said image including at least some of the targets; process the image data to: identify one or more targets in the image; determine pixel array coordinates corresponding to a position of the one or more targets in the image; and, use the processed image data to determine the position and/or orientation of the object by triangulation.

用于多技术深度图获取和融合的方法和设备

本发明提供用于从一或多个个别深度图产生融合深度图的系统、设备和方法，其中所述融合深度图经配置以提供所述深度图内的点的稳固深度估计。所述方法、设备或系统可包括识别成像装置的视场FOV的组件，所述成像装置经配置以捕捉所述FOV的图像且选择第一深度感测方法。所述系统或方法可使用选择的所述第一深度感测方法来感测所述FOV相对于所述成像装置的深度且基于选择的所述第一深度感测方法的感测的所述深度来产生所述FOV的第一深度图。所述系统或方法还可识别所述第一深度图的具有一或多个不准确深度测量值的一或多个点的区域且确定是否需要额外深度感测。

一种野外岩石结构面粗糙度的量测及计算方法

本发明公开了一种野外岩石结构面粗糙度的量测及计算方法，步骤如下：利用平直木条构建闭合的控制框架，对控制框架进行校准；将校准后的控制框架固定在待测结构面上，选择不同的位置对待测结构面进行拍摄，拍摄范围包含整个框架；利用照片建立野外岩石结构面的三维点云模型；利用三维点云模型提取结构面任一方向的粗糙度轮廓曲线；利用结构面粗糙度轮廓曲线计算结构面粗糙度分形维数；利用岩石结构面粗糙度分形维数，计算出对应的岩石结构面粗糙度系数。本发明提高了计算精度和效率，同时适用室内和野外环境。

2차원 구조의 다시점 영상 압축 방법

본 발명은 2차원 카메라 배열로부터의 다시점 영상을 압축하는 방법에 관한 것으로서, 다시점 영상의 기준영상에 대하여 객체의 시차 정보가 포함된 합성시차영상을 생성하는 단계와, 상기 다시점 영상으로부터 전체시차를 예측하는 단계와, 상기 예측된 전체시차에 따라 기준영상을 조정하여 각 시점의 합성텍스처영상을 합성하는 단계와, 상기 합성시차영상 및 합성텍스처영상을 이용하여 각 시점의 원 영상으로부터 공간축 예측 및 같은 시점의 기 입력된 영상으로부터의 시간축 예측을 동시에 수행하는 단계를 포함한다. 본 발명에 따르면, 다시점 영상의 시간축 및 공간측 예측을 통해 다시점 영상의 전송을 위한 데이터량을 감소시킴과 아울러, 각 카메라의 시점에 따른 숨겨진 영상을 정확히 예측할 수 있는 장점이 있다. 다시점, 시차, 깊이, 압축, 예측, 합성, Dense disparity, Depth, View

Feature's change rate geodetic monitoring and geodetic information system by horizontal adjusting mobile geodetic surveying device

본 발명은 모바일 측량장치의 수평조절을 통한 지형지물의 변화감지 및 측지정보 취득 시스템에 관한 것으로, 지형지물 측정장치를 차량에 탑재하여 이동하면서 보정대상 지형지물을 측정하는 과정에서 카메라와 전, 후방 송수신기가 수평유지수단에 의하여 항상 수평을 유지하게 됨과 아울러 평행유지수단에 의하여 보정대상 지형지물에 대하여 평행을 유지하게 되므로 보정대상 지형지물에 대한 감지 및 측지가 보다 정확하게 이루어지도록 한 것이다. The present invention relates to a system for detecting change of a feature point and a geodesic information acquisition system through horizontal adjustment of a mobile measurement apparatus. In the process of measuring a feature to be corrected while moving a feature point measurement apparatus on a vehicle, Is always kept horizontal by the horizontal holding means and is kept parallel to the correction target object by the parallel holding means, so that the detection and the geographical position of the correction target object are more accurately performed.

一种基于无人机位姿计算的信标布置及图像处理方法

一种基于无人机位姿计算的信标布置及图像处理方法，首先对无人机的机器视觉引导着落进行设计，根据所搭建的视觉成像系统在保证图像敏感性并对视场畸变进行分析的条件下，结合着落过程可能出现的位姿，设计针对视觉引导着落所需的信标结构及布置方法，接着根据所设计的视觉引导系统，针对不同的合作信标构型，提出三个衡量算法适用性的指标来对位姿解算算法进行评价筛选，最后采用的地面合作信标是红外LED，红外LED成像效果更加稳定，成像距离更远，成像精度更高。本方法简单易行，对着陆场地的配置要求低，从近红外图像中提取特征更加方便、快捷，扩大了视觉系统的适用范围，而且能全天时全天候的检测识别；精确的解算出无人机姿态信息。

Apparatus and method for updating detailed map

根据一个实施方式，用于更新详细地图的方法包括以下步骤：通过使用安装在车辆上的摄像装置来在多个不同位置处获取二维图像；检查用于获取二维图像的摄像装置的移动轨迹；通过基于详细地图上的道路的表面信息估计摄像装置的移动轨迹附近的针对车道的地标的三维位置，来生成局部地标地图；以及基于局部地标地图来更新详细地图。

Method for determining proper coordinates from three surveying targets and videogrammetric system for implementation thereof

FIELD: measuring equipment. SUBSTANCE: invention relates to measuring equipment and can be used in coordinate measuring apparatuses and vision systems for determining the proper coordinates and for spatial orientation relative to three surveying targets flashing at predetermined frequencies, located in a horizontal plane at the same distance from each other. The method for determining the proper coordinates using a videogrammetric system consisting of a videogrammetric apparatus and three surveying targets is characterised by the fact that the surveying targets are positioned in a horizontal plane at the same distance from each other and form a spherical coordinate system with the origin of coordinates in the geometric centre thereof, wherein the surveying targets flash at different frequencies, allowing the videogrammetric apparatus to detect and distinguish the targets, measure the angular coordinates and calculate the distance to the geometric centre formed by said surveying targets, resulting in determining the proper coordinates of the videogrammetric apparatus. The videogrammetric system for determining the proper coordinates consists of a videogrammetric apparatus and three surveying targets and is characterised by the fact that the surveying targets have different enumerations, wherein the videogrammetric apparatus identifies the surveying targets by the flashing frequency, determines the combination of enumerations of the surveying targets in the ordered sequence formed by the targets on the video image, and calculates the proper azimuth angle in the spherical coordinate system formed by the surveying targets. EFFECT: automation of the process of determining the proper coordinates and design of the system ensuring higher speed and safety of work. 2 cl, 4 dwg, 1 tbl РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 769 637 C1 (51) МПК G01C 11/36 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК G01C 11/36 ( ...

Apparatus and method for generating map data of cleaning space

본 개시는 딥러닝 등의 기계 학습 알고리즘을 활용하는 인공지능(AI) 시스템 및 그 응용에 관련된 것이다. 지도 데이터를 생성하는 로봇 청소 장치는, 하나 이상의 인터페이스를 저장하는 메모리; 및 상기 하나 이상의 인터페이스를 실행함으로써 상기 로봇 청소 장치를 제어하는 프로세서;를 포함하며, 상기 프로세서는, 상기 하나 이상의 인터페이스를 실행함으로써, 청소 공간에 관련된 기본 지도 데이터를 생성하고, 상기 청소 공간 내의 적어도 하나의 객체에 대한 객체 정보를 생성하며, 상기 객체 정보는, 상기 로봇 청소 장치가 상기 청소 공간 내의 서로 다른 복수의 위치에서 상기 객체에 대하여 획득한 정보에 기초하여 생성되며, 상기 객체의 종류 및 위치에 관한 정보를 포함한다. The present disclosure relates to an artificial intelligence (AI) system using a machine learning algorithm such as deep learning and its application. The robot cleaning apparatus for generating map data includes: a memory for storing at least one interface; And a processor for controlling the robot cleaning apparatus by executing the one or more interfaces, wherein the processor generates basic map data related to the cleaning space by executing the one or more interfaces, and at least one in the cleaning space Generates object information for an object of, and the object information is generated based on the information obtained for the object at a plurality of different locations in the cleaning space by the robot cleaning device, and the type and location of the object Includes information about.

Current velocity testing method and device based on image recognition analysis technology

本发明公开了一种基于图像识别分析技术的流速检测方法及装置，该方法包括：提取预设水流监测区域的监测帧序列中每帧监测图像的同一测速线并生成该测速线对应的时空图；根据快速傅里叶变换以及霍夫变换计算所述时空图的纹理主方向；根据所述纹理主方向以及该测速线的长度求出水流在该测速线上的流速；根据水流在每条测速线上的流速确定所述预设水流监测区域的水流流速。本发明解决了现有流速测量方法准确性较低、测量成本高、应用条件复杂的技术问题。

Virtual sports system using start sensors

본 발명은 스타트 센서를 이용하는 가상 스포츠 시스템에 관한 것이다. 본 발명의 일 태양에 따르면, 가상 스포츠 시스템으로서, 공의 타격을 위한 타격부, 상기 공의 운동 시작 스테이지의 물리량에 관한 정보를 도출하기 위한 스타트 센서부, 및 상기 스타트 센서부로부터 상기 물리량에 관한 정보를 수신하고, 상기 수신된 정보에 기초하여 상기 공의 운동에 관한 시뮬레이션을 행하기 위한 시뮬레이션부를 포함하는 시스템이 제공된다.

Efficient scene depth information acquisition method and system

本发明涉及光学测量及计算机视觉技术领域，提供了一种高效的场景深度信息获取方法及系统，可快速准确地获得大范围场景的深度信息。该方法包括：相机的标定及畸变校正；向目标场景投射分布在垂轴平面上的一系列平行直线上的光斑组成的规则点阵；获取规则点阵的参考图像并计算各光斑的坐标；获取场景图像并计算各光斑的坐标；建立场景图像与参考图像各光斑间的对应关系；根据各光斑偏移量结合相机内部参数利用三角测量法计算各采样点处的场景深度。由此，避免了基于散斑或不规则点阵测量深度时需要进行的匹配运算，提高了深度信息的获取速度与采样点处深度探测的准确性。

Barrier range-measurement system and its distance measuring method based on monocular vision

本发明公开了一种基于单目视觉的障碍物测距系统，包括：图像摄取模块拍摄障碍物单幅图像发送至于图像处理模块；图像处理模块对单幅图像进行预处理后将单幅图像转化为待分析图像发送至距离计算模块；距离计算模块将待分析图像进行数字化描述完成障碍物高度信息恢复，确定障碍物的高度、尺寸和底部在相平面上的位置信息后，根据图像摄取模块焦距、图像摄取模块离地面高度以及障碍物底部在相平面上的位置，通过光学相似三角计算获得障碍物距离。本发明还公开了一种基于单目视觉的障碍物测距方法。

Method and apparatus for determining spatial parameter by using image, and terminal device

FIELD: information technology. SUBSTANCE: invention relates to image processing. method for determining a spatial parameter by using an image is applicable to a display device and includes determining the coordinates of the first pixel, corresponding to the image, displayed on the display device, and the coordinates of the second pixel corresponding to the image; determining the distance in the image between the coordinates of the first pixel and the coordinates of the second pixel; and determining a corresponding spatial parameter between the first pixel coordinates and the second pixel coordinates according to the image distance, distance to the object when photographing it and the focal length of the camera lens for photographing the object, wherein determining the distance in the image includes determining a distance in pixels between the coordinates of the first pixel and the coordinates of the second pixel; determining the physical size of the pixel for the imager of the camera image signal; and determining the distance in the image between the coordinates of the first pixel and the coordinates of the second pixel according to the distance in pixels and the physical size of the pixel. EFFECT: technical result is the determination of the real distance based on the image without comparison with the reference object available in the image. 10 cl, 8 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 648 625 C2 (51) МПК G06T 7/60 (2006.01) G01B 11/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК G06T 7/60 (2006.01); G01B 11/02 (2006.01); G01B 11/026 (2006.01); G01B 11/022 (2006.01); G06T 7/62 (2006.01); G01C 11/30 (2006.01); G06K 9/36 (2006.01); G06T 1/00 (2006.01) (21)(22) Заявка: 2016118756, 25.12.2015 25.12.2015 Дата регистрации: (73) Патентообладатель(и): Сяоми Инк. (CN) 26.03.2018 (56) Список документов, цитированных в отчете о поиске: US 2014/0300722 A1, 09.10.2014. US 20.07.2015 CN 201510429062.9 (43) ...

Object detection device

Efficient scene depth information acquisition method and system

本发明涉及光学测量及计算机视觉技术领域，提供了一种高效的场景深度信息获取方法及系统，可快速准确地获得大范围场景的深度信息。该方法包括：相机的标定及畸变校正；向目标场景投射分布在垂轴平面上的一系列平行直线上的光斑组成的规则点阵；获取规则点阵的参考图像并计算各光斑的坐标；获取场景图像并计算各光斑的坐标；建立场景图像与参考图像各光斑间的对应关系；根据各光斑偏移量结合相机内部参数利用三角测量法计算各采样点处的场景深度。由此，避免了基于散斑或不规则点阵测量深度时需要进行的匹配运算，提高了深度信息的获取速度与采样点处深度探测的准确性。

Numeric data system auto searching the misprounciations of digital map data by compared coordinate data each real position

The present invention relates to a numerical data system for automatically searching for errors of MMS numerical map information by comparing numerical coordinates for each site location, which automatically designates error sections by checking location errors of collection information collected in real time while an MMS moves. The numerical data system for automatically searching for errors of MMS numerical map information comprises a GPS device, a camera, a LiDAR, a collection information DB, a learning information DB, a numerical coordinate DB, a location tracking module, an error section designation module, an MMS module, a deep learning module, an image analysis module, a blur module, and a section analysis module. Therefore, it is possible to check whether there are location value measurement errors of the GPS device or errors of a conventional numerical coordinate and to directly designate a section where errors occur at the site, and thus it is possible to re-collect site information about a corresponding section before terminating MMS collection work.

Spatial image drawing system that draws 3D video image

The present invention relates to a spatial image drawing system for synthesizing geographic feature information of photographed geographic information, and in particular, relates to a spatial image drawing system for synthesizing geographic feature information of photographed geographic information which, in the case of a city center, photographs a drawing image with a drone based on a ground reference point, and periodically updates the geographic feature information of the photographed geographic information to reflect changes in geographic features within a short time, so that accurate and precise map production is possible and a processing module mounted on a drawing server can be stably and effectively cooled to prevent deterioration of the mounted module, thereby being improved to prevent errors or defect occurrence during drawing.

Rough road surface driving assisted equipment and method for rough road driving assisting

本发明一种不平路面驾驶辅助设备，包括：具有双目摄像头系统的路面信息采集装置，利用双目摄像头系统对车辆的前方路面进行拍摄以采集前方路面视频信息；以及不平路面判断装置，将路面信息采集装置所采集的前方路面视频信息转化为视差图，利用移动窗口将所述视差图分割为一系列子视差图，并根据V视差图生成准则将分割后的各子视差图转化为各子V视差图，对各个子V视差图进行线段拟合，拟合出路面映射线段，根据各子V视差图中的所述路面映射线段的端点总数来判断所述前方路面是否为不平路面。

Method and arrangement for driving dynamics assessment

Verfahren und Anordnung zur Fahrdynamikbewertung eines zu bewertenden Fahrzeugs (2), wobei Geometriedaten bestimmt werden und das zu bewertende Fahrzeug (2) während der Fahrt von einem Beobachterfahrzeug (3) begleitet wird, wobei das Beobachterfahrzeug (3) die Lage von zumindest einem Beobachtungspunkt (6) am zu bewertenden Fahrzeug (2) mittels zweier Kameras (4, 5), deren Abstand (11) voneinander bekannt ist, registriert. Method and arrangement for vehicle dynamics evaluation of a vehicle to be evaluated (2), wherein geometry data are determined and the vehicle (2) to be assessed is accompanied by an observer vehicle (3) during the journey, wherein the observer vehicle (3) determines the position of at least one observation point (3). 6) on the vehicle to be evaluated (2) by means of two cameras (4, 5) whose distance (11) is known from each other registered.

Alignment error correction system for collected location information by triangle mesh composed rand-mark and specified object

The present invention relates to a collection position correction system of an MMS through generation of a reference triangular net between a reference object and a designated landmark, which comprises a reference node, a GPS device, a camera, a lidar, a collection information DB, a position information DB, a frequency sensing module, a frequency analysis module, an error information correction module, a learning information DB, an MMS module, a deep learning module, an image analysis module, and a blur module. The present invention can efficiently manage and protect personal information of a collected image.

MMS image processing system for map production with precision autonomous driving

The present invention relates to an MMS image processing system for production of a precise map for autonomous driving, and more specifically, to an MMS image processing system for production of a precise map for autonomous driving, which allows road alignment to be automatically generated when producing a high-precision electric map for autonomous vehicles in a field investigation method using voice recognition, image information taken around the road, and positioning information. The MMS image processing system for production of a precise map for autonomous driving according to the present invention includes a case (2000), and an MMS vehicle (1000), and processing modules installed in the case (2000) include a DGPS receiving unit (102), an audio input unit (104), and a control unit (110).

Monocular camera ranging system and method for cleaning robot

本发明提供一种用于清洁机器人的单目摄像头测距系统及测距方法。该系统，包括：拍摄目标物并使其在CCD板上成像的单目摄像头；和与所述单目摄像头连接的数据处理模块，所述数据处理模块获取所述CCD板上的成像数据，并提取目标物特征点的成像数据用于测距。本发明减小了清洁机器人的整体尺寸，成本更有优势。

Distance measuring method, distance measuring device, electronic equipment and storage medium

本申请实施例提供了一种测距方法，涉及自动驾驶技术领域。该方法包括：获取于车辆行驶前方视野下采集到的当前帧的帧图像；根据帧图像中各直线的交点获得至少一个映射点集合，每个映射点集合中包括两两正交的至少两个映射点；基于图像采集设备的参数，结合至少一个映射点集合在相机坐标系的坐标确定单应矩阵；识别目标对象的接地点在帧图像中对应的目标像素点，确定目标像素点在像素坐标系的坐标，结合单应矩阵，获得目标对象在当前帧的世界坐标系的坐标；根据目标对象在当前帧的世界坐标系的坐标，确定目标对象和车辆在当前帧的距离。本申请实施例相比现有技术提升了测距效率和精度。

Truck driver support system and method and truck

FIELD: machine building. SUBSTANCE: group of inventions relates to a method and system for supporting a truck driver and a truck. Truck comprising driver support system and carrying out driver support method has, at least, one image-oriented device in vehicle lengthwise direction. From the images obtained using the image acquisition device, using the image processing unit, extracting at least one dimension characteristic, and/or body, and/or cargo of truck, in particular, truck and/or truck lorry semitrailer. EFFECT: enabling determination of corresponding size characteristics and/or body and/or cargo of truck. 15 cl, 4 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 693 422 C2 (51) МПК B60W 40/12 (2012.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК B60W 40/12 (2019.02); G01C 11/00 (2019.02) (21)(22) Заявка: 2015119191, 21.05.2015 (24) Дата начала отсчета срока действия патента: Дата регистрации: 02.07.2019 27.05.2014 DE 102014007897.3 (43) Дата публикации заявки: 10.12.2016 Бюл. № 34 (56) Список документов, цитированных в отчете о поиске: US 20130027195 A1, 31.01.2013. WO 2008064892 A1, 05.06.2008. WO 2014037064 A1, 13.03.2014. RU 2468522 C1, 27.11.2012. (45) Опубликовано: 02.07.2019 Бюл. № 19 2 6 9 3 4 2 2 R U (54) СИСТЕМА И СПОСОБ ПОДДЕРЖКИ ВОДИТЕЛЯ ГРУЗОВОГО АВТОМОБИЛЯ И ГРУЗОВОЙ АВТОМОБИЛЬ (57) Реферат: Группа изобретений относится к способу и получения изображения, при помощи блока системе поддержки водителя грузового обработки изображений извлекают по меньшей автомобиля и грузовому автомобилю. Грузовой мере одну характеристику размера, и/или кузова, автомобиль, содержащий систему поддержки и/или груза грузового автомобиля, в частности водителя и осуществляющий способ поддержки тягача и/или прицепа/полуприцепа грузового водителя, имеет по меньшей мере одно автопоезда. Обеспечивается определение ориентированное в продольном направлении соответствующих размерных характеристик, и/ транспортного средства ...

Road facility detection system for map production with precision autonomous driving

The present invention relates to a road facility detection system for autonomous driving precision road map production, and more specifically to a road facility detection system for autonomous driving precision road map production that can automatically generate road alignments when producing high-precision electronic maps for autonomous driving vehicles using an on-site survey method by using voice recognition, video information and positioning information taken around the road. The present invention includes a case (2000) and a mobile mapping system (MMS) vehicle (1000).

Patent RU2015119191A3

ВУ’? 2015119191`” АЗ Дата публикации: 14.12.2018 Форма № 18 ИЗ,ПМ-2011 Федеральная служба по интеллектуальной собственности Федеральное государственное бюджетное учреждение ж Я «Федеральный институт промышленной собственности» (ФИПС) ОТЧЕТ О ПОИСКЕ 1. . ИДЕНТИФИКАЦИЯ ЗАЯВКИ Регистрационный номер Дата подачи 2015119191/11(029745) 21.05.2015 Приоритет установлен по дате: [ ] подачи заявки [ ] поступления дополнительных материалов от к ранее поданной заявке № [ ] приоритета по первоначальной заявке № из которой данная заявка выделена [ ] подачи первоначальной заявки № из которой данная заявка выделена [ ] подачи ранее поданной заявки № [Х] подачи первой(ых) заявки(ок) в государстве-участнике Парижской конвенции (31) Номер первой(ых) заявки(ок) (32) Дата подачи первой(ых) заявки(ок) (33) Код страны 1. 102014007897.3 27.05.2014 РЕ Название изобретения (полезной модели): [Х] - как заявлено; [ ] - уточненное (см. Примечания) СПОСОБ И СИСТЕМА ПОДДЕРЖКИ ВОДИТЕЛЯ ДЛЯ ПОДДЕРЖКИ ВОДИТЕЛЯ ГРУЗОВОГО АВТОМОБИЛЯ Заявитель: МАН ТРАК УНД БАС АГ, РЕ 2. ЕДИНСТВО ИЗОБРЕТЕНИЯ [Х] соблюдено [ ] не соблюдено. Пояснения: см. Примечания 3. ФОРМУЛА ИЗОБРЕТЕНИЯ: [Х] приняты во внимание все пункты (см. Примечания) [ ] приняты во внимание следующие пункты: [ ] принята во внимание измененная формула изобретения (см. Примечания) 4. КЛАССИФИКАЦИЯ ОБЪЕКТА ИЗОБРЕТЕНИЯ (ПОЛЕЗНОЙ МОДЕЛИ) (Указываются индексы МПК и индикатор текущей версии) ВбОУ/ 40/12 (2012.01) 5. ОБЛАСТЬ ПОИСКА 5.1 Проверенный минимум документации РСТ (указывается индексами МПК) ВоОУУ 40/00, В6О\ 40/10, В6О\ 40/101,В60У 40/12, СОТС 11/00, СОТС 11/36 5.2 Другая проверенная документация в той мере, в какой она включена в поисковые подборки: 5.3 Электронные базы данных, использованные при поиске (название базы, и если, возможно, поисковые термины): Езрасепеё, боозе Раеп$, РАТЕМТСОРЕ, Рабеагсв, КОРТО 6. ДОКУМЕНТЫ, ОТНОСЯЩИЕСЯ К ПРЕДМЕТУ ПОИСКА Кате- Наименование документа с указанием (где необходимо) частей, Относится к гория* ...

Device for remotely monitoring VOCS (volatile organic Compounds) emission of pollutant gas based on unmanned aerial vehicle

本装置的一种基于无人机的远程监测污染物气体VOCS排放的装置，包括地面端和天空端，其可以实现污染物气体的快速监测，在大范围搜索时，使用红外相机进行快速的监测，以及发现污染物气体时，切换监测方式，使用可见光摄像头对污染物气体以及源头进一步确认精准锁定排放点，同时，提供浓度确认以及种类确认，以及给定具体的地理位置，提高了监测速度同时减少电量消耗，扩大了搜索的范围以及快速帮助探测人员确定位置以及污染物种类。

Topography object of position setting image expression space mapping system

PURPOSE: An image mapping system of position setting image expression type is provided to keep various media communication units, a map, a writing tool and so on. CONSTITUTION: An image mapping system of position setting image expression type comprises a base station(200), a total station(300), and an image information processing unit(400). The base station comprises a GPS receiver(210), a controller(220), and a DGPS transmitter(230). The total station comprises a total station main body and a measure system part(320). The total station main body comprises a measure system mounting frame and a worktable. The image information processing unit has an image DB(410) storing the aviation photographing images, a data receiver(420), a data processor(430), and a mapping image output unit(440).

Method and system for photographing object in movement with fixed camera, and based on taken images therefor, obtaining projection image of actual movement trace of same object

본 발명은 고정된 카메라로 운동하는 피사체를 촬영하고 그 촬영 이미지에 기초하여 피사체의 실제의 운동 궤적의 투사 이미지를 획득하기 위한 방법 및 시스템에 관한 것이다. 본 발명의 일 태양에 따르면, 피사체의 실제의 운동 궤적의 투사 이미지를 획득하기 위한 방법으로서, 고정된 카메라로 운동하는 피사체를 촬영하는 단계, 및 상기 피사체의 촬영된 이미지의 카메라 이미지 프레임 상의 좌표를 상기 이미지의 실제의 배경 부분 상의 좌표로 변환하는 단계 - 상기 변환은 상기 실제의 배경 부분의 특정 패턴을 상기 고정된 카메라로 미리 촬영함에 따라 획득되어 있는, 상기 특정 패턴의 상기 실제의 배경 부분 상의 좌표와 그것의 촬영된 이미지의 상기 카메라 이미지 프레임 상의 좌표 간의 대응에 관한 정보에 기초하여 수행됨 - 를 포함하는 방법이 제공된다. The present invention relates to a method and system for capturing a subject moving with a fixed camera and obtaining a projected image of the actual motion trajectory of the subject based on the captured image. According to one aspect of the present invention, there is provided a method for acquiring a projected image of an actual motion locus of a subject, comprising the steps of: photographing a subject moving with a fixed camera; and projecting the coordinates on the camera image frame of the photographed image of the subject Wherein the transformation is performed on the actual background portion of the specific background, wherein the transformation is performed on the actual background portion of the specific background, And information on a correspondence between the coordinates of the camera image frame and its coordinates on the camera image frame.

Navigation system and method using visible light communication

본 발명은 가시광 통신을 이용한 건물 내 네비게이션(Navigation) 시스템에 있어서, 네비게이션 기능을 제공하기 위한 맵 정보를 저장하며, 정보를 각 램프로 전송하는 맵 서버와, 건물 내에 각 지역에 다수개 설치되며, 맵 서버로부터 네비게이션 기능을 제공하기 위한 맵 정보를 수신하고, 가시광 통신을 사용하여 수신한 정보를 가시광 신호로 발생시키는 램프와, 가시광 수신 모듈을 구비하여 램프에서 발생되는 가시광 신호를 수신하여 맵 정보를 제공받으며, 제공받은 맵 정보에 따른 맵 이미지를 디스플레이하는 이동 단말을 포함한다. The present invention provides a navigation system in a building using visible light communication, and stores map information for providing a navigation function, and transmits the information to each lamp, and a plurality of map servers are installed in each area in the building. Receiving map information for providing a navigation function from the map server, a lamp for generating the received information using visible light communication as a visible light signal, and a visible light receiving module to receive the visible light signal generated from the lamp to map information It is provided, and includes a mobile terminal for displaying a map image according to the provided map information. 가시광 통신, 네비게이션, 전력선통신, LED Visible Light Communication, Navigation, Power Line Communication, LED

Space image drawing system based on high precision aerial image

본 발명은 고정밀 항공영상을 기반으로 하는 공간영상도화 시스템에 관한 것으로, 보다 상세하게는 항공촬영이미지에 랜덤하게 형성된 좌표점이 평면과 측면 촬영된 지상물 이미지에 포함될 경우 이를 자동으로 인식해서 삭제 처리하고, 이를 통해 표정처리에 대한 신뢰도를 높이면서 항공촬영이미지를 획득할 때 지상물의 직상방에서 최대한 촬영할 수 있도록 하여 보다 정확한 항공촬영이미지를 획득함으로써 정확도가 높은 수치지도 제작에 기여할 수 있는 고정밀 항공영상을 기반으로 하는 공간영상도화 시스템에 관한 것이다.

System and method for photographing moving subject by means of fixed camera, and acquiring projection image of actual movement trajectory of subject based on photographed image

本发明涉及利用固定的照相机拍摄移动的被拍摄体并根据拍摄图像来获取被拍摄体的实际移动轨迹的投影图像的方法及系统。根据本发明的一个技术方案，提供一种方法，用于获取被拍摄体的实际移动轨迹的投影图像，该方法包括以下步骤：利用固定的照相机拍摄移动的被拍摄体的步骤；以及将所拍摄的被拍摄体的图像在照相机图像帧上的坐标变换为图像在实际背景部分上的坐标的步骤，其中，变换是根据与如下的两个坐标之间的对应关系相关的信息来进行的，这两个坐标分别是，通过利用固定的照相机预先拍摄实际背景部分的特定图案来获取的特定图案在实际背景部分上的坐标以及拍摄到该特定图案的图像在照相机图像帧上的坐标。

System for measuring attitude of aircraft using camera and method therefor

본 발명은 카메라를 이용한 항공기 자세 측정 시스템 및 그 방법에 관한 것으로서, 항공기에 고정된 카메라를 이용하여 피사체의 모서리를 추출하고, 모서리에 대한 가상선을 이용하여 모서리의 각도를 추출하며, 시간 흐름에 따라 각도 변화를 가지는 모서리에 대하여 각도 변화량을 산출한 후, 산출된 각도 변화량을 바탕으로 항공기의 자세를 측정하는 카메라를 이용한 항공기 자세 측정 시스템 및 그 방법을 제공함에 그 목적이 있다. 이러한 목적을 달성하기 위한 본 발명은, 항공기에 고정 설치되어 있어, 비행 중 각 방향의 영상을 촬영하는 카메라 장치; 및 상기 카메라 장치를 통해 입력된 영상정보를 바탕으로 피사체 모서리의 각도 변화량을 산출하고, 각도 변화량을 이용하여 항공기의 자세를 측정하는 자세 측정장치; 를 포함하는 것을 특징으로 한다. The present invention relates to an aircraft attitude measuring system and method using a camera, which extracts an edge of a subject using a camera fixed to an aircraft, extracts an angle of an edge using a virtual line with respect to the edge, Accordingly, an object of the present invention is to provide an aircraft attitude measuring system and method using a camera that calculates an angle change amount for an edge having an angle change, and then measures the attitude of the aircraft based on the calculated angle change amount. The present invention for achieving the above object is fixed to the aircraft, the camera device for photographing the image in each direction during the flight; And a posture measuring device configured to calculate an angle change amount of an edge of a subject based on the image information input through the camera device, and measure the attitude of the aircraft using the angle change amount. And a control unit.

METHOD AND SYSTEM OF DRIVER SUPPORT FOR SUPPORT OF A DRIVER OF A LOAD VEHICLE

1. Способ поддержки водителя грузового автомобиля, при этом грузовой автомобиль (1, 9) имеет по меньшей мере одно, в частности, ориентированное в продольном направлении (х) транспортного средства устройство (5) для получения изображения, в частности, по меньшей мере одну камеру, отличающийся тем, что из изображений (11), полученных с помощью устройства (5) для получения изображения, с помощью блока обработки изображений извлекают по меньшей мере одну характеристику размера и/или кузова, и/или груза грузового автомобиля (1), в частности, тягача (1) и/или прицепа/полуприцепа (9) грузового автопоезда.2. Способ по п. 1, отличающийся тем, что грузовой автомобиль (1, 9) является грузовым автопоездом, содержащим тягач (1) и соединенный с ним прицеп/полуприцеп (9), при этом по меньшей мере одно устройство (5) для получения изображения установлено на тягаче (1), и при этом по меньшей мере одно устройство (5) для получения изображения, при рассматривании в продольном направлении (х) транспортного средства, направлено назад так, что прицеп/полуприцеп (9) по меньшей мере в одной части возможных положений движения по меньшей мере частично регистрируют на изображении (11).3. Способ по п. 2, отличающийся тем, что характеристикой размера является длина прицепа/полуприцепа (9) и она определяется так, что при рассматривании в продольном направлении (х) транспортного средства, с помощью устройства (5) для получения изображения на изображении (11) регистрируют заднюю вертикальную наружную кромку (15) прицепа/полуприцепа (9),и что с помощью блока обработки изображения из геометрической взаимосвязи положения наружной кромки (15) на изображении (11) и проезжаемого во время получения изображения (11) радиуса поворота и/или РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2015 119 191 A (51) МПК B60W 40/12 (2012.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2015119191, 21.05.2015 (71) Заявитель(и): МАН ТРАК УНД БАС АГ (DE) Приоритет(ы): (30) ...

Image drawing update system

PURPOSE: An image changing system for editing an image in real time based on the change of a geographical feature is provided to protect a photographing equipment from fire by preparing a device for extinguishing. CONSTITUTION: If a fire breaks out in a rotator(300) for a rotating plate, a fire sensor(FS) detects the fire. A fire-extinguishing powder injector(EI) receives a signal from the fire sensor. The fire-extinguishing powder injector sprays a powder for extinguishing to the rotator for a rotating plate. If an operator finishes tasks, a separate lubricant supplying unit supplies lubricants to a lubricant injection part of the first lifting member and the second lifting member.

DEVICE AND METHOD FOR SIMULTANEOUS THREE-DIMENSIONAL SURFACE MEASUREMENT BY MULTIPLE WAVE LENGTHS

1. Устройство для трехмерного измерения поверхности, содержащее:проекционную систему для проецирования узора на поверхность посредством электромагнитного излучения, имеющего по меньшей мере две отличающиеся длины волны или по меньшей мере два отличающихся, предпочтительно раздельных, диапазона длин волн; ирегистрационную систему для регистрации проецируемого узора при указанных по меньшей мере двух отличающихся длинах волн или при по меньшей мере двух отличающихся длинах волн из указанных по меньшей мере двух отличающихся диапазонов длин волн.2. Устройство по п. 1, в которомпроекционная система содержит по меньшей мере два источника излучения для генерирования излучения при указанных по меньшей мере двух отличающихся длинах волн или по меньшей мере в двух отличающихся диапазонах длин волн, в особенности по меньшей мере два лазера, имеющие отличающуюся длину волны излучения.3. Устройство по п. 1 или 2, в которомпроекционная система содержит объединитель длин волн и/или оптическую систему направления луча и/или средства для перемещения проецируемого узора относительно указанной поверхности.4. Устройство по п. 2, в которомпроекционная система содержит объединитель длин волн и/или оптическую систему направления луча и/или средства для перемещения проецируемого узора относительно указанной поверхности, ауказанные по меньшей мере два источника излучения содержат соответствующие регулировочные элементы для индивидуальной регулировки соответствующей интенсивности излучения.5. Устройство по одному из пп. 1-2, 4, в которомрегистрационная система содержит камеру или группу камер для каждой длины волны или каж РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2014 114 176 A (51) МПК G01B 11/25 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2014114176/28, 10.04.2014 (71) Заявитель(и): АйМЕСС СЕРВИСЕС ГМБХ (DE) Приоритет(ы): (30) Конвенционный приоритет: (72) Автор(ы): ВИДЕНМАНН Эрнст (DE) 30.04.2013 EP 13165992.2 Адрес для ...

Working state parameter recording system of aerial remote sensing equipment

本发明公开了一种航空遥感设备工作状态参数记录系统，涉及航空遥感设备技术领域，包括参数收集模块、参数汇总模块、数据存储模块及参数解析模块，参数收集模块用于采集航空遥感设备中各子系统的子系统状态参数；参数汇总模块用于接收所述各系统状态参数，并将各子系统状态参数传送给数据存储模块；数据存储模块用于储存各子系统状态参数；参数解析模块对各子系统状态参数进行解析，并以特定格式文件输出。本发明通过单独记录相机工作状态参数方式，将工作状态参数记录与图像记录分离，可实现在航空遥感设备整个工作过程中均能记录工作参数的能力，扩展了航空遥感设备工作状态记录的时间范围，有效满足了人们的使用需求。

PROCESSOR OF PROCESSING IMAGES WITH RECOGNITION OF STATIC POSES OF HAND USING TRIANGULATION AND SMOOTHING OF CIRCUITS

1. Способ, содержащий этапы, на которых:идентифицируют интересующую область руки в по меньшей мере одном изображении;определяют контур интересующей области руки;триангулируют этот определенный контур;сглаживают триангулированный контур;вычисляют один или более признаков сглаженного контура; ираспознают статическую позу интересующей области руки, по меньшей мере, частично на основе одного или более вычисленных признаков;при этом данные этапы реализуются в блоке обработки изображений, содержащем процессор, соединенный с запоминающим устройством.2. Способ по п. 1, в котором этапы реализуются в модуле распознавания статических поз из состава системы распознавания жестов блока обработки изображений.3. Способ по п. 1, в котором при идентификации интересующей области руки формируют изображение руки, содержащее двоичную маску интересующей области, при этом пикселы в интересующей области руки имеют первое двоичное значение, а пикселы за пределами интересующей области руки имеют двоичное значение, комплементарное первому двоичному значению.4. Способ по п. 1, в котором упомянутый определенный контур содержит упорядоченный список точек.5. Способ по п. 1, в котором при триангуляции определенного контура охватывают практически всю площадь, ограниченную упомянутым определенным контуром, с использованием треугольников с вершинами, которые соответствуют надлежащим точкам контура.6. Способ по п. 5, в котором все вершины треугольников, используемые на этапе триангуляции, соответствуют точкам контура, так что ни один из треугольников не включает в себя вершину внутри упомянутой ограниченной площади.7. Способ по п. 1, в котор РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (51) МПК G06T 11/00 (13) 2014 111 793 A (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2014111793/08, 27.03.2014 (71) Заявитель(и): ЭлЭсАй Корпорейшн (US) Приоритет(ы): (22) Дата подачи заявки: 27.03.2014 (43) Дата публикации заявки: 10.10.2015 Бюл. № 28 Стр.: 1 A 2 0 1 4 ...

Visual ranging and pairwise alignment for high definition map creation

当自主车辆移动通过局部区域时，可以执行成对对准，以计算不同时间点之间车辆姿势的变化。该车辆包括成像系统，该成像系统被配置成捕获描述周围区域的一部分的图像帧。从所捕获的图像帧中识别特征，并且针对每个识别出的特征确定3‑D位置。对与不同时间点对应的不同图像帧的特征进行分析，以确定在图像帧之间的时间段期间车辆姿势的变换。使用所确定的车辆姿势来生成局部区域的HD地图。

A kind of satellite image block adjustment method based on restriction function non-linear estimations

本发明涉及一种基于制约函数非线性估计的卫星影像区域网平差方法，包括以下步骤，S01：构建基于RFM的像方空间影像定位的函数模型；S02：引入约束条件；S03：对待估参数进行求解。其优点在于，在常规区域网平差数学模型基础上引入约束条件，避免无控制点情况下由于必要起算数据缺失引起的解不唯一问题，同时采用制约函数法对未知参数进行最优估计，保留函数模型的原始非线性形式，将带约束条件的非线性问题转化为求解无约束函数极值的问题，避免采用线性最优估计算法带来的模型误差问题，从而保证无控制点情况下卫星影像区域网平差解的高精度。

Image processing system based on image data by drone

본 발명의 무인 비행체를 이용한 영상데이터를 기반으로 하는 영상처리시스템은, 인공위성으로부터 위치값을 수신받아 연산하여 GPS 보정값을 출력하고, 출력된 GPS 보정값을 무선 송출하는 기지국, 기지국으로부터 GPS 보정값과 인공위성으로부터 수신받은 GPS 정보를 연산하여 측정점의 좌표를 연산 처리하고, 측정점의 각도와 거리를 측위하여 유무선 송출하는 토탈 스테이션 및 토탈 스테이션으로부터 측위된 측정점의 각도와 거리 및 측정점의 좌표를 포함한 도화 정보를 수신받아 무인항공기에서 전송받은 항공촬영 이미지를 기초로 도화 작업을 수행한 후, 도화 작업으로 완성된 도화이미지에 GPS 정보를 합성하여 수치지도 이미지를 형성하며 기저장된 수치지도 이미지를 업데이트하는 영상처리센터를 포함하는 것을 특징으로 한다. An image processing system based on image data using an unmanned aerial vehicle of the present invention receives a position value from an artificial satellite, calculates a GPS correction value, outputs a GPS correction value, wirelessly transmits the output GPS correction value, and a base station that transmits the GPS correction value from the base station. A total station that calculates and processes the coordinates of the measurement point by calculating the GPS information received from the satellite and positioning the angle and distance of the measurement point and transmits wired or wireless transmission, and drawing information including the angle and distance of the measurement point located from the total station and the coordinates of the measurement point Image processing that receives and performs drawing based on the aerial photographic image transmitted from the unmanned aerial vehicle, forms a digital map image by combining GPS information with the drawing image completed by drawing work, and updates the previously stored digital map image. Characterized in that it includes a center.

Method for measuring distance by image processing

본 발명은 도로위의 장애물 및 자동차와 현재 위치와의 거리를 측정하는 방법에 관한 것이다. 본 발명은 도로상의 장애물 및 자동차와 현재 위치와 거리를 측정하는 방법에 관한 것으로 도로선을 기준으로 삼고, 장애물이 있는 위치의 도로선 폭과 현 위치의 도로 폭 크기를 비교하여 현 위치에서 장애물 및 자동차와의 거리를 영상을 이용하여 측정하는 것이다. 이러한 방법으로 거리를 측정하여, 흔들림이나 자동차 또는 장애물 크기에 상관없이 현재 위치로부터 장애물 또는 자동차까지의 거리를 오차를 최소화하여 측정하고자 하는 방법에 관한 것이다. The present invention relates to an obstacle on a road and a method for measuring a distance between a vehicle and a current position. The present invention relates to a method for measuring the current position and distance with the obstacles and cars on the road, based on the road line, by comparing the road line width of the obstacle position and the road width of the current position, The distance to the car is measured by using an image. By measuring the distance in this way, the present invention relates to a method for measuring the distance from the current position to the obstacle or the vehicle by minimizing an error regardless of the shaking or the size of the vehicle or the obstacle. 영상, 거리측정, 도로폭 Video, distance measurement, road width

Method and apparatus for measuring road surface condition using sensor data

Provided are a method for measuring a state of a road surface, and a device therefor. According to one embodiment of the present invention, the method for measuring a state of a road surface comprises: a step of estimating an area of a target road surface included in a road area by using an image capturing the road area; a step of receiving an electromagnetic signal from and transmitting the electromagnetic signal to the target road surface by using a radar sensor; a step of receiving a reflected wave signal of the electromagnetic signal on the target road surface; and a step of estimating information on physical properties of the state of the road surface based on the reflected wave signal.

Robot positioning system and method based on binocular vision and convolutional neural networks

本发明公开一种基于双目视觉和卷积神经网络的机器人定位系统及定位方法。所述系统包括移动机器人，所述移动机器人搭载有分别与传感器控制模块相连接的惯性传感器模块、双目视觉模块和上位机。通过惯性传感器模块得到移动机器人的运动状态，通过双目视觉模块得到周围环境的图像，并利用卷积神经网络进行立体匹配，计算得到地标的位置。传感器控制模块对惯性传感器模块和双目视觉模块进行操作控制，并接收其数据，然后将获取的数据传到上位机进行数据处理，得到移动机器人的位置。通过所提出的方法实现了移动机器人高效的自我定位。

Positioning and orienting method for mobile robot in fixed operation area

本发明公开了一种固定作业区域内移动机器人定位定向方法，首先在机器人固定作业区域边缘寻找三个非共线的靶标，确定靶标的平面位置坐标，通过固连上机器人身上的圆周扫描装置以圆周扫描的方式获取三个靶标的对应的扫描角度，然后结合靶标的坐标信息解调出机器人的实时位置信息和方位信息，本方法具有解算简单、高精度、实时性好、自动化程度高等特点，可以很好地满足固定区域内移动机器人高精度实时定位定向需求。

Apparatus for visualizing lidar data coupling with mobile realtime and method thereof

실시간 모바일 연동식 라이다 데이터 가시화 장치 및 그 방법이 제공된다. 본 발명의 실시예에 따른 실시간 모바일 연동식 라이다 데이터 가시화 장치는 드론에 장착된 라이더 센서유닛으로부터 전송되는 3D 라이다 데이터를 수신하는 수신부, 수신된 3D 라이다 데이터를 저장하는 저장부; 및 수신부 및 저장부를 제어하는 제어부를 포함하고, 제어부는, 3D 라이다 데이터를 최적화되도록 가공하는 가공부, 가공된 데이터를 화면상으로 나타내도록 가시화하는 가시화부, 및 가공된 데이터를 DEM(Digital Elevation Model) 파일 또는 오픈 3D 모델링 포맷 파일로 변환하는 데이터 변환부를 포함한다. A real-time mobile-linked lidar data visualization apparatus and method are provided. A real-time mobile-linked lidar data visualization apparatus according to an embodiment of the present invention includes: a receiving unit for receiving 3D lidar data transmitted from a lidar sensor unit mounted on a drone; a storage unit for storing the received 3D lidar data; and a control unit for controlling the receiving unit and the storage unit, wherein the control unit includes a processing unit for processing 3D lidar data to be optimized, a visualization unit for visualizing the processed data to be displayed on a screen, and Digital Elevation (DEM) for the processed data Model) file or a data conversion unit that converts it into an open 3D modeling format file.

Based on GPS Dynamic post-treatment technology Aerial Photogrammetry

本发明公开了一种基于全球卫星导航系统动态后处理技术航空摄影测量方法，包括：步骤10)在航空平台上安装航空摄影仪和双频全球卫星导航系统接收机；步骤20)利用航空摄影仪，进行航空摄影；摄影过程中，利用接收机连续采集全球卫星导航系统卫星信号，同步记录航空像片的摄影时间；步骤30)利用全球卫星导航系统动态后处理技术，对全球卫星导航系统卫星信号进行后处理，获得各摄影瞬间全球卫星导航系统天线中心的三维坐标；步骤40)根据各摄影瞬间全球卫星导航系统天线中心的三维坐标，利用航空像片，进行航空摄影测量，得到与航空像片上相对应的地面点的三维坐标。该方法利用GNSS PPK技术进行无需地面控制点的摄影测量。

Apparatus for obtaining image by triangulation

PURPOSE: A triangulating apparatus using a large diameter concave mirror is provided to improve precision according to the shape of an object by controlling the thickness of line light according to the shape of the object to be measured. CONSTITUTION: A triangulating apparatus using a large diameter concave mirror comprises an illumination unit(21), a large diameter concave mirror(23), and a camera(26) and a beam splitter(24). The arbitrary illumination unit generates the line light. The large diameter concave mirror has a larger area than the real area which is viewed through a camera to reflect line light generated from the illumination unit to the surface of an object(25). The light emitted from a lens(22) is incident to the large diameter concave mirror. A beam splitter is provided between the large diameter concave mirror and the arbitrary illumination unit. The beam splitter reflects the line light generated from the arbitrary illumination to the surface of the object. The camera receives the light reflected from the object.

Method and Apparatus for Error Correction of Global Navigation Satellite System Signal using Imaging Sensor

본 발명은 GNSS 신호 차폐지역, GNSS 수신기의 기계적 한계, 대기상태, 위성의 배치 및 지상물체에 의한 신호 교란 등으로 인해서 필연적으로 발생하는 GNSS 측위 신호의 오차를 영상센서를 이용하여 보정하기 위한 방법 및 장치에 관한 것이다. The present invention relates to a method for correcting an error of a GNSS positioning signal inevitably caused by a GNSS signal blocking area, a mechanical limit of a GNSS receiver, a standby state, a positioning of a satellite, a signal disturbance by a ground object, ≪ / RTI >

Road map construction system for acquiring road surface using mobile mapping system

The present invention relates to a detailed map construction system. More specifically, the present invention relates to a detailed map construction system which comprises a mobile mapping system which generates MMS data which measures a road and surroundings, and an acquisition device which processes data generated from a mobile mapping system to generate a road surface shape, wherein the detailed map construction system can acquire a road shape by using the mobile mapping system which extracts 3D points from LAS data having 3D spatial coordinates, and generates road surface points through filtering according to the location and correlation of each 3D point.

Coordinates map renewal system for topography information

본 발명은 지피에스확인을 통한 변경된 지형지물의 수치지도 갱신시스템에 관한 것으로, 지면에 고정되는 평판형상의 밑판(112)과, 실린더(113a)와 실린더(113a)에 삽입되고 말단에 맞물림홈(113c)이 형성된 피스톤(113b)을 구비하고 밑판(112)에 분산 입설되는 4개의 높이조정대(113)와, 맞물림홈(113c)에 유동가능하게 삽입되는 볼(114a)을 하단에 갖추고 상단에는 육면체 형상의 삽입단(114b)이 형성되며 삽입단(114b)의 둘레면에는 도전성 및 자화 재질의 통전대(114c)가 구비된 4개의 레그(114)와, 유체가 충진된 유압탱크(115)와, 유압탱크(115)의 유체를 4개의 실린더(113a)에 개별 주입하는 분배기(116)로 구성된 베이스(110); 육면체 형상의 삽입단(114b)을 수용할 수 있는 사각의 중공을 구비하고 일측면은 삽입단(114b)의 삽탈을 위해 개구되되 개구된 일측면과 마주하는 내면에 배치되는 자성체(121a)와 자성체(121a)를 중심으로 상기 내면에 상호 이격 배치되면서 직류전기가 통전하는 양 전극(121b, 121c)과 양 전극(121b, 121c)과 직렬로 연결되며 통전시 발광하는 출력수단(122)을 구비하는 4개의 소켓(121)이 저면에 고정되고, 소켓(121)을 매개로 레그(114)의 상단이 고정 배치되며, 높이조정대(113) 및 레그(114)를 매개로 밑판(112) 상에 나란히 안착 고정되는 바디(120); 관 형상을 이루고 다수 개가 길이방향으로 상호 인입출되면서 길이가 조정되는 길이조정대(131)와, 상방 개구된 관 형상을 이루고 말단에 위치한 길이조정대(131)에 길이방향으로 인입출되는 안착대(132)와, 다수 개의 판(133a)이 토션스프링에 의해 일방으로 탄발 회동하도록 힌지(133b)를 매개로 접철 가능하게 일렬로 연결되고 일단은 토션스프링에 의해 일방으로 탄발 회동하도록 회동축(132a)을 매개로 안착대(132)에 고정되는 절첩대(133)와, 절첩대(133)의 일면에 배치되는 반사체(134)와, 절첩대(133)의 타단에 설치되어서 지피에스 좌표를 관측하는 메인지피에스감지기(135)로 구성되고, 바디(120)를 중심으로 사방으로 수평하게 배치되는 4개의 암(130); 바디(120)의 중심에 상방으로 입설되고, 반사체(134)와 수평하게 마주하는 4면에 각각 설치되는 4개의 거리측정기(141)와, 보조지피에스감지기(142)를 구비한 헤드(140); 상면이 곡면을 이루는 몸체(151)와, 몸체(151)의 상면에 배치되는 다수 개의 압력센서(152)와, 몸체(151)의 기울어진 정도에 따라 상면을 구르면서 압력센서(152)에 압력을 가하는 가압구(153)로 구성된 수평감지기(150); 구동모터(171)와, 구동모터(171)의 동력으로 회전하는 원기둥 형상의 주동롤러(172)와, 주동롤러(172)와 맞물려 마찰력으로 연동하고 안착대(132)에 고정된 와이어(174)를 권취 및 권출하되 와이어(174)를 권취하는 방향으로의 회전력을 갖도록 태엽스프링으로 지지되면서 4개의 암(130)에 각각 연결되는 4개의 종동롤러(173)로 구성된 위치조정기(170); 압력센서(152)의 감지신호를 수신해서 당해 압력센서(152)를 확인하고 확인된 압력센서(152)에 따른 설정에 따라 분배기(116)를 제어해서 유압탱크(115)로부터 유입되는 유체의 주입량을 높이조정대(113) 별로 조정하는 위치감지모듈(161)과, 4개의 메인지피에스감지기(135)로부터 수집한 좌표정보를 연산해서 헤드(140)의 좌표값을 구하고 각각의 거리측정기(141)를 이용해 헤드(140)와 메인지피에스감지기(135) 간의 거리(실측치)를 구하며 상기 거리(실측치)를 상기 좌표값과 메인지피에스감지기(135) 각각의 좌표정보를 연산해 얻은 거리(연산치)와 비교해 오차 여부를 판별하는 한편 헤드(140)의 상기 좌표값과 보조지피에스감지기(142)에서 관측한 좌표값을 비교해서 위치조정기(170)의 구동모터(171)를 제어하는 제어모듈(162)과, 제어모듈(162)의 판별 결과를 출력하는 출력모듈(164)과, ...

Positioning method and apparatus, autonomous vehicle, electronic device, and storage medium

本申请实施例公开了定位方法和装置、自动驾驶车辆、电子设备和存储介质，涉及自动驾驶技术领域，包括：获取车辆位姿信息，车辆位姿信息包括在当前帧图像开始曝光时所采集的位姿信息、以及在当前帧图像结束曝光时所采集的位姿信息，根据车辆位姿信息、当前帧图像以及当前帧图像的前一帧图像，生成定位信息，根据定位信息控制自动驾驶车辆进行行驶，通过对当前帧图像开始曝光时自动驾驶车辆的位姿信息进行采集，并对当前帧图像结束曝光时自动驾驶车辆的位姿信息进行采集，以便通过车辆位姿信息弥补，由于图像失真而造成的无法准确对自动驾驶车辆进行定位的问题，从而实现对自动驾驶车辆进行准确定位，进而实现自动驾驶车辆安全且可靠地驾驶。

Image picture upgrade system for input a datum point

PURPOSE: An upgrade system for drawing the image for the reference point input of the aviation image is provided to manufacture the 3d precise digital map by measuring the relative elevation through the precise check of the slope angle about the ground. CONSTITUTION: An upgrade system for drawing the image for the reference point input of the aviation image comprises a field measurement unit, an integrated processor, and a press-insertion detection unit(80). The field measurement unit comprises a rod type port(10) made of magnetized metal material and a hollow case(21). The field measurement unit comprises a head unit(40) having a heating module and a horizontal sensing module. The integrated processor has a data classification module and a picture module for drawing the elevation of each spots at 3D according to the picture information. The press-insertion detection unit comprises a fixed pipe(81) in which a flange(81a) is projected and a warning lamp(82) arranged in the fixed pipe. The press-insertion detection unit has a pressure sensor(83) and a ring(85) fixed to the lower end of a spring(84) and contacted to the ground.

Pantograph detecting method, pantograph detecting device, and pantograph detecting system

本发明公开了一种受电弓检测方法、装置及系统，其中，所述方法包括：采集电力机车运行时受电弓的图像；对所述图像进行预处理将预处理后的图像进行边缘检测，提取所述受电弓的外边缘的像素点；根据所述受电弓的外边缘的像素点确定所述受电弓的外边缘在图像中的位置；根据所述受电弓的外边缘在图像中的位置检测所述受电弓的运行状态。可以在电力机车通过时，不需停留，无需接触，自动检测受电弓状态。并且能够有效提高检测的准确性。

Drawing image processing system controling a datum point based on gps information

The present invention relates to a drawing image processing system controlling a datum point based on GPS information. According to the embodiment of the present invention, the drawing image processing system includes an input/output unit inputting and generating an input value; a magnification control module; image analysis module; a coordination control module; and a expression process module. [Reference numerals] (111) Image analysis module; (112a) Layer boundary confirmation module; (112b) Longitude boundary confirmation module; (112c) Shadow confirmation module; (112d) Zoning Module; (113) Coordinate confirmation module; (114) Correction module; (115) Facial expression process module; (116) Scale adjustment module; (117) Coordinate point adjustment module; (120) Drawing unit; (130) Input and output unit; (210) filming image DB; (220) Drawing image DB

Black surface object depth image measuring method based on binocular structured light

本发明是关于一种基于双目结构光的黑色表面物体深度图像测量方法。该方案包括将黑色表面物体图像获取设备和黑色表面物体调整至初始状态；将所述黑色表面物体图像获取设备和所述黑色表面物体从所述初始状态调整至曝光状态；进行拍摄，获得彩色图像；根据所述彩色图片获取黑色物体的灰度均值和标准差，并利用深度融合方法和多张深度图像融合算法获得第一深度图像和第二深度图像；通过图像融合算法获得黑色表面物体目标深度图像。该方案通过多目结构光的多次曝光、光圈和功率调整，并利用多图数据融合克服了目前3D测量技术无法准确测量黑色表面物体尺寸、测量容易丢失点云数据问题，具有操作简单、效率高、通用性强的优点。