公开(公告)号：US6038074A

公开(公告)日：2000-03-14

申请号：US81020

申请日：1998-05-19

申请人： Takashi Kitaguchi ,  Norihiko Murata

发明人： Takashi Kitaguchi ,  Norihiko Murata

IPC分类号： G01B11/03 ,  G01C11/06 ,  G02B27/10 ,  G01C11/12

CPC分类号： G01C11/06 ,  Y10S128/916

摘要： Images of an object viewed from a plurality of points of view is input through an image inputting unit. Change of orientation of the image inputting means, occurring when the images of the object are input, is detected. Change of position of point of view, occurring when the images of the object are input, is detected. Characteristic points are extracted from the image which is input previously, each of the characteristic points corresponding to a respective one of objects points on the object. Corresponding points are extracted from the image which is input currently, each of the corresponding points corresponding to a respective one of the characteristic points. The three-dimensional position of each of the object points is calculated, based on the change of orientation and the change of position of point of view of the image inputting unit and the data of the characteristic points and the corresponding points.

摘要翻译： 通过图像输入单元输入从多个观察点观看的物体的图像。 检测输入物体的图像时发生的图像输入装置的取向的变化。 检测到当输入对象的图像时出现的观点位置的改变。 从先前输入的图像中提取特征点，每个特征点对应于物体上的对象点中的相应一个。 从当前输入的图像中提取对应点，每个对应点对应于各个特征点。 基于图像输入单元的取向和位置变化以及特征点和对应点的数据的变化来计算每个对象点的三维位置。

公开(公告)号：US6025790A

公开(公告)日：2000-02-15

申请号：US127843

申请日：1998-08-03

申请人： Keiji Saneyoshi

发明人： Keiji Saneyoshi

IPC分类号： G01C11/06 ,  G01B11/00 ,  G01C3/06 ,  G01C11/34 ,  G01C15/00 ,  G01C21/20 ,  G05D1/02 ,  G06T1/00 ,  G06T7/00 ,  H04N13/00 ,  G08B21/00

CPC分类号： H04N13/0239 ,  G05D1/0251 ,  G06T7/004 ,  H04N13/0296 ,  G05D2201/0213 ,  G06T2207/10012 ,  G06T2207/10021 ,  G06T2207/30252 ,  H04N13/0003 ,  H04N13/0055 ,  H04N13/0059 ,  H04N13/0246 ,  H04N13/0257 ,  H04N2013/0081 ,  H04N2013/0085 ,  H04N2013/0096

摘要： A camera assembly 10 images a distant landscape and a downward landscape every a predetermined period of time. A position recognizing unit 30 of a moving object (autonomous running vehicle) detects the movement of the moving object on the basis of the movement between the imaged pictures of the distant and downward landscapes, which are imaged at different imaging times. That is, the movements of the distant-view and down-view images are converted to the moving amounts in the actual space on the basis of the distance images thereof, respectively, and the component of rotational speed based on the movement of the distant-view image is removed from the component of velocity based on the movement of the down-view image to derive a pure component of translation speed. Then, the pure component of translation speed is converted to a component of translation viewed from the ranging starting point to be accumulated to derive a navigation locus in a three-dimensional space to recognize the moving-object's own position. Thus, it is possible to analyze the surrounding environment in a three-dimensional space to cause the analyzed surrounding environment to be reflected on a navigation information, so that it is possible to obtain a precise and minute navigation information.

摘要翻译： 相机组件10在预定的时间段内对遥远的景观和向下的景观进行成像。 运动物体（自动运行车辆）的位置识别单元30基于在不同成像时间成像的远距离和向下风景的成像图像之间的运动来检测运动物体的移动。 也就是说，遥视图像和下视图图像的移动分别基于其距离图像被转换为​​实际空间中的移动量，并且基于遥视图像的移动， 基于下拉图像的移动，视频图像从速度分量中移除，得到平移速度的纯分量。 然后，将转换速度的纯分量转换为从测距开始点观看的平移分量，以便累积，以导出三维空间中的导航轨迹，以识别运动对象本身的位置。 因此，可以分析三维空间中的周围环境，使得分析的周围环境能够反映在导航信息上，使得可以获得精确和微小的导航信息。

公开(公告)号：US5926581A

公开(公告)日：1999-07-20

申请号：US637842

申请日：1996-04-25

申请人： Mark D. Pritt

发明人： Mark D. Pritt

IPC分类号： G01C11/06 ,  G06T3/00 ,  G06T7/00 ,  H04N13/00 ,  G06K9/00 ,  G06K9/32 ,  G06K9/36 ,  H04N7/18

CPC分类号： H04N13/0239 ,  G01C11/06 ,  G06T3/0075 ,  G06T7/0075 ,  G06T2200/08 ,  G06T2207/10012 ,  H04N2013/0081

摘要： In a method for generating a model of terrain, images of the terrain are generated at different angles. Matching points in the images are identified and from these matching points, the coefficients of a registration mapping equation are determined. A height term of the registration matching equation is corrected for scaling and shear into an elevation term in the coordinates of one of the images. The elevation is rotated into the coordinates of the ground plane of the terrain to provide a digital elevation model of the terrain. Interpolation is carried out through the digital elevation model to provide a three-dimensional model of the terrain. In a system for measuring the accuracy of a registration mapping equation, first and second images are generated from a digital elevation model. The registration mapping equation being tested is applied to the images to generate an estimated digital matching function which is compared with the actual registration matching function for the two images.

摘要翻译： 在生成地形模型的方法中，以不同的角度生成地形图像。 识别图像中的匹配点，并从这些匹配点确定登记映射方程的系数。 校正注册匹配方程的高度项，以便在一个图像的坐标中对缩放和剪切进行高程项。 高程旋转到地形的地平面的坐标，以提供地形的数字高程模型。 通过数字高程模型进行插值，以提供地形的三维模型。 在用于测量注册映射方程的精度的系统中，从数字高程模型生成第一和第二图像。 将被测试的对准映射方程应用于图像以产生估计的数字匹配函数，其与两个图像的实际配准匹配功能进行比较。

公开(公告)号：US5805287A

公开(公告)日：1998-09-08

申请号：US769800

申请日：1996-12-17

申请人： Alf Pettersen ,  .O slashed.yvind R.o slashed.tvold

发明人： Alf Pettersen ,  .O slashed.yvind R.o slashed.tvold

IPC分类号： G01B11/24 ,  G01B11/245 ,  G01C11/06 ,  G01S5/16 ,  G01S11/12 ,  G01B11/14

CPC分类号： G01C11/06 ,  G01B11/245 ,  G01S5/163 ,  G01S11/12

摘要： A method and system for determining the position and/or orientation of a number of objects relative to each other. At least two cameras having electro-optical sensors are provided. A network of help reference points is established. The positions of some points in the network relative to each other can be known or they are determined using at least one of the cameras positioned in multiple arbitrary locations. The positions of some of the objects relative to each other, are determined based on the determined positions of some of the points in the network. The position of at least one of the objects is determined by holding a probing tool in contact with a point on the object, and obtaining measurement data from the probing tool using at least two of the cameras.

摘要翻译： 一种用于确定多个对象相对于彼此的位置和/或取向的方法和系统。 提供至少两个具有电光传感器的相机。 建立了一个帮助参考点网络。 网络中某些点相对于彼此的位置可以是已知的，或者它们使用位于多个任意位置的摄像机中的至少一个来确定。 一些对象相对于彼此的位置是基于确定的网络中某些点的位置来确定的。 通过使探测工具与物体上的点保持接触来确定至少一个物体的位置，并使用至少两个照相机从探测工具获得测量数据。

公开(公告)号：US5606627A

公开(公告)日：1997-02-25

申请号：US378257

申请日：1995-01-24

申请人： Shihjong Kuo

发明人： Shihjong Kuo

IPC分类号： G01C11/06 ,  H04N13/00

CPC分类号： G06T7/0075 ,  G01C11/06 ,  G06T2207/10012 ,  G06T2207/10032 ,  G06T2207/30181 ,  H04N13/0018 ,  H04N13/0055 ,  H04N13/0221 ,  H04N2013/0081 ,  H04N2013/0096

摘要： A method and an apparatus are disclosed that extract digital elevation data from a pair of stereo images with two corresponding sets of airborne control data associated with each image of the stereo image pair. Point and edge features are identified from the stereo image pair, projected from respective camera stations of the stereo images onto a horizontal projection plane using respective set of airborne control dam including respective positions of a camera station, the interior orientation and calibration data of the camera, respective roll angles, respective pitch angles, respective yaw angles of each image, and respective flight bearing angles. The space coordinate of each projection are compared in object space to obtain an object-space parallax. The topographic elevation of each feature is derived from said object-space parallax, a base length, and the altitude of a camera station autonomously to eliminate the need for stereoscopic viewing device or ground control data.

摘要翻译： 公开了一种方法和装置，其从具有与立体图像对的每个图像相关联的两个对应的机载控制数据集合的一对立体图像中提取数字高程数据。 从立体图像对中识别点和边缘特征，使用相应的机载控制大坝包括相机站的相应位置，照相机的内部取向和校准数据，从立体图像的各个相机站投影到水平投影平面上 各自的倾斜角度，各俯仰角度，各图像的各个偏航角度以及各自的飞行支承角度。 在对象空间中对每个投影的空间坐标进行比较以获得对象空间视差。 每个特征的地形图高度自动地从所述物体 - 空间视差，基准长度和摄像机的高度自动地导出，以消除对立体观察装置或地面控制数据的需要。

公开(公告)号：US5519485A

公开(公告)日：1996-05-21

申请号：US101487

申请日：1993-08-02

申请人： Hitoshi Ohtani ,  Fumio Ohtomo ,  Hiroyuki Aoki

发明人： Hitoshi Ohtani ,  Fumio Ohtomo ,  Hiroyuki Aoki

IPC分类号： G01C11/06 ,  H04N13/00 ,  G01C11/00

CPC分类号： G06T7/0022 ,  G01C11/06 ,  G06T2207/10012 ,  G06T2207/30181 ,  H04N13/0051 ,  H04N13/0055 ,  H04N13/0221 ,  H04N13/0443 ,  H04N13/0497 ,  H04N2013/0081

摘要： The present invention relates to a stereo image measuring apparatus for displaying stereo images and effecting three-dimensional measurement and a correlation process on a screen for displaying the stereo images, and particularly to a stereo image measuring apparatus for making it possible to easily take hold of measuring points and to effect a correlation process after feature points have been extracted in the vicinity of the position where each cursor exists. Corresponding points for other image, which correspond to measuring points for one image, are searched. Each of display units serves so as to apply marks on the determined corresponding points based on the measured points and the result of the correlation process.

摘要翻译： 本发明涉及一种立体图像测量装置，用于在用于显示立体图像的屏幕上显示立体图像和进行三维测量和相关处理，特别涉及一种立体图像测量装置，使得可以容易地掌握 测量点，并且在每个光标存在的位置附近提取特征点之后进行相关处理。 搜索对应于一个图像的测量点的其他图像的对应点。 每个显示单元用于基于所测量的点和相关处理的结果在所确定的对应点上应用标记。

公开(公告)号：US5216476A

公开(公告)日：1993-06-01

申请号：US775844

申请日：1991-10-15

申请人： Arnold H. Lanckton

发明人： Arnold H. Lanckton

IPC分类号： G01C11/06 ,  H04N13/00

CPC分类号： H04N13/0239 ,  G01C11/06 ,  G06T7/0057 ,  G06T7/0075 ,  G06T2207/10012 ,  H04N13/0003 ,  H04N13/004 ,  H04N13/0253 ,  H04N2013/0081

摘要： The close range Photogrammetric Laser System ("PLS") is an all digital system designed to measure three dimensional ("3-D") surfaces at relatively close ranges. The PLS comprises two modified stereo cameras with associated analog video and digital recording capability. Using synchronized laser illumination and X and Y cylindrical lens arrangements in each stereo camera, all laser illuminated points can be focused onto a linear detector array whose intensities are used to calculate X and Y position of a 3-D target in the image plane of each camera. Photogrammetric techniques are then used to calculate an X, Y and Z position from the X and Y positions measured in the two stereo cameras. An alternate embodiment eliminates the intermediate recording step in favor of a direct recording in the memory of a data processing system for subsequent manipulation.

摘要翻译： 近距离摄影测量激光系统（“PLS”）是一种全数字系统，旨在在相对较近的范围内测量三维（“3-D”）表面。 PLS包括具有相关模拟视频和数字记录功能的两个改进的立体相机。 在每个立体相机中使用同步激光照明和X和Y柱面透镜布置，所有激光照射点可以聚焦到线性检测器阵列上，其强度用于计算每个像素的图像平面中的3维目标的X和Y位置 相机。 然后使用摄影测量技术从在两个立体相机中测量的X和Y位置计算X，Y和Z位置。 替代实施例消除了中间记录步骤，有利于在数据处理系统的存储器中直接记录以用于随后的操作。

公开(公告)号：US4695156A

公开(公告)日：1987-09-22

申请号：US882006

申请日：1986-07-03

申请人： Jeffrey D. Taft

发明人： Jeffrey D. Taft

IPC分类号： G01C11/06 ,  G01S11/12 ,  G01C3/00 ,  G01C5/00

CPC分类号： G01C11/06 ,  G01S11/12

摘要： A range finding apparatus includes a pair of spaced apart cameras which provide signals that are digitalized, stored in frame buffers, and provided to a computer that provides a range map of a target object viewed by the cameras. The computer optimizes a disparity function by minimizing a cost functional, thereby finding the range at different points on the surface of the target object based on variations in illumination, reflectivity, and texture.

摘要翻译： 测距装置包括一对间隔开的相机，其提供被数字化，存储在帧缓冲器中并且提供给提供由照相机观看的目标对象的范围图的计算机的信号。 计算机通过最小化成本函数来优化视差函数，从而基于照明，反射率和纹理的变化在目标对象的表面上的不同点处找到范围。

公开(公告)号：US4193117A

公开(公告)日：1980-03-11

申请号：US908363

申请日：1978-05-22

申请人： Werner Marckwardt

发明人： Werner Marckwardt

IPC分类号： G01C11/06 ,  G06F17/15 ,  G06F15/34 ,  G06G7/19

CPC分类号： G01C11/06 ,  G06F17/15

摘要： The invention concerns an electronic correlator for the evaluation of stereo-couples of photographs. Said electronic correlator comprises a normal correlator into which non-delayed signals are fed which in turn are derived from homologous points of each of the photographs of said stereo-couples. It further comprises an auto-correlator into which the image signals are fed non-delayed from the one photograph and delayed from the other photograph. A subtraction unit is connected to the normal correlator and to the auto-correlator. Furthermore two orthogonal correlators are provided into which the delayed and non-delayed image signals derived from the two photographs are fed crosswise delayed and non-delayed. The two orthogonal correlators are followed by a subtraction unit. By virtue of such an arrangement the trend inherent in the image signal functions to be correlated are taken into consideration and thus the quality of the image correlation is increased.

摘要翻译： 本发明涉及一种用于评估照相立体对的电子相关器。 所述电子相关器包括正向相关器，其中馈送非延迟信号，其依次源自所述立体声对的每个照片的同源点。 它还包括一个自动相关器，其中图像信号从一张照片不延迟地被馈送到该自动相关器中，并从另一张照片延迟。 减法单元连接到正常相关器和自相关器。 此外，提供了两个正交相关器，其中从两个照片得到的延迟和非延迟图像信号被进行交叉延迟和非延迟。 两个正交相关器之后是减法单元。 通过这样的布置，考虑图像信号功能中固有的趋势相关的趋势，从而增加图像相关性的质量。

公开(公告)号：US3994563A

公开(公告)日：1976-11-30

申请号：US548178

申请日：1975-02-07

申请人： Janos Barsai ,  Sandor Ditroi ,  Tibor Illes ,  Laszlo Vegh ,  Sandor Dekany, deceased ,  Sandor Fazekas, deceased

发明人： Janos Barsai ,  Sandor Ditroi ,  Tibor Illes ,  Laszlo Vegh ,  Sandor Dekany, deceased ,  Sandor Fazekas, deceased

IPC分类号： G01C11/06 ,  G02B27/24

CPC分类号： G01C11/06

摘要： A reflecting stereoscope has picture holders and oculars for the observation of pictures held by the picture holders, and an optical train between the picture holders and the oculars. Picture marks and measuring markers carrying adjustable measuring marks are interposed in the optical train and there is a measuring device for measuring the location of the measuring marks. The picture holders are disposed in the focal plane of the oculars and a lens system on the optical axis of the oculars projects the magnified image of the measuring marks onto the focal plane of the oculars. Partially reflecting mirrors in the light path of the optical train observe picture marks and the measuring marks. A special system for moving the measuring markers and measuring their position is provided.

摘要翻译： 反射立体镜具有用于观察由图像保持器保持的图像的图像保持器和眼睛，以及图像保持器和眼睛之间的光学列车。 携带可调测量标记的图像标记和测量标记插入在光学系列中，并且存在用于测量测量标记位置的测量装置。 图像保持器设置在眼睛的焦平面中，并且在眼睛的光轴上的透镜系统将测量标记的放大图像投影到眼睛的焦平面上。 在光学列车的光路中的部分反射镜观察图像标记和测量标记。 提供了一种用于移动测量标记并测量其位置的特殊系统。