公开(公告)号：US20100128971A1

公开(公告)日：2010-05-27

申请号：US12292762

申请日：2008-11-25

Applicant: Toshiyuki Kamiya ,  Hiroyuki Yagyuu ,  Hirokazu Koizumi

Inventor： Toshiyuki Kamiya ,  Hiroyuki Yagyuu ,  Hirokazu Koizumi

IPC: G06K9/00

CPC classification number: G06K9/00637 ,  G06K2009/2045 ,  G06T7/593

Abstract: A pair of images subjected to image processing is divided. Next, based on mutually-corresponding divided images, mutually-corresponding matching images are respectively set. When a corresponding point of a characteristic point in one matching image is not extracted from the other matching image, adjoining divided images are joined together, and based on the joined divided image, a new matching image is set.

Abstract translation: 经过图像处理的一对图像被分割。 接下来，基于相互对应的分割图像，分别设定相互对应的匹配图像。 当没有从其他匹配图像中提取一个匹配图像中的特征点的对应点时，相邻的分割图像被连接在一起，并且基于所连接的分割图像，设置新的匹配图像。

公开(公告)号：US08831335B2

公开(公告)日：2014-09-09

申请号：US12292766

申请日：2008-11-25

Applicant: Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

Inventor： Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06T7/0075 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/30184

Abstract: Improving stereo matching speed and accuracy, an image data input unit acquires image data of plural images of a predetermined region captured from plural different positions. A reference disparity setting unit sets a reference disparity suitable for the plural images. The search range setting unit sets a predetermined range smaller than the image range as a search range for stereo matching, by referring to points in the images between which the reference disparity set by the reference disparity setting unit is provided. A stereo matching unit searches out, for an arbitrary point in one of the plural images, a point in the other image that matches the arbitrary point, from the search range set by the search range setting unit, by referring to a point in the other image that provides the reference disparity set by the reference disparity setting unit.

Abstract translation: 提高立体匹配速度和精度，图像数据输入单元获取从多个不同位置捕获的预定区域的多个图像的图像数据。 参考视差设定单元设定适用于多个图像的参考视差。 搜索范围设定单元通过参照设置参考视差设定单元设定的基准视差的图像中的点，将比图像范围小的规定范围设定为立体匹配的搜索范围。 立体匹配单元从搜索范围设定单元设定的搜索范围中，通过参照另一图像中的点来搜索与多个图像中的一个图像中的任意一点相对应的任意点的任意点 该图像提供由参考视差设置单元设置的参考视差。

公开(公告)号：US20100128973A1

公开(公告)日：2010-05-27

申请号：US12292765

申请日：2008-11-25

Applicant: Toshiyuki Kamiya ,  Hiroyuki Yagyuu ,  Hirokazu Koizumi

Inventor： Toshiyuki Kamiya ,  Hiroyuki Yagyuu ,  Hirokazu Koizumi

IPC: G06K9/00

CPC classification number: G06T7/593 ,  G06T2207/10012 ,  G06T2207/30184

Abstract: A stereo image processing apparatus 1 specifies a line pair having a high correlation between one image and the other image of a stereo image, for an image region which has a predetermined width and is parallel to a scanning direction (X direction) in a stereo image which shoots a predetermined region from two different positions and has a scanning line direction and an epipolar line direction matched with each other, obtains a shift (vertical azimuth difference) in a vertical direction (Y direction) between the one image and the other image of the stereo image according to each position of the specified line pair, and corrects the stereo image so as to eliminate the obtained shift.

Abstract translation: 立体图像处理装置1对于在立体图像中具有预定宽度且与扫描方向（X方向）平行的图像区域，在一个图像与立体图像的另一图像之间具有高相关性的线对 其从两个不同的位置拍摄预定区域，并且具有彼此匹配的扫描线方向和对极线方向，获得一个图像与另一个图像之间的垂直方向（Y方向）的偏移（垂直方位差） 根据指定线对的每个位置的立体图像，并校正立体图像，以消除所获得的移位。

公开(公告)号：US20100128974A1

公开(公告)日：2010-05-27

申请号：US12292766

申请日：2008-11-25

Applicant: Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

Inventor： Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

IPC: G06K9/00 ,  G06K9/64

CPC classification number: G06T7/0075 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/30184

Abstract: To improve stereo matching speed and accuracy. An image data input unit 10 acquires image data of plural images of a predetermined region captured from plural different positions. A reference disparity setting unit 12 sets a reference disparity suitable for the plural images. The search range setting unit 13 sets a predetermined range smaller than the image range as a search range for stereo matching, by referring to points in the images between which the reference disparity set by the reference disparity setting unit 12 is provided. A stereo matching unit 11 searches out, for an arbitrary point in one of the plural images, a point in the other image that matches the arbitrary point, from the search range set by the search range setting unit 13, by referring to a point in the other image that provides the reference disparity set by the reference disparity setting unit 12.

Abstract translation: 提高立体匹配速度和准确度。 图像数据输入单元10获取从多个不同位置捕获的预定区域的多个图像的图像数据。 基准视差设定部12设定适于多个图像的基准视差。 搜索范围设定单元13通过参考设置参考视差设定单元12设定的基准视差的图像中的点，设定小于图像范围的预定范围作为用于立体匹配的搜索范围。 立体声匹配单元11对于多个图像中的一个图像中的任意一点，从搜索范围设置单元13设置的搜索范围中，通过参考点 提供由参考视差设置单元12设置的参考视差的另一图像。

公开(公告)号：US20100128972A1

公开(公告)日：2010-05-27

申请号：US12292764

申请日：2008-11-25

Applicant: Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

Inventor： Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

IPC: G06K9/00

CPC classification number: G06T7/593 ,  G06T2207/10012 ,  G06T2207/30184

Abstract: To correctly associate coinciding positions between a plurality of images.In a case where an operator makes an operation of inputting associated supplementary lines A2 and A1 into left and right images respectively, and associated supplementary lines B2 and B1 into the left and right images respectively, stereo matching processing system associates coordinate a2 of intersection of a scanning line and supplementary line A2 in the left image with coordinate al of intersection of the scanning line and supplementary line A1 in the right image on search plane, and coordinate b2 of intersection of the scanning line and supplementary line B2 in the left image with coordinate b1 of intersection of the scanning line and supplementary line B1 in the right image on search plane. Hence, the stereo matching processing system 1 can redress wrong associations on search plane and correctly associate coinciding positions in the left and right images.

Abstract translation: 正确关联多个图像之间的重合位置。 在操作者分别将相关联的辅助线A2和A1分别输入到左图像和右图像以及相关联的辅助线B2和B1中的操作中，立体匹配处理系统将相关联的辅助线A2和A1的交点的坐标a2相关联 左侧图像中的扫描线和辅助线A2与搜索平面上的右图像中的扫描线和辅助线A1的坐标a1相交，并且将左侧图像中的扫描线和辅助线B2的坐标b2与坐标 扫描线和辅助线B1在搜索平面上的右图像的交点b1。 因此，立体匹配处理系统1可以纠正搜索平面上的错误关联，并且正确地关联左图像和右图像中的重合位置。

公开(公告)号：US08571303B2

公开(公告)日：2013-10-29

申请号：US12292764

申请日：2008-11-25

Applicant: Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

Inventor： Hirokazu Koizumi ,  Toshiyuki Kamiya ,  Hiroyuki Yagyuu

IPC: G06T15/00 ,  G06K9/00 ,  G01C3/14

CPC classification number: G06T7/593 ,  G06T2207/10012 ,  G06T2207/30184

Abstract: A stereo matching processing system includes an associating unit that associates with each other such regions, in a plurality of images obtained by shooting a same object from different directions, that are on a same scanning line and have a largest correlation coefficient between them, as items that represent a same position, and a line segment determining unit that determines whether or not line segments that are associated with each other as items that teach a same position are drawn in the plurality of images respectively. When said line segment determining unit determines that the line segments are drawn, said associating unit associates with each other, not such regions that are on the same scanning line and have a largest correlation coefficient between them, but intersections at which the scanning line and the line segments each cross, as items that represent a same position.

Abstract translation: 立体匹配处理系统包括：相关联单元，其在通过从相同扫描线上拍摄来自不同方向的相同对象获得的多个图像中并且在它们之间具有最大的相关系数的相关联的这些区域作为项目 其表示相同的位置，线段确定单元确定在多个图像中是否分别绘制彼此相关联的线段作为教导相同位置的项目。 当所述线段确定单元确定线段被绘制时，所述关联单元彼此相关联，而不是在相同扫描线上并且在它们之间具有最大相关系数的区域，而是与扫描线和 每个交叉的线段作为表示相同位置的项目。

公开(公告)号：US20130039578A1

公开(公告)日：2013-02-14

申请号：US13641166

申请日：2011-04-14

Applicant: Jing Wang ,  Hirokazu Koizumi ,  Toshiyuki Kamiya

Inventor： Jing Wang ,  Hirokazu Koizumi ,  Toshiyuki Kamiya

IPC: G06K9/40

CPC classification number: G01C11/06 ,  G01C11/28 ,  G06T5/002 ,  G06T5/50 ,  G06T7/11 ,  G06T7/174 ,  G06T17/05 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/30181

Abstract: A three-dimensional topographical data precision improving device (10) removing noise that occurs in water regions of three-dimensional topographical data comprises a water region specifying unit (13) specifying the range of any one water region; a feature extraction unit (14) extracting feature values within any one water region that describe altitude distribution pattern of each local region in the three-dimensional topographical data; a segmentation unit (15) segmenting the whole range into candidate water regions and non-water regions by comparing the feature values of the specified water region with those of each point in the three-dimensional topographical data; a water region extraction unit (16) extracting water regions from the candidate water regions; and a plane creation unit (17) creating a corrected plane of each water region using the altitudes of the surrounding non-water regions and replacing the water region extracted by the water region extraction unit (16) with the corrected plane.

Abstract translation: 去除在三维地形数据的水域中发生的噪声的三维地形数据精度提高装置（10）包括指定任何一个水域的范围的水域指定单元（13） 特征提取单元（14）提取在所述三维地形数据中描述每个局部区域的高度分布模式的任何一个水域内的特征值; 分割单元（15）通过将特定水域的特征值与三维地形数据中的每个点的特征值进行比较，将整个范围分割成候选水域和非水区域; 水区域提取单元（16），从所述候选水域提取水区域; 以及平面生成单元，使用周围的非水区域的高度，利用校正后的平面代替由水域提取单元（16）提取的水域，来形成每个水域的校正平面。

公开(公告)号：US08897547B2

公开(公告)日：2014-11-25

申请号：US13641166

申请日：2011-04-14

Applicant: Jing Wang ,  Hirokazu Koizumi ,  Toshiyuki Kamiya

Inventor： Jing Wang ,  Hirokazu Koizumi ,  Toshiyuki Kamiya

IPC: G06K9/00 ,  G01C11/06 ,  G01C11/28 ,  G06T17/05 ,  G06T5/00 ,  G06T5/50 ,  G06T7/00

CPC classification number: G01C11/06 ,  G01C11/28 ,  G06T5/002 ,  G06T5/50 ,  G06T7/11 ,  G06T7/174 ,  G06T17/05 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/30181

Abstract: A three-dimensional topographical data precision improving device (10) removing noise that occurs in water regions of three-dimensional topographical data comprises a water region specifying unit (13) specifying the range of any one water region; a feature extraction unit (14) extracting feature values within any one water region that describe altitude distribution pattern of each local region in the three-dimensional topographical data; a segmentation unit (15) segmenting the whole range into candidate water regions and non-water regions by comparing the feature values of the specified water region with those of each point in the three-dimensional topographical data; a water region extraction unit (16) extracting water regions from the candidate water regions; and a plane creation unit (17) creating a corrected plane of each water region using the altitudes of the surrounding non-water regions and replacing the water region extracted by the water region extraction unit (16) with the corrected plane.

Abstract translation: 去除在三维地形数据的水域中发生的噪声的三维地形数据精度提高装置（10）包括指定任何一个水域的范围的水域指定单元（13） 特征提取单元（14）提取在所述三维地形数据中描述每个局部区域的高度分布模式的任何一个水域内的特征值; 分割单元（15）通过将特定水域的特征值与三维地形数据中的每个点的特征值进行比较，将整个范围分割成候选水域和非水区域; 水区域提取单元（16），从所述候选水域提取水区域; 以及平面生成单元，使用周围的非水区域的高度，利用校正后的平面代替由水域提取单元（16）提取的水域，来形成每个水域的校正平面。

公开(公告)号：US20140078146A1

公开(公告)日：2014-03-20

申请号：US13148837

申请日：2010-02-08

Applicant: Toshiyuki Kamiya ,  Hirokazu Koizumi

Inventor： Toshiyuki Kamiya ,  Hirokazu Koizumi

IPC: G06T15/08

CPC classification number: G06T15/08 ,  G01C11/06 ,  G06K9/00637

Abstract: Provided is a flight obstacle extraction device, a flight obstacle extraction method, and a recording medium which attain the detailed extraction of flight obstacles with fewer man-hours. An altitude information acquisition unit (20) receives a plurality of images imaging a predetermined area from a plurality of different positions, and generates digital surface model data expressing the surface of the given area with three-dimensional coordinates. An obstacle candidate computation unit (50), on the basis of generated digital surface model data, extracts candidates for flight obstacles which may conflict with a flight restriction surface from the images. A flight obstacle determination unit (60) detects flight obstacles conflicting with the flight restriction surface from among the candidates for flight obstacles extracted by the obstacle candidate computation unit (50). s for flight obstacles.

Abstract translation: 提供飞行障碍物提取装置，飞行障碍物提取方法和记录介质，其以较少的工时实现飞行障碍物的详细提取。 高度信息获取单元（20）从多个不同的位置接收对预定区域成像的多个图像，并且生成表示具有三维坐标的给定区域的表面的数字表面模型数据。 基于生成的数字表面模型数据，障碍物候选计算单元（50）从图像中提取可能与飞行限制表面相冲突的飞行障碍物的候选。 飞行障碍物确定单元（60）从由障碍物候选计算单元（50）提取的用于飞行障碍的候选者中检测与飞行限制表面相冲突的飞行障碍物。 为飞行障碍。

公开(公告)号：US20070025595A1

公开(公告)日：2007-02-01

申请号：US11493894

申请日：2006-07-27

Applicant: Hirokazu Koizumi ,  Kazuo Kunieda ,  Kazuaki Hashizume

Inventor： Hirokazu Koizumi ,  Kazuo Kunieda ,  Kazuaki Hashizume

IPC: G06K9/00

CPC classification number: G06K9/0063 ,  G01C11/06

Abstract: A change discrimination device capable of discriminating an alteration of a photographing target only from an aerial photograph or irrespectively of a difference in lighting conditions or photographing conditions at the time of taking a photo, and at minute distance intervals on a pixel basis, which receives input of a plurality of aerial image data at a new time point and an old time point, generates three-dimensional data (DSM) by subjecting the applied aerial image data to stereo-matching processing, generates ortho-image data and ortho-DSM data by normalizing the aerial image data and the generated DSM data, compares colors by using the generated ortho-image of the new time point and ortho-image of the old time point and compares heights by using the generated ortho-DSM data of the new time point and ortho-DSM data of the old time point to discriminate an alteration of a feature on the earth.

Abstract translation: 一种改变识别装置，其能够仅从空中照片辨别拍摄目标的变化，或者与拍摄照明时的照明条件或拍摄条件的差异以及以像素为单位的几分钟距离间隔来区分拍摄目标的变化，其接收输入 在新时间点和旧时间点的多个空中图像数据中，通过对所施加的空间图像数据进行立体匹配处理来生成三维数据（DSM），通过以下方式生成正交图像数据和邻里DSM数据： 对空间图像数据和所生成的DSM数据进行归一化，通过使用所生成的新时间点的正交图像和旧时间点的正交图像来比较颜色，并通过使用生成的新时间点的邻里DSM数据来比较高度 和旧时间点的ortho-DSM数据，以区分地球上的特征的改变。