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公开(公告)号：WO2013061066A3
公开(公告)日：2013-08-29
申请号：PCT/GB2012052656
申请日：2012-10-25
Applicant: BAE SYSTEMS PLC
Inventor： REVELL JAMES DUNCAN , BUCHANAN RODERICK
IPC: G06K9/00
CPC classification number: G08G5/02 , G06K9/0063 , G06K9/00637 , G06K9/00651 , G08G5/0021 , G08G5/0086 , G08G5/025
Abstract: A method and apparatus for identifying and analysing an aircraft landing site during flight is provided. The method includes the steps of using image capture means such as an infrared camera to capture in-flight images of the ground in the region of a possible landing site, using a database of computer modelled images of possible aircraft landing sites mapped to a global co-ordinate reference frame to compare the in-flight images with a modelled image of the possible landing site and optimising correspondence between the two images to obtain an in-flight image optimally mapped to the global co-ordinate reference frame. Thereafter, the landing site which corresponds to the optimally mapped in-flight image is analysed to ascertain the presence of any obstructions such as life forms, vehicles or newly erected buildings thereon.
Abstract translation: 提供了用于在飞行期间识别和分析飞机着陆点的方法和设备。 该方法包括以下步骤：使用诸如红外照相机之类的图像捕捉装置来捕捉在可能的着陆点的区域中的地面的飞行中图像，使用映射到全球公司的可能的飞机着陆点的计算机建模图像的数据库 用于将飞行中图像与可能的着陆点的模型化图像进行比较，并优化两幅图像之间的对应关系以获得最优地映射到全局坐标参考系的飞行中图像。 此后，分析与最佳映射的飞行中图像相对应的着陆点，以确定诸如生命形式，车辆或其上新建立的建筑物的任何障碍物的存在。
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公开(公告)号：AU2015359095A1
公开(公告)日：2017-07-13
申请号：AU2015359095
申请日：2015-02-04
Applicant: BAE SYSTEMS PLC
Inventor： REVELL JAMES DUNCAN , GOODALL MARK ROBERT , CROSS GARY MARTIN
Abstract: Optical apparatus for use with an image capture device having an optical input and an image sensor (22) defining a principal optical axis therebetween, the apparatus being configured to provide, via said input, a plurality of substantially parallel, spaced-apart optical beams to said image sensor (22), and comprising: -a first optical unit (26) comprising a plurality of optical elements (10, 12, 14, 16, 18, 20), at least a first one of said optical elements being a first refractive element (12, 14, 18, 20) for refracting an optical beam incident thereon through substantially 90°; and -a plurality of focusing lenses (lens0, lens1, lens2, lens3, lens4, lens5), each focusing lens being associated with a respective optical element and being configured to direct a respective incident optical beam thereon; wherein the focusing lens associated with said refractive element is arranged and configured to direct an incident optical beam thereon at substantially 90° to said principal optical axis, and the refractive element is arranged and configured such that,in use, the resultant refracted optical beam is substantially parallel to said principal optical axis as it reaches said image sensor (24).
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公开(公告)号：AU2015334707A1
公开(公告)日：2017-04-27
申请号：AU2015334707
申请日：2015-01-30
Applicant: BAE SYSTEMS PLC
Inventor： REVELL JAMES DUNCAN , GOODALL MARK ROBERT , CROSS GARY MARTIN
Abstract: An optical inertial measurement method for determining a 6D0F pose in respect of a moving platform, the method comprising providing, in respect of said moving platform, a camera unit (10) comprised of at least three monocular cameras (14, 16, 18) connected rigidly together and configured such that their fields of view do not overlap and cover motion of said platform in each of three principal, substantially orthogonal axes; receiving video outputs from each of said cameras; determining individual point correspondences from said video outputs, and estimating therefrom, for each camera, a transform that includes translation values representative of direction of translation in the x and y axes, rotation about the optical axis and a scale factor, each transform being expressed with respect to a local 3D coordinate system associated with a respective camera; and mapping said translation values in the x and y axes to a global 3D coordinate system, having its origin defined by a point between said cameras, and multiplying said translation values by a respective scale factor so as to determine a 6DOF pose in respect of said camera unit. An optical inertial measurement system is also disclosed.
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公开(公告)号：GB2506488A
公开(公告)日：2014-04-02
申请号：GB201313277
申请日：2013-07-25
Applicant: BAE SYSTEMS PLC
Inventor： BUCHANAN RODERICK , REVELL JAMES DUNCAN
IPC: G06T7/20
Abstract: A method and apparatus of detecting at least one moving vehicle; the method includes steps of: receiving 202 image data representing a sequence of image frames over time; analysing 204 206 the image data to identify potential moving vehicles; and comparing 208 212 at least one said potential moving vehicle with a vehicle movement model that defines a trajectory of a potential moving vehicle to determine whether the at least one potential moving vehicle conforms to the model. Preferably the vehicle is an aircraft whereby the apparatus is deployed on another aircraft to detect moving aircraft for collision avoidance. Analysing the image data may also include direction data using monocular visual depth; further analysis may include pixel density of the moving vehicle to determine the direction of travel. The step of comparing may include defining a region window, using linear least squares estimation, within the image frame based around the pixel corresponding to the potential moving vehicle.
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公开(公告)号：AU2013298325A1
公开(公告)日：2015-02-19
申请号：AU2013298325
申请日：2013-07-25
Applicant: BAE SYSTEMS PLC
Inventor： BUCHANAN RODERICK , REVELL JAMES DUNCAN
IPC: G06T7/20
Abstract: A method of detecting at least one moving vehicle includes receiving (202) image data representing a sequence of image frames over time. The method further includes analysing (204 –206) the image data to identify potential moving vehicles, and comparing (208 –212) at least one said potential moving vehicle with a vehicle movement model that defines a trajectory of a potential moving vehicle to determine whether the at least one potential moving vehicle conforms with the model.
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Patent Agency Ranking
公开(公告)号：GB2498032A
公开(公告)日：2013-07-03
申请号：GB201219194
申请日：2012-10-25
Applicant: BAE SYSTEMS PLC
Inventor： BUCHANAN RODERICK , REVELL JAMES DUNCAN
Abstract: A method and apparatus for identifying and analysing an aircraft landing site during flight is provided and is intended for use with UAVs possibly required to make an emergency or forced landing. The method includes the steps of using image capture means such as an infrared camera to capture in-flight images of the ground in the region of a possible landing site, using a database of computer modelled images of possible aircraft landing sites mapped to a global co-ordinate reference frame to compare the in-flight images with a modelled image of the possible landing site and optimising correspondence between the two images to obtain an in-flight image optimally mapped to the global co-ordinate reference frame possibly using a Kalman filter. From this modelled image a landing site which corresponds to the optimally mapped in-flight image is analysed to ascertain the presence of any obstructions such as life forms, vehicles or newly erected buildings thereon. The analysis may involve the use of pixel intensity thresholding, convex hull calculation and back projection to determine the area of the obstruction. A number of time varying in-flight images may also be taken to determine the relative frequency of a detected obstruction and consequent probability of the obstruction being present on the landing site. The terrain characteristics/presence of obstructions may also be determined by obtaining a measure of randomness of spatial information present in the in-flight image based on a statistical measure of said randomness estimated based on intensity estimated from a grey-level histogram.
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公开(公告)号：GB2471270A
公开(公告)日：2010-12-29
申请号：GB0910618
申请日：2009-06-19
Applicant: BAE SYSTEMS PLC
Inventor： SIMPSON RICHARD EDWARD , REVELL JAMES DUNCAN
Abstract: Data is produced by an object tracking system, such as a radar system, over a period. The data is processed using an algorithm, such as a Kalman filter, to filter the data or to produce an estimate from the data. The output from the algorithm is a function of time. Several performance metrics are calculated to determine the performance of the algorithm. The metrics are compared with separate predetermined bounds to see if there are times where the metric exceeds the bound. The times where the metrics exceed the bounds are then used to evaluate the algorithm. If more than one metric is out of bounds at the same time, this may be considered to be an error condition. The results of the evaluation may be used to detect faults in the system or to decide which algorithm to use.
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公开(公告)号：AU2015334707B2
公开(公告)日：2019-09-12
申请号：AU2015334707
申请日：2015-01-30
Applicant: BAE SYSTEMS PLC
Inventor： REVELL JAMES DUNCAN , GOODALL MARK ROBERT , CROSS GARY MARTIN
Abstract: An optical inertial measurement method for determining a 6D0F pose in respect of a moving platform, the method comprising providing, in respect of said moving platform, a camera unit (10) comprised of at least three monocular cameras (14, 16, 18) connected rigidly together and configured such that their fields of view do not overlap and cover motion of said platform in each of three principal, substantially orthogonal axes; receiving video outputs from each of said cameras; determining individual point correspondences from said video outputs, and estimating therefrom, for each camera, a transform that includes translation values representative of direction of translation in the x and y axes, rotation about the optical axis and a scale factor, each transform being expressed with respect to a local 3D coordinate system associated with a respective camera; and mapping said translation values in the x and y axes to a global 3D coordinate system, having its origin defined by a point between said cameras, and multiplying said translation values by a respective scale factor so as to determine a 6DOF pose in respect of said camera unit. An optical inertial measurement system is also disclosed.
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公开(公告)号：ES2646915T3
公开(公告)日：2017-12-18
申请号：ES13789895
申请日：2013-11-11
Applicant: BAE SYSTEMS PLC
Inventor： BUCHANAN RODERICK , REVELL JAMES DUNCAN
Abstract: Un método para detectar características de nubes, que comprende: obtener (402) datos de imagen (401); identificar (404) regiones en los datos de imagen que corresponden a una región por debajo del horizonte y a una región por encima del horizonte; clasificar una o más partes de la región por encima del horizonte como cielo; clasificar (404) como característica de nube cada parte de la región por encima del horizonte que no ha sido clasificada como cielo; determinar un modelo identificación que especifica una apariencia visible de alguna o de todas las partes de la región por encima del horizonte que han sido clasificadas como una característica de nube; y utilizando el modelo de identificación determinado, clasificar como característica de nubes aquellas regiones de la región por debajo del horizonte cuya apariencia se especifica en el modelo de especificación; en donde la etapa de clasificar una o más partes de la región por encima del horizonte como cielo comprende: seleccionar una parte de la región por encima del horizonte; y clasificar la parte seleccionada como cielo si las propiedades de los píxeles dentro de la parte seleccionada cumplen uno o más de los criterios predeterminados; caracterizado por que la etapa de clasificar una o más partes de la región por encima del horizonte como cielo además comprende: calcular los gradientes de las imágenes para los canales rojo-verde-azul de los datos de imagen en las direcciones tangencial y normal respecto de la línea del horizonte; uniformizar los gradientes de la imagen calculados para los canales rojo-verde-azul realizando un promedio sobre una región local circular; y sumar los gradientes de la imagen de los canales rojo-verde-azul uniformizados para producir un valor de uniformidad combinado de cada píxel en la dirección tangencial a la línea del horizonte, y para producir un valor de uniformidad combinado de cada píxel en la dirección normal a la línea del horizonte; en donde, para cada píxel de la parte seleccionada de la región por encima del horizonte, los valores de uniformidad combinados de ese píxel en la direcciones tangencial y normal a la línea del horizonte tienen un valor por debajo de un umbral predeterminado.
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公开(公告)号：CA2964525A1
公开(公告)日：2016-04-28
申请号：CA2964525
申请日：2015-01-30
Applicant: BAE SYSTEMS PLC
Inventor： REVELL JAMES DUNCAN , GOODALL MARK ROBERT , CROSS GARY MARTIN
Abstract: An optical inertial measurement method for determining a 6D0F pose in respect of a moving platform, the method comprising providing, in respect of said moving platform, a camera unit (10) comprised of at least three monocular cameras (14, 16, 18) connected rigidly together and configured such that their fields of view do not overlap and cover motion of said platform in each of three principal, substantially orthogonal axes; receiving video outputs from each of said cameras; determining individual point correspondences from said video outputs, and estimating therefrom, for each camera, a transform that includes translation values representative of direction of translation in the x and y axes, rotation about the optical axis and a scale factor, each transform being expressed with respect to a local 3D coordinate system associated with a respective camera; and mapping said translation values in the x and y axes to a global 3D coordinate system, having its origin defined by a point between said cameras, and multiplying said translation values by a respective scale factor so as to determine a 6DOF pose in respect of said camera unit. An optical inertial measurement system is also disclosed.
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