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公开(公告)号：WO2014020315A1
公开(公告)日：2014-02-06
申请号：PCT/GB2013/051989
申请日：2013-07-25
Applicant: BAE SYSTEMS PLC
Inventor： BUCHANAN, Roderick , REVELL, James Duncan
IPC: G06T7/20
CPC classification number: G06K9/00771 , G06K9/00805 , G06K9/3241 , G06K9/64 , G06T7/254 , G06T2207/10016 , G06T2207/10032 , G06T2207/30241 , G06T2207/30252
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.
Abstract translation: 检测至少一个移动车辆的方法包括接收（202）表示一段时间内的图像帧序列的图像数据。 该方法还包括分析（204-206）图像数据以识别潜在的移动车辆，以及将至少一个所述潜在移动车辆与定义潜在运动车辆的轨迹的车辆运动模型进行比较（208-212）以确定是否 所述至少一个潜在的移动车辆符合所述模型。
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公开(公告)号：WO2016116724A1
公开(公告)日：2016-07-28
申请号：PCT/GB2015/050123
申请日：2015-01-20
Applicant: BAE SYSTEMS PLC
Inventor： REVELL, James Duncan , BUCHANAN, Roderick
IPC: G06K9/00
CPC classification number: G06K9/0063 , B64C39/024 , B64D43/00 , B64D47/08 , G06T7/60 , G06T2207/10016 , G06T2207/10032 , G06T2207/30261
Abstract: Disclosed is a method and apparatus for detecting and ranging cloud features. The method comprises: obtaining image data(e.g. using a camera (200); classifying, as a cloud feature, an image segment (502 -508) of the image data; determining a plurality of moments of the image segment (502 -508); using the determined plurality of moments, determining a geometric representation of that image segment (502-508); and, using the geometric representation, determining a distance between the cloud feature represented by that image segment (502 -508) and an entity that obtained the image data.
Abstract translation: 公开了一种用于检测和测量云特征的方法和装置。 该方法包括：获取图像数据（例如使用相机（200））;将图像数据的图像段（502-508）分类为云特征;确定图像段的多个力矩（502-508） ;使用确定的多个时刻，确定该图像段（502-508）的几何表示;以及使用几何表示确定由该图像段（502-508）表示的云特征之间的距离和 获得图像数据。
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公开(公告)号：WO2014072737A1
公开(公告)日：2014-05-15
申请号：PCT/GB2013/052961
申请日：2013-11-11
Applicant: BAE SYSTEMS PLC
Inventor： BUCHANAN, Roderick , REVELL, James Duncan
CPC classification number: G06K9/0063 , B64D47/08 , G06K9/44 , G06K9/4647 , G06K9/4652 , G06K9/6277 , G06K9/6284 , G08G5/0021 , G08G5/0091
Abstract: Disclosed are apparatus and a method for detecting cloud features. The method comprises: obtaining (402) image data (401); identifying (404) regions of the image data corresponding to a below-horizon region and an above-horizon region; classifying (404) one or more parts of the above-horizon region as a cloud feature; determining (409) an identification model specifying a visual appearance of some or all of the parts of the above-horizon region that have been classified as a cloud feature; and using the determined identification model, classifying (404), as cloud features, those regions of the of the below-horizon region whose visual appearance is as specified by the identification model.
Abstract translation: 公开了用于检测云特征的装置和方法。 该方法包括：获取（402）图像数据（401）; 识别对应于地平线以下的地区和地平线上的区域的图像数据的区域（404）; 将（404）上述地平线上的一个或多个部分分类为云特征; 确定（409）指定已被分类为云特征的上述地平线区域的部分或全部部分的视觉外观的识别模型; 并使用确定的识别模型，将（404）分类为云特征，其视觉外观由识别模型指定的地平线下区域的那些区域。
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公开(公告)号：WO2016092254A1
公开(公告)日：2016-06-16
申请号：PCT/GB2015/050294
申请日：2015-02-04
Applicant: BAE SYSTEMS PLC
Inventor： REVELL, James Duncan , GOODALL, Mark, Robert , CROSS, Gary, Martin
CPC classification number: G02B27/1066 , G02B13/0065 , G02B13/06 , G02B27/126 , H04N5/2254 , H04N5/23212 , H04N5/23232 , H04N7/183
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).
Abstract translation: 用于具有光学输入的图像捕获装置和在其间限定主光轴的图像传感器（22）的光学装置，所述装置被配置为经由所述输入提供多个基本上平行的间隔开的光束， 所述图像传感器（22）包括： - 包括多个光学元件（10,12,14,16,18,20）的第一光学单元（26），所述光学元件中的至少第一个是第一 折射元件（12,14,18,20），用于折射通过基本上90°入射到其上的光束; 和 - 多个聚焦透镜（透镜0，透镜1，透镜2，透镜3，透镜4，透镜5），每个聚焦透镜与相应的光学元件相关联并且被配置为在其上引导相应的入射光束; 其中与所述折射元件相关联的聚焦透镜被布置和配置为在其上以大致90°的方式将入射光束引导到所述主光轴，并且折射元件被布置和构造成使得在使用中，所得到的折射光束是 在所述主光轴到达所述图像传感器（24）时基本平行于所述主光轴。
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公开(公告)号：WO2016062996A1
公开(公告)日：2016-04-28
申请号：PCT/GB2015/050244
申请日：2015-01-30
Applicant: BAE SYSTEMS PLC
Inventor： REVELL, James Duncan , GOODALL, Mark, Robert , CROSS, Gary, Martin
CPC classification number: G01C21/165 , G06T7/70 , G06T2207/30244
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.
Abstract translation: 一种用于确定关于移动平台的6D0F姿态的光学惯性测量方法，所述方法包括针对所述移动平台提供由至少三个单眼相机（14,16,18）组成的相机单元（10,16），所述相机单元 刚性地配置成使得它们的视野不重叠并且覆盖所述平台在三个主要基本上正交的轴中的每一个中的运动; 从每个所述相机接收视频输出; 确定来自所述视频输出的单个点对应关系，并且从每个相机估计包括代表x和y轴中的平移方向的平移值，以及关于光轴的旋转和缩放因子的变换，每个变换用 相对于与相应相机相关联的局部3D坐标系; 以及将x轴和y轴中的所述平移值映射到全局3D坐标系，其原点由所述摄像机之间的点定义，并将所述平移值乘以相应的比例因子，以便确定关于所述摄像机的6DOF姿态 相机单元。 还公开了一种光学惯性测量系统。
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Patent Agency Ranking
公开(公告)号：WO2016116725A1
公开(公告)日：2016-07-28
申请号：PCT/GB2015/050124
申请日：2015-01-20
Applicant: BAE SYSTEMS PLC
Inventor： REVELL, James Duncan , BUCHANAN, Roderick
CPC classification number: G06K9/0063 , B64C39/024 , B64C2201/141 , B64D43/00 , B64D47/08 , G05D1/0088 , G06K9/4652 , G06K9/4661 , G06K9/6267 , G06T7/11 , G08G5/0052
Abstract: Disclosed is a method and apparatus for detecting cloud features. The method comprises: obtaining image data(e.g. using a camera), the image data defining a plurality of pixels and, for each pixel, a respective luminance value;defining one or more intervals for the luminance values of the pixels; partitioning the image data into one or more image segments (502 -508), each respective image segment (502 -508) containing pixels having a luminance value in a respective interval; and classifying, as a cloud feature, each image segment (502 -508) containing pixels having luminance value greater than or equal to a threshold luminance value (L T ).
Abstract translation: 公开了一种用于检测云特征的方法和装置。 该方法包括：获得图像数据（例如使用相机），定义多个像素的图像数据，以及针对每个像素的相应亮度值;为像素的亮度值定义一个或多个间隔; 将图像数据分割成一个或多个图像段（502-508），每个相应的图像段（502-508）包含在相应间隔中具有亮度值的像素; 并且将包含具有大于或等于阈值亮度值（LT）的亮度值的像素的每个图像段（502-508）分类为云特征。
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公开(公告)号：WO2013061066A2
公开(公告)日：2013-05-02
申请号：PCT/GB2012/052656
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: 提供了一种用于在飞行中识别和分析飞机着陆点的方法和装置。 该方法包括使用诸如红外相机的图像捕获装置在可能的着陆点的区域中捕获地面的飞行中图像的步骤，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 将飞行中的图像与可能的着陆点的建模图像进行比较，并优化两个图像之间的对应关系，以获得最佳映射到全局坐标参考系的飞行中图像。 此后，分析对应于最佳映射的飞行中图像的着陆点，以确定存在诸如生命形式，车辆或其上的新建立的建筑物之类的障碍物。
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公开(公告)号：EP2917874B1
公开(公告)日：2017-09-27
申请号：EP13789895.3
申请日：2013-11-11
Applicant: BAE SYSTEMS plc
Inventor： BUCHANAN, Roderick , REVELL, James Duncan
CPC classification number: G06K9/0063 , B64D47/08 , G06K9/44 , G06K9/4647 , G06K9/4652 , G06K9/6277 , G06K9/6284 , G08G5/0021 , G08G5/0091
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公开(公告)号：EP3248139A1
公开(公告)日：2017-11-29
申请号：EP15701575.1
申请日：2015-01-20
Applicant: BAE Systems PLC
Inventor： REVELL, James Duncan , BUCHANAN, Roderick
CPC classification number: G06K9/0063 , B64C39/024 , B64C2201/141 , B64D43/00 , B64D47/08 , G05D1/0088 , G06K9/4652 , G06K9/4661 , G06K9/6267 , G06T7/11 , G08G5/0052
Abstract: Disclosed is a method and apparatus for detecting cloud features. The method comprises: obtaining image data (e.g. using a camera), the image data defining a plurality of pixels and, for each pixel, a respective luminance value; defining one or more intervals for the luminance values of the pixels; partitioning the image data into one or more image segments (502-508), each respective image segment (502-508) containing pixels having a luminance value in a respective interval; and classifying, as a cloud feature, each image segment (502-508) containing pixels having luminance value greater than or equal to a threshold luminance value (LT).
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公开(公告)号：EP2771842A2
公开(公告)日：2014-09-03
申请号：EP12791831.6
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 analyzing 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 optimizing 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 analyzed to ascertain the presence of any obstructions such as life forms, vehicles or newly erected buildings thereon.
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