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    METHOD FOR JUDGING MOBILE OBJECT
    1.
    发明专利
    METHOD FOR JUDGING MOBILE OBJECT 失效

    公开(公告)号：JPH07110864A

    公开(公告)日：1995-04-25

    申请号：JP25548093

    申请日：1993-10-13

    Applicant: NAT AEROSPACE LAB ,  FUJITSU LTD

    Inventor： MORITA TOSHIHIKO ,  INAMOTO YASUSHI ,  UCHIYAMA TAKASHI ,  OKAMOTO OSAMU ,  YAMAGUCHI ISAO ,  GOMI HIROMI

    IPC: G01P13/00 ,  G06T5/20 ,  G06T7/20

    Abstract: PURPOSE:To make it possible to detect a mobile object even when a background is rotated, magnified or reduced by applying a two-dimensional Laplacian filter to a movement vector field and judging an area whose output value is larger than a threshold as a mobile object. CONSTITUTION:At least two moving pictures are time sequentially and continuously inputted (S1). A movement vector field is measured by various methods (S2). A two-dimensional plane taking a movement vector in the movement vector field as an element is generated (S3). A Laplacian filter LF having a positive value on its center part and a negative value on its peripheral part is applied to the two-dimensional plane (S4). As a result, only a part with movement different from the periphery has a large sized vector. Only the resultant size of the obtained vector is stored in the two-dimensional plane, threshold processing is applied to the two-dimensional plane so as to leave only the part having a large value and set up the other part to '0' (S5). As for the part having the large value, the positional information of the mobile object, and the size and direction of the movement vector are outputted at need (S6).

    ROCKET LAUNCHER
    3.
    发明专利
    ROCKET LAUNCHER 失效

    公开(公告)号：JPH0192560A

    公开(公告)日：1989-04-11

    申请号：JP24961787

    申请日：1987-10-02

    Applicant: NAT AEROSPACE LAB

    Inventor： YATSUYANAGI NOBUYUKI ,  TAMURA HIROSHI ,  SAKAMOTO HIROSHI ,  ONO FUMIE ,  GOMI HIROMI

    IPC: B64G1/26 ,  F02K9/52

    Abstract: PURPOSE:To improve combustion efficiency in a rocket having two kinds of fuel and liquid for propulsion agent by providing a fuel jet for sending atomized main liquid fuel info sub-fuel jet jetted under the gasified state and a liquid oxygen jet coaxial with said fuel jet. CONSTITUTION:In a rocket engine liquid oxygen, kerosene and hydrogen respectively for oxidizing agent, fuel and sub-fuel, liquid hydrogen 4 as sub-fuel is sent by a pump 8, and a portion of the sub-fuel is jetted from an injector 1 into a combustor 5, while the remaining is sent to a high temperature gas generator 6 to be burnt with the liquid oxygen 2 being supplied by a pump 8'. Pumps 8-8'' are driven through turbines 7, 7' with high temperature gas generated by said generator 6. Main fuel 3 is forced into the combustor 5 by the pump 8''. Then, the main fuel 3 and liquid oxygen 2 are jetted into the combustor 5 respectively from a jet 13 and an oxygen jet 12 provided in the center of a jet 14. A hydrogen jet 14' is opened to the upstream side wall of jet 14 to supply the sub-fuel 4.

    HIGH PRECISION STEREO VISION USING CONTINUOUS FRAME IMAGE
    4.
    发明专利
    HIGH PRECISION STEREO VISION USING CONTINUOUS FRAME IMAGE 失效

    公开(公告)号：JP2002257543A

    公开(公告)日：2002-09-11

    申请号：JP2001059558

    申请日：2001-03-05

    Applicant: NAT AEROSPACE LAB OF JAPAN MEX

    Inventor： SASA SHUICHI ,  GOMI HIROMI ,  YAMAMOTO HIROMICHI

    IPC: G01C11/06 ,  G01B11/24 ,  G01B11/245

    Abstract: PROBLEM TO BE SOLVED: To provide a stereo camera system capable of solving the problem in the stereo camera system, ensuring corresponding point search between two images to thereby make deduction of a parallax value accurate, thereby increasing certainty of object shape recognition, and heightening its reproduction accuracy. SOLUTION: In this high precision stereo vision using a continuous frame image, plural pairs of stereo images from different viewpoints of a non- deformable object, and the corresponding point search having high correlation between each pair of images is executed to detect the parallax, and the object shape is operated from the parallax value, and the corresponding point search is executed similarly between each pair, and the object shape is operated, and data are accumulated, and overall operation of accumulated information is executed, to thereby ensure the object shape estimation value.

    ANNULAR MULTI-DIVISION TYPE WATER COOLED COMBUSTION CHAMBER
    5.
    发明专利
    ANNULAR MULTI-DIVISION TYPE WATER COOLED COMBUSTION CHAMBER 失效

    公开(公告)号：JPS57212350A

    公开(公告)日：1982-12-27

    申请号：JP9630681

    申请日：1981-06-22

    Applicant: NAT AEROSPACE LAB

    Inventor： SHINNO MASAYUKI ,  YATSUYANAGI NOBUYUKI ,  KUMAKAWA AKINAGA ,  SUZUKI AKIO ,  GOMI HIROMI ,  SAKAMOTO HIROSHI ,  SASAKI MASAKI

    IPC: G01M15/14 ,  F02K9/64 ,  F02K9/96

    Abstract: PURPOSE:To improve the critical heat flux density remarkably by a method wherein a saw-toothed array of fins is provided on a cooling surface and a mixing boiling property generated on the fin is utilized. CONSTITUTION:The combustion chamber is formed by the combination of annlar segments A having the cooling water flow paths such as a cooling water inlet pipe 1, an outlet pipe 2, a cooling water introducing pipe 3, an annular path 7 and the like and is provided with paths for fuel F, an oxidizer 0 and the cooling water CW. The cooling surface 5 of the alley of saw-toothed fin is formed on the surface of the combustion chamber side of the annular path 7 and the saw- toothed fin 8 on the cooling surface 5 of the alley of this saw-toothed fins is formed so as to have an apex angle of 60 deg., a height of 0.5mm. and a pitch of 0.6mm. substantially. Further, one of this path 7 is connected to the cooling water inlet pipe 1 while the other thereof is connected to the outlet pipe 2. According to this method, the cooling efficiency thereof may be improved remarkably.

    METHOD AND SYSTEM FOR RESTORING SHAPE FROM SHADOW
    6.
    发明专利
    METHOD AND SYSTEM FOR RESTORING SHAPE FROM SHADOW 失效

    公开(公告)号：JP2002245439A

    公开(公告)日：2002-08-30

    申请号：JP2001044546

    申请日：2001-02-21

    Applicant: NAT AEROSPACE LAB OF JAPAN MEX

    Inventor： SASA SHUICHI ,  GOMI HIROMI ,  YAMAGUCHI ISAO ,  NINOMIYA TETSUJIRO ,  HAMADA YOSHIRO

    IPC: G06T1/00 ,  G06T15/00 ,  G06T17/05 ,  G06T17/50

    Abstract: PROBLEM TO BE SOLVED: To develop a high speed solution calculating method that does not need repeated calculations and also to provide a system for performing the high speed solution calculating method in a shape reproducing method for find ing out the shape of an object from the shadow of a gradation image acquired by a monocular camera. SOLUTION: This shape reproducing method from shadows employs the relational expression of the Tsai and Sha method obtained by modeling the relation among the luminance value of a lattice point (i and j) of an image obtained by photographing the object that is illuminated by parallel rays from a known direction and has known reflectance with the monocular camera, the inclinations (pi,j and qi,j) of the object at the lattice point and shape depth coordinates zi,j, and comprises a step for obtaining an approximate expression by substituting pi,j=zi,j-zi-1,j, and qi,j=zi,j-zi,j-1 by linear approximation for inclinations, a step for squaring the approximate expression, a step for obtaining zi,j as the solution of a quadratic expression with respect to the zi,j, and a step for totalizing individual lattice points, and obtains a solution not with the respected calculations but with a single calculation.

    STEREOSCOPIC VISION SYSTEM FOR DETECTING FLAT AREA DURING VERTICAL DESCENT
    7.
    发明专利
    STEREOSCOPIC VISION SYSTEM FOR DETECTING FLAT AREA DURING VERTICAL DESCENT 失效

    公开(公告)号：JP2002156227A

    公开(公告)日：2002-05-31

    申请号：JP2000349033

    申请日：2000-11-16

    Applicant: NAT AEROSPACE LAB

    Inventor： GOMI HIROMI ,  SASA SHUICHI ,  YAMAMOTO HIROMICHI

    IPC: G01C11/06 ,  B64D45/04 ,  B64G1/66 ,  G01B11/24 ,  G01B11/245

    Abstract: PROBLEM TO BE SOLVED: To provide a stereoscopic vision system for detecting flat area provided with functions to perform self-diagnosis on displacements of the locations and attitudes of cameras due to vibrations, thermal deformation, etc., during measuring operation, and to verify the reliability of measurements in the stereoscopic vision system mounted on a lunar surface survey instrument, etc., and suitable for landing. SOLUTION: In the stereoscopic vision system for measuring the undulations of the ground from two images photographed by directing toward the ground the right and left cameras installed at a predetermined interval, the image of one camera is parallelly moved in the y-axis direction and the x-axis direction so that correlation is heightened most when the image of the one camera is superposed with reference to the image of the other camera, and the image of the one camera is rotated in the z-axis direction to detect the amount of correction based on displacements of the locations and attitudes of the cameras. The image of the one camera corrected by the amount of correction is combined with the image of the other camera to execute stereoscopic vision measurements.

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