公开(公告)号：WO2014171867A1

公开(公告)日：2014-10-23

申请号：PCT/SE2013/050425

申请日：2013-04-19

Applicant: SAAB AB

Inventor： BEJERYD, Johan ,  BORG, Johan ,  ISAKSSON, Folke ,  HAGLUND, Leif ,  CARLBOM, Per ,  NYGREN, Ola ,  ANDERSSON, Ingmar

IPC: G06T17/05 ,  G01C11/02 ,  G06K9/00 ,  G06T3/00 ,  G06T5/00

CPC classification number: G01C11/12 ,  G06T7/55 ,  G06T17/05 ,  G06T2207/10016 ,  G06T2207/10032

Abstract: The invention relates to a method for analysing images generated from at least one imaging system on at least one satellite. The method comprises providing at least three images of an area of interest from the at least one imaging system, where the at least three provided images are provided from at least three different angles,establishing point correspondence between the at least three provided images,generating at least two sets of three-dimensional information based on the at least three provided images, wherein the at least two sets of three-dimensional information are generated based on at least two different combinations of at least two of the at least three provided images of the area of interest,and comparing the at least two sets of three-dimensional information so as to determine discrepancies and providing information related to the imaging system and/or errors in the images based on the determined discrepancies. The invention also relates to a method for image correction, a system, a computer program and a computer program product.

Abstract translation: 本发明涉及一种用于分析由至少一个卫星上的至少一个成像系统产生的图像的方法。 该方法包括从至少一个成像系统提供感兴趣区域的至少三个图像，其中至少三个提供的图像从至少三个不同的角度提供，建立至少三个提供的图像之间的点对应， 基于至少三个提供的图像的至少两组三维信息，其中基于所述至少三个提供的图像中的至少两个的至少两个的至少两个不同的组合来生成所述至少两组三维信息 并且比较所述至少两组三维信息，以便基于所确定的差异来确定差异并提供与成像系统相关的信息和/或图像中的错误。 本发明还涉及一种用于图像校正的方法，系统，计算机程序和计算机程序产品。

公开(公告)号：WO2014112911A1

公开(公告)日：2014-07-24

申请号：PCT/SE2013/050044

申请日：2013-01-21

Applicant: SAAB AB

Inventor： ISAKSSON, Folke ,  ANDERSSON, Ingmar ,  BEJERYD, Johan ,  BORG, Johan ,  CARLBOM, Per ,  HAGLUND, Leif

IPC: G06T17/05 ,  G01C11/06 ,  G01S17/42 ,  G06T19/20 ,  G01S17/93

CPC classification number: G01S17/89 ,  G01C11/06 ,  G01C21/00 ,  G01S17/023 ,  G01S17/42 ,  G06K9/6215 ,  G06T17/05 ,  G06T19/20 ,  G06T2200/04 ,  H04N13/207

Abstract: The present invention relates to a method and arrangement for developing a 3D model of an environment. The method comprises steps of providing a plurality of overlapping images of the environment, each image associated of navigation data, providing distance information, said LIDAR information comprising a distance value and navigation data from a plurality of distance measurements, and developing the 3D model based on the plurality of overlapping images and the distance information. The step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process.

Abstract translation: 本发明涉及用于开发环境的3D模型的方法和装置。 该方法包括以下步骤：提供环境的多个重叠图像，与导航数据相关联的每个图像，提供距离信息，所述LIDAR信息包括来自多个距离测量的距离值和导航数据，以及基于 多个重叠图像和距离信息。 开发3D模型的步骤包括以下步骤：基于多个重叠图像提供3D模型; 并使用迭代过程利用距离信息更新3D模型。

公开(公告)号：WO2014112909A1

公开(公告)日：2014-07-24

申请号：PCT/SE2013/050042

申请日：2013-01-21

Applicant: SAAB AB

Inventor： ISAKSSON, Folke ,  BEJERYD, Johan ,  CARLBOM, Per ,  ANDERSSON, Ingmar ,  BORG, Johan ,  HAGLUND, Leif

IPC: G06T17/05 ,  G01C11/06 ,  G06T7/00 ,  G06T17/20 ,  G06T17/30

CPC classification number: G01C11/06 ,  G01C11/025 ,  G06F17/30241 ,  G06K9/00208 ,  G06K9/0063 ,  G06K9/00664 ,  G06K9/6203 ,  G06K9/6289 ,  G06T7/30 ,  G06T17/05 ,  G06T2207/30184

Abstract: The present invention relates to a method (700) and system for geo-referencing at least one sensor image. The method comprises the steps of -generating (701 )said at least one sensor image of a first scene with at least one sensor, -accessing (702) a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene, -matching (703) the sensor image with the 3D model find a section of the 3D model where there is a match between the first and the second scenes, -geo-referencing (704 )the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model, and -determining (705) a measure related to an uncertainty in the matching between the sensor image and the 3D model.

Abstract translation: 本发明涉及用于地理参考至少一个传感器图像的方法（700）和系统。 该方法包括以下步骤：利用至少一个传感器生成（701）所述至少一个第一场景的传感器图像， - 接收（702）包括地理编码的3D坐标数据并且至少相关的环境的3D模型 一个第二场景，所述第二场景包含所述第一场景， - 匹配（703）3D模型的传感器图像，找到第一和第二场景之间存在匹配的3D模型的一部分， - 引用（704 ）基于3D模型的找到部分的地理编码3D坐标数据的传感器图像，以及 - 确定（705）与传感器图像和3D模型之间的匹配中的不确定性有关的度量。

公开(公告)号：WO2014112910A1

公开(公告)日：2014-07-24

申请号：PCT/SE2013/050043

申请日：2013-01-21

Applicant: SAAB AB

Inventor： ANDERSSON, Ingmar ,  BEJERYD, Johan ,  BORG, Johan ,  CARLBOM, Per ,  HAGLUND, Leif ,  ISAKSSON, Folke

IPC: G06T17/05 ,  G01C11/06 ,  G06T7/00 ,  G06T17/20 ,  G06T17/30

CPC classification number: G06T17/05 ,  G01B11/245 ,  G01C11/06 ,  G01M11/0264 ,  G01S13/867 ,  G01S17/023 ,  G01S17/42 ,  G01S17/89 ,  G06T7/344 ,  G06T7/521 ,  G06T7/579 ,  G06T7/75 ,  G06T7/97 ,  G06T2207/10004 ,  G06T2207/10032 ,  G06T2207/20182 ,  G06T2207/30181 ,  H04N5/3572 ,  H04N13/275 ,  H04N2013/0085

Abstract: The present invention relates to a method for estimating values for a set of parameters of an imaging system 1. The method comprises taking at least two pictures with the imaging system (1), where the at least two pictures are taken from different positions and where the at least two pictures comprise an at least partially overlapping area. It also comprises sending out pulses to the at least partially overlapping area, and detecting the reflected pulses and calculating distances between a sender of the pulses and the respective point where the pulses were reflected based on the travel time of the pulses. Further, the method comprises associating positioning data to the pictures and to the calculated distance between the points where the pulses were reflected and the sender of the pulses. Said positioning data comprises a position and pointing direction of the imagining system 1 and the sender of the pulses. The method comprises calculating first information about the area, based on the at least two pictures, the information comprising at least one quantity of the area, the at least one quantity comprising size and/or position,and calculating second information related to the calculated distances to the at least partly overlapping area, the second information comprising at least one quantity of the area, the at least one quantity comprising size and/or position. The method also comprises comparing values for the quantities contained in the first and second information,and, if the value for at least one quantity of the area obtained from the first information differs from the value for the corresponding at least one quantity of the area obtained from the second information, calculating values and/or an error estimate for the set of parameters of the imaging system 1 based on the difference.

Abstract translation: 本发明涉及一种用于估计成像系统1的一组参数的值的方法。所述方法包括：用所述成像系统（1）拍摄至少两幅图像，其中所述至少两幅图像是从不同位置拍摄的，其中 所述至少两个图片包括至少部分重叠的区域。 它还包括向至少部分重叠的区域发送脉冲，并且基于脉冲的行进时间来检测反射脉冲并计算脉冲发送器与反射脉冲的相应点之间的距离。 此外，该方法包括将定位数据与图像相关联，并将计算出的脉冲反射点与脉冲发送器之间的距离相关联。 所述定位数据包括想象系统1和脉冲发送器的位置和指向方向。 该方法包括基于至少两个图片计算关于该区域的第一信息，该信息包括至少一个该区域的数量，包括大小和/或位置的至少一个数量，以及计算与计算出的距离有关的第二信息 到所述至少部分重叠的区域，所述第二信息包括所述区域的至少一个量，所述至少一个数量包括大小和/或位置。 该方法还包括比较包含在第一和第二信息中的数量的值，并且如果从第一信息获得的至少一个数量的区域的值不同于所获得的对应的至少一个数量的区域的值 根据第二信息，基于该差异来计算成像系统1的参数集合的值和/或误差估计。

公开(公告)号：WO2014112908A1

公开(公告)日：2014-07-24

申请号：PCT/SE2013/050041

申请日：2013-01-21

Applicant: SAAB AB

Inventor： ISAKSSON, Folke ,  BEJERYD, Johan ,  CARLBOM, Per ,  BORG, Johan ,  ANDERSSON, Ingmar ,  HAGLUND, Leif

IPC: G06T17/20 ,  G01C11/06 ,  G06T17/05

CPC classification number: G06T17/05 ,  G01C11/025 ,  G01C11/06 ,  G06T3/40 ,  G06T7/44 ,  G06T17/20 ,  G06T17/205 ,  G06T19/20 ,  G06T2200/04 ,  G06T2207/10032 ,  G06T2207/30184 ,  G06T2210/36 ,  G06T2219/004 ,  G06T2219/2021

Abstract: The present invention relates to a method (600) and an arrangement for providing a 3D model of an environment. The method comprises the step of forming (610) a mesh modelling the environment in three dimensions, said mesh comprising nodes interconnected by edges and having surfaces boarded by the edges, wherein each node is associated to a 3D coordinate in a geographical coordinate system, determining (620) for a plurality of the nodes and/or surfaces and/or edges in the mesh a mesh uncertainty and associating (630) the determined mesh uncertainty to the corresponding node and/or surface and/or edge.

Abstract translation: 本发明涉及一种用于提供环境的3D模型的方法（600）和装置。 该方法包括以下步骤：形成（610）在三维中模拟环境的网格，所述网格包括通过边缘互连并具有由边缘登记的表面的节点，其中每个节点与地理坐标系中的3D坐标相关联，确定 （620），用于网格中的多个节点和/或表面和/或边缘的网格不确定性，并将确定的网格不确定性与对应的节点和/或表面和/或边缘相关联（630）。

公开(公告)号：WO2011002349A1

公开(公告)日：2011-01-06

申请号：PCT/SE2009/000340

申请日：2009-06-30

Applicant: SAAB AB ,  ANDERSSON, Ingmar ,  ISAKSSON, Folke ,  HAGLUND, Leif ,  BORG, Johan ,  BEJERYD, Johan

Inventor： ANDERSSON, Ingmar ,  ISAKSSON, Folke ,  HAGLUND, Leif ,  BORG, Johan ,  BEJERYD, Johan

IPC: H04N13/02 ,  G06T15/00

CPC classification number: H04N13/239 ,  H04N13/221 ,  H04N2213/001

Abstract: The present invention relates to a method for estimating 3D-models in a street environment using stereo sensor technique, the sensors comprised being arranged in pairs. The invention also refers to an arrangement for estimating 3D-models in a street environment using stereo sensor technique, comprising at least one pair of sensors (16, 17, 18) mounted on a bracket (33), each pair of sensors being positioned in a common plane. The invention solves the problem to measure stereo effects under difficult contrast conditions. According to the invention a method is proposed that ensures that the sensors of each pair comprised, are positioned based upon contrast information such that low levels of contrasts in an image plane are avoided. An arrangement is also proposed that involves that comprised pairs of sensors (16, 17, 18) are mutually positioned relative to an essentially horizontal plane (22) of the bracket (33) such that the sensors (16a, 16b, 17a, 17b, 18a, 18b) of a sensor pair (16, 17, 18) is positioned horizontally at a distance from each other and one of the sensors above the horizontal plane of the bracket (33) and the other under the horizontal plane (22).

Abstract translation: 本发明涉及一种使用立体声传感器技术在街道环境中估计3D模型的方法，所述传感器被成对布置。 本发明还涉及一种用于使用立体声传感器技术估计街道环境中的3D模型的装置，其包括安装在支架（33）上的至少一对传感器（16,17,18），每对传感器位于 一架共同的飞机。 本发明解决了在难以对比的条件下测量立体声效果的问题。 根据本发明，提出了一种基于对比度信息来确保每对的传感器被定位的方法，使得避免了图像平面中的低水平的对比度。 还提出了一种布置，其涉及包括成对的传感器（16,17,18）相对于支架（33）的基本上水平的平面（22）相互定位，使得传感器（16a，16b，17a，17b， 传感器对（16,17,18）的水平方向彼此相对定位，并且一个传感器位于支架（33）的水平面之上，另一个位于水平面（22）之下。

公开(公告)号：EP2449789A1

公开(公告)日：2012-05-09

申请号：EP09846896.0

申请日：2009-06-30

Applicant: Saab AB

Inventor： ANDERSSON, Ingmar ,  ISAKSSON, Folke ,  HAGLUND, Leif ,  BORG, Johan ,  BEJERYD, Johan

IPC: H04N13/02 ,  G06T15/00

CPC classification number: H04N13/239 ,  H04N13/221 ,  H04N2213/001

Abstract: A method and arrangement for estimating 3D-models in a street environment using a stereo sensor technique. At least one pair of sensors are arranged in pairs and are mounted on a bracket. Each pair of sensors is positioned in a common plane. The sensors of each pair are positioned based upon contrast information such that low levels of contrasts in an image plane are avoided. The pairs of sensors are mutually positioned relative to an essentially horizontal plane of the bracket such that the sensors of a sensor pair are positioned horizontally at a distance from each other and one of the sensors above the horizontal plane of the bracket and the other under the horizontal plane.