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：WO2013070125A1

公开(公告)日：2013-05-16

申请号：PCT/SE2011/051338

申请日：2011-11-08

Applicant: SAAB AB ,  OLOFSSON, Michael ,  ISAKSSON, Folke ,  BREGE, Magnus ,  ANDERSSON, Ingmar ,  CARLBOM, Per ,  BORG, Johan ,  HAGLUND, Leif ,  ROSENQVIST, Fredrik

Inventor： OLOFSSON, Michael ,  ISAKSSON, Folke ,  BREGE, Magnus ,  ANDERSSON, Ingmar ,  CARLBOM, Per ,  BORG, Johan ,  HAGLUND, Leif ,  ROSENQVIST, Fredrik

IPC: G01C11/06 ,  G06T7/00

CPC classification number: G06T7/75 ,  G01C11/06 ,  G06K9/00208 ,  G06K9/00624 ,  G06T3/0068 ,  G06T7/337 ,  G06T17/05 ,  G06T2207/10032 ,  G06T2207/30181 ,  G06T2207/30244

Abstract: The present invention relates to a system (200) and method for determining a relation between a first scene and a second scene. The method comprises the steps of generating at least one sensor image of a first scene with at least one sensor; accessing information related to at least one second scene, said second scene encompassing said first scene, and matching the sensor image with the second scene to map the sensor image onto the second scene. The step of accessing information related to the at least one second scene comprises accessing a 3D map comprising geocoded 3D coordinate data. The mapping involves associating geocoding information to a plurality of positions in the sensor image based on the coordinate data of the second scene.

Abstract translation: 本发明涉及一种用于确定第一场景和第二场景之间的关系的系统（200）和方法。 该方法包括以下步骤：利用至少一个传感器产生第一场景的至少一个传感器图像; 访问与至少一个第二场景相关的信息，所述第二场景包含所述第一场景，并且将传感器图像与第二场景匹配，以将传感器图像映射到第二场景。 访问与至少一个第二场景有关的信息的步骤包括访问包括地理编码3D坐标数据的3D地图。 该映射涉及基于第二场景的坐标数据将地理编码信息与传感器图像中的多个位置相关联。

公开(公告)号：WO2011093752A1

公开(公告)日：2011-08-04

申请号：PCT/SE2010/000015

申请日：2010-01-26

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

Inventor： HAGLUND, Leif ,  BORG, Johan ,  ANDERSSON, Ingemar ,  ISAKSSON, Folke

IPC: G06T17/05 ,  G06T17/20 ,  G06T7/00 ,  H04N13/02

CPC classification number: G06T7/579 ,  G06T17/05 ,  G06T2207/10032

Abstract: The present invention relates to an automated three dimensional mapping method estimating tree dimensional models taking advantage of a plurality of images. The object of the invention is to eliminate or at least reduce the need of smoothing and as a consequence increase the stability of a 3D model avoiding blur. According to the method the positions (x, y, z) and attitudes (α, β, γ) for at least one camera is recorded when images are taken, the at least one camera is geometrically calibrated to indicate the direction of each pixel of an image, a stereo disparity is calculated (42) for a plurality of image pairs covering a same scene position setting a disparity and a certainty measure estimate for each stereo disparity, the different stereo disparity estimates are weighted together (43) to form a 3D model, and the stereo disparity estimates are reweighted automatically and adaptively based on the estimated 3D model.

Abstract translation: 本发明涉及利用多个图像来估计树状尺度模型的自动三维映射方法。 本发明的目的是消除或至少减少平滑的需要，并因此增加了避免模糊的3D模型的稳定性。 根据该方法，在拍摄图像时记录至少一个相机的位置（x，y，z）和姿态（a，β，θ），至少一个相机被几何校准以指示每个像素的方向 对于覆盖相同场景位置的多个图像对，计算（42）立体视差，设置每个立体视差的视差和确定度测量估计，将不同的立体视差估计一起加权（43）以形成3D 模型，并且基于估计的3D模型自动重新加权立体视差估计。

公开(公告)号：WO2006051049A1

公开(公告)日：2006-05-18

申请号：PCT/EP2005/055659

申请日：2005-10-31

Applicant: SAAB AB ,  ISAKSSON, Folke ,  BORG, Johan

Inventor： ISAKSSON, Folke ,  BORG, Johan

IPC: H04N7/18 ,  G06T7/00

CPC classification number: H04N7/18 ,  G06T7/20 ,  G06T2207/10021 ,  G06T2207/30221

Abstract: The invention relates to image-based movement tracking of a number of objects in a particular area. A number of image registration means repeatedly records data pertaining to multiple simultaneous representations of events occurring within the area. Specifically, at least one stereo-pair of cameras (101a, 101b) repeatedly record stereo-image data (D1', D1") based upon which a data processing unit ( 110) repeatedly determines a respective position for each of the objects. According to the invention, a first camera (101a) and a second camera (101b) in the stereo-pair are separated by a base distance. Moreover, the cameras (101a, 101b) are essentially parallel and directed towards the area, such that a first image plane of the first camera (101a) registers a portion of the area, which substantially overlaps a portion of the area registered by a second image plane of the second camera (101b).

Abstract translation: 本发明涉及特定区域中的多个对象的基于图像的移动跟踪。 多个图像登记装置重复记录关于在区域内发生的事件的多个同时表示的数据。 具体地说，至少一个立体声对照相机（101a，101b）重复记录立体图像数据（D1'，D1“），基于该立体图像数据，数据处理单元（110）重复地确定每个对象的相应位置。 对于本发明，立体对中的第一相机（101a）和第二相机（101b）被分开一个基本距离，而且相机（101a，101b）基本上平行并指向该区域，使得 第一相机（101a）的第一图像平面登记与第二相机（101b）的第二图像平面记录的区域的一部分基本重叠的区域的一部分。

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：WO2011093751A1

公开(公告)日：2011-08-04

申请号：PCT/SE2010/000014

申请日：2010-01-26

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

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

IPC: G06T17/05 ,  G01C11/00

CPC classification number: G01C11/06 ,  G06T17/05

Abstract: The present invention relates to a three dimensional model method based on combination of ground based images (54) and images (44) taken from above. According to the invention an existing 3D model (46) based on images (44) taken from above is matched with images (54) taken from ground level, all images comprising information about position and attitudes of the camera when the images (54) from ground level and the images (44) taken from above were taken and direction of each pixel. The method offers an automatically carried out imaging solving or at least mitigating occlusion problems.

Abstract translation: 本发明涉及一种基于地面图像（54）和上述图像（44）的组合的三维模型方法。 根据本发明，基于从上方获取的图像（44）的现有3D模型（46）与从地平面获取的图像（54）匹配，所有图像包括关于来自相机的图像（54）的相机的位置和姿态的信息 拍摄地面，拍摄从上方拍摄的图像（44），拍摄各像素的方向。 该方法提供自动执行成像解决或至少减轻遮挡问题。

公开(公告)号：WO2010071531A1

公开(公告)日：2010-06-24

申请号：PCT/SE2008/051544

申请日：2008-12-19

Applicant: SAAB AB ,  ANDERSSON, Ingemar ,  ISAKSSON, Folke ,  BORG, Johan ,  ERLANDSSON, Ulf ,  TENGBLAD, Adam ,  HAGSTRÖM, Måns

Inventor： ANDERSSON, Ingemar ,  ISAKSSON, Folke ,  BORG, Johan ,  ERLANDSSON, Ulf ,  TENGBLAD, Adam ,  HAGSTRÖM, Måns

IPC: G06T15/10 ,  H04N13/00 ,  H04N5/262

CPC classification number: H04N5/265 ,  A63F2300/1093 ,  A63F2300/6676 ,  A63F2300/69 ,  G06T19/006 ,  G09B9/003 ,  H04N5/2224 ,  H04N5/232 ,  H04N5/23229 ,  H04N5/23238 ,  H04N13/183 ,  H04N13/239 ,  H04N13/275

Abstract: The present invention relates to a system (100) and method for mixing a scene with a virtual scenario. The system comprises image capturing means arranged to capture at least one image so as to cover the scene from a first viewpoint, and an image representation generation unit arranged to generate at least one image representation based on said captured image. The system comprises further a game engine unit (140) arranged to generate a virtual scenario, an image processing unit (150) arranged to adapt the at least one image representation based on said generated virtual scenario so as to provide a virtual video sequence.

Abstract translation: 本发明涉及一种用于将场景与虚拟场景混合的系统（100）和方法。 该系统包括被配置为捕获至少一个图像以便从第一视点覆盖场景的图像捕获装置，以及布置成基于所述捕获图像生成至少一个图像表示的图像表示生成单元。 该系统还包括布置成生成虚拟场景的游戏引擎单元（140），被配置为基于所生成的虚拟场景来适应所述至少一个图像表示以提供虚拟视频序列的图像处理单元（150）。

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）。