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公开(公告)号：WO2015160288A1
公开(公告)日：2015-10-22
申请号：PCT/SE2014/050458
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： HAGLUND, Leif , BEJERYD, Johan , CARLBOM, Per , SJANIC, Zoran
CPC classification number: G01C21/005 , G01S19/13 , G01S19/49 , G05D1/08 , G05D1/0808 , G06T7/207 , G06T7/32 , G06T7/74 , G06T2207/10032 , G06T2207/20016
Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached,perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. The invention also relates to a system, a computer program and a computer program product.
Abstract translation: 本发明涉及一种用于航空器导航的方法。 该方法包括从飞行器传感器提供传感器图像。 该方法还包括重复地，直到达到至少一个预定标准，执行设置输入数据的步骤，其中输入数据包括与俯仰角，侧倾角，偏航角和飞行器的三维位置有关的信息， 基于输入数据从数据库提供二维图像的步骤，其中数据库包括环境的三维地理参考信息，以及从数据库比较传感器图像和二维图像的步骤。 该方法还包括使用两个图像彼此最佳对应的输入数据，以确定航空器的以下量的俯仰角，侧倾角，偏航角和三维位置中的至少一个。 本发明还涉及一种系统，计算机程序和计算机程序产品。
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公开(公告)号：WO2015160292A1
公开(公告)日：2015-10-22
申请号：PCT/SE2014/050463
申请日：2014-04-14
Applicant: SAAB VRICON SYSTEMS AB
Inventor： BEJERYD, Johan , ANLIOT, Manne , DEHLIN, Jonas , HAGLUND, Leif
CPC classification number: G01C15/002 , G01C3/00
Abstract: The present disclosure relates to a method (1) and system for determining the position of a target. The method comprises a step of measuring (110) with a range and direction measuring device the position of at least one reference object relative to the position of the range and direction measuring device. The method further comprises a step of marking (120) the at least one reference object in a geo-referenced three-dimensional map so as to obtain a geo-referenced position of the at least one reference object. The method further comprises a step of measuring (130) with the range and direction measuring device the position of the target relative to the position of the range and direction measuring device. The method further comprises a step of calculating (150) a position of the target based on the measured position of the at least one reference object relative to the position of the range and direction measuring device, based on the measured position of the target relative to the position of the range and direction measuring device, and based on the obtained geo-referenced position of the at least one reference object.
Abstract translation: 本公开涉及一种用于确定目标位置的方法（1）和系统。 该方法包括用范围和方向测量装置测量（110）相对于范围和方向测量装置的位置的至少一个参考对象的位置的步骤。 该方法还包括在地理参考的三维地图中标记（120）所述至少一个参考对象以便获得所述至少一个参考对象的地理参考位置的步骤。 该方法还包括用范围和方向测量装置测量（130）目标相对于范围和方向测量装置的位置的位置的步骤。 该方法还包括基于所测量的目标相对于所述距离和方向测量装置的位置的距离和方向测量装置的位置，基于所述至少一个参考对象的测量位置来计算（150）所述目标的位置的步骤 范围和方向测量装置的位置，并且基于所获得的至少一个参考对象的地理参考位置。
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Patent Agency Ranking
公开(公告)号：EP2987145A1
公开(公告)日：2016-02-24
申请号：EP13882584.9
申请日：2013-04-19
Applicant: Saab Vricon Systems AB
Inventor： BEJERYD, Johan , BORG, Johan , ISAKSSON, Folke , HAGLUND, Leif , CARLBOM, Per , NYGREN, Ola , ANDERSSON, Ingmar
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.
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4.发明公开METHOD AND SYSTEM FOR GEO-REFERENCING AT LEAST ONE SENSOR IMAGE 审中-公开VERFAHREN UND SYSTEM ZUR GEOREFERENZIERUNG MINESESES EINES SENSORBILDES
公开(公告)号：EP2946366A1
公开(公告)日：2015-11-25
申请号：EP13871515.6
申请日：2013-01-21
Applicant: Saab Vricon Systems AB
Inventor： ISAKSSON, Folke , BEJERYD, Johan , CARLBOM, Per , ANDERSSON, Ingmar , BORG, Johan , HAGLUND, Leif
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: 各种实施例涉及用于对至少一个传感器图像进行地理参考的方法（700）和系统。 该方法包括以下步骤：利用至少一个传感器生成第一场景的至少一个传感器图像，访问包括地理编码的3D坐标数据并与至少一个第二场景相关的环境的3D模型，所述第二场景包括 说第一个场景，将传感器图像与3D模型相匹配，找到3D模型的一部分，其中在第一和第二场景之间存在匹配，基于所找到的地理编码的3D坐标数据来对传感器图像进行地理参考 并且确定与传感器图像和3D模型之间的匹配中的不确定性相关的度量。
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公开(公告)号：EP2946368A1
公开(公告)日：2015-11-25
申请号：EP13871927.3
申请日：2013-01-21
Applicant: Saab Vricon Systems AB
Inventor： ISAKSSON, Folke , BEJERYD, Johan , CARLBOM, Per , BORG, Johan , ANDERSSON, Ingmar , HAGLUND, Leif
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 and an arrangement for providing a 3D model of an environment. The method comprises the step of forming 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 for a plurality of the nodes and/or surfaces and/or edges in the mesh a mesh uncertainty and associating the determined mesh uncertainty to the corresponding node and/or surface and/or edge.
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6.发明公开A METHOD AND AN APPARATUS FOR ESTIMATING VALUES FOR A SET OF PARAMETERS OF AN IMAGING SYSTEM 有权方法和设备值的图片系统的定值组估计方法
公开(公告)号：EP2946367A1
公开(公告)日：2015-11-25
申请号：EP13871978.6
申请日：2013-01-21
Applicant: Saab Vricon Systems AB
Inventor： ANDERSSON, Ingmar , BEJERYD, Johan , BORG, Johan , CARLBOM, Per , HAGLUND, Leif , ISAKSSON, Folke
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: A method for estimating values for a set of parameters of an imaging system is presented. At least two pictures having an overlapping area are taken with the imaging system from different positions. Pulses are sent out to the area, the reflected pulses are detected and distances between a sender of the pulses and the respective point where the pulses were reflected are calculated based on the travel time of the pulses. First information about the area is calculated based on the pictures. Second information related to the calculated distances to the area is also calculated. Values for quantities contained in the first and second information are compared. If the value for a quantity obtained from the first information differs from the value obtained from the second information, values and/or an error estimate for the set of parameters of the imaging system is calculated based on the difference.
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7.发明公开METHOD AND ARRANGEMENT FOR DEVELOPING A THREE DIMENSIONAL MODEL OF AN ENVIRONMENT 审中-公开方法和系统的区域的三维模型的研制
公开(公告)号：EP2946365A1
公开(公告)日：2015-11-25
申请号：EP13871359.9
申请日：2013-01-21
Applicant: Saab Vricon Systems AB
Inventor： ISAKSSON, Folke , ANDERSSON, Ingmar , BEJERYD, Johan , BORG, Johan , CARLBOM, Per , HAGLUND, Leif
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.
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