公开(公告)号：US20140119716A1

公开(公告)日：2014-05-01

申请号：US14059784

申请日：2013-10-22

Applicant: Kabushiki Kaisha TOPCON

Inventor： Fumio Ohtomo ,  Hitoshi Otani ,  Kazuki Osaragi ,  Tetsuji Anai

IPC: G01C11/00

CPC classification number: G01C11/00 ,  A01B79/005 ,  B64C2201/027 ,  B64C2201/123 ,  B64C2201/127 ,  G01C11/025 ,  G05D1/0094 ,  G05D1/104

Abstract: The invention provides aerial photogrammetry by using two or more flying vehicles, each equipped with a GPS device and an image pickup unit, comprising a step of setting up two or more photographing points and setting up a photographing point area, respectively, with each of the photographing points as the center, a step of measuring a position of the flying vehicle by the GPS device, a step where each of the flying vehicle reaches each corresponding photographing point area and maintains the position of the photographing point area, a step of acquiring a time when the flying vehicle finally reaches the photographing point area, a step of setting up a shutter timing time after a predetermined time from the moment when the flying vehicle has finally reached the photographing point area, and a step of taking aerial photographs by the two or more flying vehicles at the shutter timing time.

Abstract translation: 本发明通过使用两个或更多个飞行车辆提供航空摄影测量，每个飞行器具有GPS装置和图像拾取单元，包括分别设置两个或更多拍摄点和设置拍摄点区域的步骤， 拍摄点为中心，GPS装置测量飞行器的位置的步骤，其中每个飞行器到达每个对应的拍摄点区域并维持拍摄点区域的位置的步骤，获取步骤 飞行时间最终到达拍摄点区域的时间;从飞行时刻终于到达拍摄点区域的时刻起设定快门定时时间的步骤;以及由飞行时间 或更多的飞行车辆。

公开(公告)号：US20130135440A1

公开(公告)日：2013-05-30

申请号：US13669583

申请日：2012-11-06

Applicant: Kabushiki Kaisha TOPCON

Inventor： Fumio Ohtomo ,  Hitoshi Otani ,  Kazuki Osaragi ,  Tetsuji Anai

IPC: H04N13/02

CPC classification number: H04N13/20 ,  B64C2201/123 ,  G01C11/06 ,  G03B15/006 ,  G03B35/02 ,  G03B37/02 ,  G05D1/0094 ,  G06K9/0063 ,  G06T7/33 ,  G06T7/593 ,  G06T2200/32 ,  G06T2207/10016 ,  G06T2207/10032 ,  G06T2207/30181 ,  H04N13/221

Abstract: The aerial photograph image pickup method comprises a first step of acquiring still images along an outward route and a return route respectively, a second step of preparing a stereo-image with regard to three images adjacent to each other in advancing direction, and of preparing another stereo-image by relative orientation on one more set of adjacent images and of preparing two sets of stereo-images, a third step of connecting two sets of stereo-images by using feature points extracted from a portion of an image common to the two sets of stereo-images, a step of connecting all stereo-images in the outward route direction and in the return route direction according to images acquired in the first step by repeating the second and third steps, and a step of selecting common tie points from the images adjacent to each other in the adjacent course and connecting the adjacent stereo-images in the course.

Abstract translation: 航空照片图像拾取方法包括分别沿向外路径和返回路线获取静止图像的第一步骤，关于在前进方向上彼此相邻的三个图像准备立体图像的第二步骤，以及准备另一个 通过相对定向在一组相邻图像上并且准备两组立体图像的立体图像;第三步骤，通过使用从两组共同的图像的一部分提取的特征点来连接两组立体图像 立体图像的步骤，通过重复第二和第三步骤，根据第一步骤中获取的图像，在向外路线方向和返回路线方向上连接所有立体图像的步骤，以及从 在相邻过程中彼此相邻的图像，并且在该过程中连接相邻的立体图像。

公开(公告)号：US20130077176A1

公开(公告)日：2013-03-28

申请号：US13626109

申请日：2012-09-25

Applicant: Kabushiki Kaisha TOPCON

Inventor： Fumio Ohtomo ,  Masayuki Momiuchi ,  Kazuki Osaragi ,  Hitoshi Otani

IPC: G02B27/00

CPC classification number: H04N5/332 ,  G01J3/0208 ,  G01J3/0229 ,  G01J3/2823 ,  G01J3/32 ,  G01J2003/1226 ,  G02B26/008 ,  H04N9/045

Abstract: A spectral image sensor device comprises a first optical system 47 and 48 including an objective lens, a luminous fluxes selecting member 55 for allowing a part of the luminous fluxes to pass via the first optical system selectively, an optical member 58 where the luminous fluxes selecting member is disposed so as to be at focal position on an object side or approximately at focal position on an object side, and an interference membrane is formed, and wavelength range of the luminous fluxes for passing through the luminous fluxes selecting member is selected, depending on position of the luminous fluxes selecting member, a second optical system 49 for guiding the luminous fluxes toward the optical member, and an image sensor 52 for receiving a light in wavelength range as selected by the optical member.

Abstract translation: 光谱图像传感器装置包括：包括物镜的第一光学系统47和48;用于允许光束的一部分通过第一光学系统选择性地通过的光束选择部件55，选择光束的光学部件58 构件被设置成在物体侧的焦点位置或大致在物体侧的焦点位置处，并且形成干涉膜，并且选择用于通过光束选择构件的光通量的波长范围，这取决于 光束选择部件的开启位置，用于将光束引导向光学部件的第二光学系统49，以及用于接收光学部件所选择的波长范围的光的图像传感器52。

公开(公告)号：US09369697B2

公开(公告)日：2016-06-14

申请号：US14190688

申请日：2014-02-26

Applicant: Kabushiki Kaisha TOPCON

Inventor： Kaoru Kumagai ,  Hitoshi Otani ,  Naoto Kasori ,  You Sasaki ,  Jun Sasagawa ,  Nobuyuki Fukaya

IPC: H04N13/02 ,  G01C3/00 ,  G01C11/06

CPC classification number: H04N13/275 ,  G01C3/00 ,  G01C11/06

Abstract: A measuring instrument comprises an spherical camera (8) for acquiring image data over total circumference, a laser scanner (6, 7) installed integrally with the spherical camera and for acquiring point cloud data of the surroundings, a synchronous control unit (9) for controlling acquisition of data of the spherical camera and the laser scanner, a storage unit (12) for recording the image data and the point cloud data, an absolute scale acquiring means for acquiring an absolute scale for obtaining an absolute position of when images are photographed by the spherical camera, and a control arithmetic unit (10), wherein the control arithmetic unit calculates a 3D model based on the image data, the point cloud data, and the absolute position.

Abstract translation: 一种测量仪器，包括用于获取总圆周图像数据的球面摄像机（8），与球面摄像机整体安装并用于获取周围环境的点云数据的激光扫描仪（6,7），用于 控制对球面摄像机和激光扫描仪的数据的获取，用于记录图像数据和点云数据的存储单元（12），绝对尺度获取装置，用于获取用于获得拍摄图像时的绝对位置的绝对刻度 通过球面照相机和控制运算单元（10），其中控制运算单元基于图像数据，点云数据和绝对位置来计算3D模型。

公开(公告)号：US20150220085A1

公开(公告)日：2015-08-06

申请号：US14590320

申请日：2015-01-06

Applicant: Kabushiki Kaisha TOPCON

Inventor： Fumio Ohtomo ,  Kaoru Kumagai ,  Kazuki Osaragi ,  Hitoshi Otani

IPC: G05D1/00 ,  G01S19/13

CPC classification number: G08G5/0073 ,  G01C15/002 ,  G01S19/13 ,  G05D1/0011 ,  G05D1/0094 ,  G08G5/0069

Abstract: The invention provides a measuring system comprising a remotely controllable flying vehicle system with a GPS device and a measuring device installed thereon, a position measuring device installed at an arbitrary position and able to measure distance and angle and to track, a ground base station for controlling a flight of a flying vehicle, a remote controller able to give and take data to and from the ground base station and able to perform wireless communication to and from the flying vehicle system, and a control unit provided on the flying vehicle system or the ground base station, wherein the flying vehicle system has a retro-reflector as an object to be measured and the position measuring device is constructed so as to track the retro-reflector and perform distance measurement and angle measurement, wherein the flying vehicle system obtains GPS coordinates by the GPS device at least at two points during flight, the position measuring device measures positions of the two points of the flying vehicle system from an installation point, wherein the position measuring device measures positions of the flying vehicle system at the two points from the installation points, and either one of the control units are configured so as to obtain an absolute coordinate or GPS coordinate of the installation point of the position measuring device based on the GPS coordinates of the two points and based on distance measurement results and on angle measurement results by the position measuring device.

Abstract translation: 本发明提供了一种测量系统，其包括具有GPS装置和安装在其上的测量装置的可遥控飞行系统，位置测量装置，其安装在任意位置并且能够测量距离和角度并且跟踪地面基站用于控制 飞行飞行器的飞行器，能够向地面基站馈送数据并能够从飞行系统执行无线通信的遥控器以及设置在飞行系统或地面上的控制单元 基站，其中所述飞行器系统具有作为待测对象的回射反射器，并且所述位置测量装置被构造成跟踪所述后向反射器并执行距离测量和角度测量，其中所述飞行器系统获得GPS坐标 由GPS装置至少在飞行中的两点处，位置测量装置测量两点的位置 来自安装点的飞行系统，其中所述位置测量装置测量所述飞行器系统在所述安装点的两点处的位置，并且所述控制单元中的任一个被配置为获得所述飞行系统的绝对坐标或GPS坐标 基于GPS坐标的位置测量装置的安装点，并根据距离测量结果和位置测量装置的角度测量结果。

公开(公告)号：US09073637B2

公开(公告)日：2015-07-07

申请号：US14297869

申请日：2014-06-06

Applicant: Kabushiki Kaisha TOPCON

Inventor： Fumio Ohtomo ,  Kaoru Kumagai ,  Kazuki Osaragi ,  Hitoshi Otani

IPC: B64C39/02 ,  G05D1/10

CPC classification number: B64C39/024 ,  G05D1/101

Abstract: A flying vehicle guiding system comprises a remotely controllable flying vehicle system, a surveying instrument able to measure distance, angle, and track, and a ground base station for controlling a flight of the flying vehicle system based on measuring results by the surveying instrument. The flying vehicle system has a retro-reflector. The surveying instrument has a non-prism surveying function for performing distance measurement and angle measurement without a retro-reflector, a prism surveying function for performing distance measurement and angle measurement with respect to the retro-reflector, and a tracking function for tracking the retro-reflector and for performing distance measurement and angle measurement. The surveying instrument performs non-prism measurement on a scheduled flight area. The ground base station sets a safe flight area based on the results of the non-prism measurement, and controls so that the flying vehicle system flies in the safe flight area based on the results of tracking measurement.

Abstract translation: 飞行导向系统包括遥控飞行系统，能够测量距离，角度和轨道的测量仪器，以及基于测量仪器的测量结果控制飞行系统飞行的地面基站。 飞行器系统具有回射器。 测量仪器具有非棱镜测量功能，用于进行距离测量和角度测量，无需后向反射器，棱镜测量功能用于对后向反射器执行距离测量和角度测量，以及跟踪功能，用于跟踪复古 - 反射器，用于进行距离测量和角度测量。 测量仪器在预定的飞行区域进行非棱镜测量。 地面基站根据非棱镜测量结果设置安全飞行区域，并根据跟踪测量结果进行控制，使飞行器系统飞行在安全飞行区域。

公开(公告)号：US08953933B2

公开(公告)日：2015-02-10

申请号：US14059784

申请日：2013-10-22

Applicant: Kabushiki Kaisha TOPCON

Inventor： Fumio Ohtomo ,  Hitoshi Otani ,  Kazuki Osaragi ,  Tetsuji Anai

IPC: G03B39/00 ,  G01C11/00 ,  G01C11/02

CPC classification number: G01C11/00 ,  A01B79/005 ,  B64C2201/027 ,  B64C2201/123 ,  B64C2201/127 ,  G01C11/025 ,  G05D1/0094 ,  G05D1/104

Abstract: Aerial photogrammetry is provided by using two or more flying vehicles, each equipped with a GPS device and an image pickup unit. This method comprises setting up two or more photographing points and setting up a photographing point area, respectively, with each of the photographing points as the center, measuring a position of the flying vehicle by the GPS device, a step where each of the flying vehicle reaches each corresponding photographing point area and maintains the position of the photographing point area, acquiring a time when the flying vehicle finally reaches the photographing point area, setting up a shutter timing time after a predetermined time from the moment when the flying vehicle has finally reached the photographing point area, and taking aerial photographs by the two or more flying vehicles at the shutter timing time.

Abstract translation: 通过使用两个或更多个飞行器，每个配备有GPS装置和图像拾取单元来提供空中摄影测量。 该方法包括以每个拍摄点为中心分别设置两个或更多个拍摄点和设置拍摄点区域，通过GPS装置测量飞行器的位置，其中每个飞行器 到达每个对应的拍摄点区域并保持拍摄点区域的位置，获取飞行时间最终到达拍摄点区域的时间，在从飞行器最终到达之后的预定时间之后设置快门定时时间 拍摄点区域，并且在快门定时时间由两个或更多个飞行车辆拍摄空中照片。

公开(公告)号：US20140253689A1

公开(公告)日：2014-09-11

申请号：US14190688

申请日：2014-02-26

Applicant: Kabushiki Kaisha TOPCON

Inventor： Kaoru Kumagai ,  Hitoshi Otani ,  Naoto Kasori ,  You Sasaki ,  Jun Sasagawa ,  Nobuyuki Fukaya

IPC: H04N13/02

CPC classification number: H04N13/275 ,  G01C3/00 ,  G01C11/06

Abstract: A measuring instrument comprises an spherical camera (8) for acquiring image data over total circumference, a laser scanner (6, 7) installed integrally with the spherical camera and for acquiring point cloud data of the surroundings, a synchronous control unit (9) for controlling acquisition of data of the spherical camera and the laser scanner, a storage unit (12) for recording the image data and the point cloud data, an absolute scale acquiring means for acquiring an absolute scale for obtaining an absolute position of when images are photographed by the spherical camera, and a control arithmetic unit (10), wherein the control arithmetic unit calculates a 3D model based on the image data, the point cloud data, and the absolute position.

Abstract translation: 一种测量仪器，包括用于获取总圆周图像数据的球面摄像机（8），与球面摄像机整体安装并用于获取周围环境的点云数据的激光扫描仪（6,7），用于 控制对球面摄像机和激光扫描仪的数据的获取，用于记录图像数据和点云数据的存储单元（12），绝对尺度获取装置，用于获取用于获得拍摄图像时的绝对位置的绝对刻度 通过球面照相机和控制运算单元（10），其中控制运算单元基于图像数据，点云数据和绝对位置来计算3D模型。

公开(公告)号：US20140232858A1

公开(公告)日：2014-08-21

申请号：US14347389

申请日：2012-09-20

Applicant: Kabushiki Kaisha TOPCON

Inventor： Fumio Ohtomo ,  Hitoshi Otani ,  Masayuki Momiuchi ,  Kazuki Osaragi

IPC: G01N21/25 ,  H04N5/33

CPC classification number: G01N21/255 ,  G01J3/0229 ,  G01J3/2823 ,  G01J3/32 ,  G01J2003/1226 ,  G01J2003/1243 ,  G01J2003/2826 ,  G02B5/20 ,  G02B26/08 ,  H04N5/332 ,  H04N9/045 ,  H04N13/221 ,  H04N2209/043

Abstract: An image pickup device, which comprises an optical characteristics changing unit (15), an optical system (45) containing an objective lens (47) and for leading a light from the objective lens to the optical characteristics changing unit, and an image pickup element (52) for receiving a light via the optical characteristics changing unit, wherein the optical characteristics changing unit has two or more dividing units, and has a configuration where one of the dividing units is selectively disposed along an optical path, and the dividing unit has a first region to select a specific wavelength from the light coming from the optical system and a second region where optical characteristics of the light from the optical system are not changed.

Abstract translation: 一种图像拾取装置，包括光学特性改变单元（15），包含物镜（47）并将来自物镜的光引导到光学特性改变单元的光学系统（45）和图像拾取元件 （52），用于经由所述光学特性改变单元接收光，其中所述光学特性改变单元具有两个或更多个分割单元，并且具有沿着光路选择性地布置所述分割单元中的一个的构造，并且所述分割单元具有 从来自光学系统的光中选择特定波长的第一区域和来自光学系统的光的光学特性不改变的第二区域。

公开(公告)号：US20130181983A1

公开(公告)日：2013-07-18

申请号：US13724916

申请日：2012-12-21

Applicant: Kabushiki Kaisha Topcon

Inventor： Kazuo Kitamura ,  Nobuo Kochi ,  Tadayuki Ito ,  Hitoshi Otani

IPC: G06T15/00

CPC classification number: G06T15/00 ,  G01B11/24 ,  G06F17/50 ,  G06T17/00 ,  G06T17/10 ,  G06T2210/56

Abstract: A point cloud data processing device is equipped with a non-plane area removing unit 101, a plane labeling unit 102, and a contour calculating unit 106. The non-plane area removing unit 101 removes point cloud data relating to non-plane areas from point cloud data because the non-plane areas apply a high load in calculation. In the point cloud data, a two-dimensional image of an object is linked with data of three-dimensional coordinates of plural points that form the two-dimensional image. The plane labeling unit 102 adds labels for identifying planes with respect to the point cloud data in which the data of the non-plane areas are removed. The contour calculating unit 106 calculates a contour of the object by using local flat planes based on a local area that is connected with the labeled plane.

Abstract translation: 点云数据处理装置配备有非平面区域去除单元101，平面标注单元102和轮廓计算单元106.非平面区域去除单元101从与非平面区域相关的非平面区域 点云数据，因为非平面区域在计算中应用高负载。 在点云数据中，对象的二维图像与形成二维图像的多个点的三维坐标的数据相关联。 平面标注单元102相对于去除非平面区域的数据的点云数据添加用于识别平面的标签。 轮廓计算单元106通过使用基于与标记平面连接的局部区域的局部平面来计算对象的轮廓。