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1.发明授权公开(公告)号：US09053547B2
公开(公告)日：2015-06-09
申请号：US14051096
申请日：2013-10-10
Applicant: Kabushiki Kaisha Topcon
Inventor： Kazuo Kitamura , Nobuo Kochi , Tadayuki Ito , Hitoshi Otani
CPC classification number: G01B11/24 , G06T7/344 , G06T2207/10028 , G06T2207/30184
Abstract: A technique is provided for efficiently process three-dimensional point cloud position data that are obtained at different viewpoints. A projecting plane is set in a measurement space as a parameter for characterizing a target plane contained in plural planes that form an object. The target plane and other planes are projected on the projecting plane. Then, a distance between each plane and the projecting plane is calculated at each grid point on the projecting plane, and the calculated matrix data is used as a range image that characterizes the target plane. The range image is also formed with respect to the other planes and with respect to planes that are viewed from another viewpoint. The range images of the two viewpoints are compared, and a pair of the planes having the smallest difference between the range images thereof is identified as matching planes between the two viewpoints.
Abstract translation: 提供了一种有效处理在不同视点获得的三维点云位置数据的技术。 投影平面被设置在测量空间中作为用于表征包含在形成对象的多个平面中的目标平面的参数。 目标平面和其他平面投影在投影平面上。 然后，在投影平面上的每个网格点处计算每个平面与投影平面之间的距离，并将所计算的矩阵数据用作表征目标平面的范围图像。 范围图像也是相对于其他平面形成的，并且相对于从另一角度观察的平面也形成。 将两个视点的范围图像进行比较，将其范围图像之间的差最小的一对平面识别为两个视点之间的匹配平面。
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2.发明申请公开(公告)号：US20160070981A1
公开(公告)日：2016-03-10
申请号：US14843298
申请日：2015-09-02
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You SASAKI , Tadayuki Ito
Abstract: A technique for efficiently calibrating a camera is provided. Reference laser scan data is obtained by scanning a building 131 by a laser scanner 115, which is fixed on a vehicle 100 and has known exterior orientation parameters, while the vehicle 100 travels. An image of the building 131 is photographed at a predetermined timing by an onboard camera 113. Reference point cloud position data, in which the reference laser scan data is described in a coordinate system defined on the vehicle 100 at the predetermined timing, is calculated based on the trajectory the vehicle 100 has traveled. Matching points are selected between feature points in the reference point cloud position data and in the image. Exterior orientation parameters of the camera 113 are calculated based on relative relationships between the reference point cloud position data and image coordinate values in the image of the matching points.
Abstract translation: 提供了一种有效校准相机的技术。 通过在车辆100行驶时通过固定在车辆100上并具有已知的外部取向参数的激光扫描器115扫描建筑物131来获得参考激光扫描数据。 通过车载照相机113在预定定时拍摄建筑物131的图像。基于在预定定时在车辆100上定义的坐标系中描述参考激光扫描数据的参考点云位置数据基于 在车辆100行驶的轨迹上。 在参考点云位置数据和图像中的特征点之间选择匹配点。 基于参考点云位置数据和匹配点的图像中的图像坐标值之间的相对关系来计算照相机113的外部取向参数。
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公开(公告)号：US09916659B2
公开(公告)日：2018-03-13
申请号：US14834633
申请日：2015-08-25
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You Sasaki , Tadayuki Ito
IPC: G06T7/00 , G01C11/02 , G06K9/00 , G06T3/40 , G06T7/20 , H04N5/235 , G01S19/49 , H04N5/247 , G06T7/80 , G06K9/62
CPC classification number: G06T7/80 , G01C11/02 , G01S19/49 , G06K9/0063 , G06K9/00637 , G06K9/6211 , G06T3/40 , G06T7/20 , G06T7/85 , G06T2207/10021 , G06T2207/30204 , G06T2207/30252 , H04N5/2356 , H04N5/247
Abstract: Exterior orientation parameters of a camera are easily determined by, for example, a reference image being obtained by photographing a building 131 with a camera 112, in which exterior orientation parameters are determined, while a vehicle 100 travels, and a comparative image being simultaneously obtained by photographing the building 131 with a camera 113, in which exterior orientation parameters are undetermined. Then, points that match between the reference image and the comparative image are selected, and relative orientation and scale adjustment using a predetermined scale are performed, whereby the exterior orientation parameters of the camera 113 are calculated.
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4.发明申请CAMERA CALIBRATION DEVICE, CAMERA CALIBRATION METHOD, AND CAMERA CALIBRATION PROGRAM 审中-公开相机校准设备，摄像机校准方法和摄像机校准程序公开(公告)号：US20160379365A1
公开(公告)日：2016-12-29
申请号：US15172935
申请日：2016-06-03
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You SASAKI , Tadayuki Ito
CPC classification number: G06T7/73 , G06T7/80 , G06T2207/30192 , G06T2207/30244 , G06T2207/30252
Abstract: A technique is disclosed for easily performing calibration of a camera by using a MMS. A calibration device for a camera that is configured to photograph the sun includes an in-image sun position identifying unit 115, a sun position estimating unit 113, and a camera attitude calculating unit 116. The in-image sun position identifying unit 115 identifies a position of the sun in an image that is photographed by the camera. The sun position estimating unit 113 estimates a position of the sun in the image based on orbital information of the sun. The camera attitude calculating unit 116 calculates attitude of the camera based on differences between identified positions and the estimated positions of the sun in the images.
Abstract translation: 公开了一种通过使用MMS轻松执行相机的校准的技术。 被配置为拍摄太阳的相机的校准装置包括图像内太阳位置识别单元115，太阳位置估计单元113和照相机姿态计算单元116.图像内太阳位置识别单元115识别 太阳在由相机拍摄的图像中的位置。 太阳位置估计单元113基于太阳的轨道信息来估计图像中的太阳的位置。 相机姿态计算单元116基于识别的位置与图像中的太阳的估计位置之间的差异来计算照相机的姿态。
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5.发明申请POINT CLOUD POSITION DATA PROCESSING DEVICE, POINT CLOUD POSITION DATA PROCESSING SYSTEM, POINT CLOUD POSITION DATA PROCESSING METHOD, AND PROGRAM THEREFOR 有权点云位置数据处理装置，点云位置数据处理系统，点云位置数据处理方法及其程序公开(公告)号：US20160063717A1
公开(公告)日：2016-03-03
申请号：US14834657
申请日：2015-08-25
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You Sasaki , Tadayuki Ito , Kazuhiro Ogawa
CPC classification number: G06T7/246 , G01S5/16 , G01S7/4808 , G01S7/497 , G01S7/4972 , G01S17/023 , G01S17/42 , G01S17/58 , G01S17/89 , G06T7/521 , G06T17/10 , G06T2207/10028 , G06T2210/56 , G06T2215/16
Abstract: A technique for performing calibration of a laser scanner efficiently is provided. Point cloud position data of a building 131 is obtained by a laser scanner 141 in which exterior orientation parameters are already known. On the other hand, the building 131 is scanned by a laser scanner 115 while a vehicle 100 travels, and point cloud position data of the building 131 measured by the laser scanner 115 is obtained based on a trajectory the vehicle 100 has traveled. Then, exterior orientation parameters of the laser scanner 115 are calculated based on a correspondence relationship between these two point cloud position data.
Abstract translation: 提供了一种有效执行激光扫描仪校准的技术。 通过激光扫描器141获得建筑物131的点云位置数据，其中外部取向参数已经是已知的。 另一方面，在车辆100行驶的同时，通过激光扫描器115扫描建筑物131，并且基于车辆100已经行进的轨迹获得由激光扫描器115测量的建筑物131的点云位置数据。 然后，基于这两个点云位置数据之间的对应关系来计算激光扫描器115的外部取向参数。
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Patent Agency Ranking
公开(公告)号：US20160063703A1
公开(公告)日：2016-03-03
申请号：US14834633
申请日：2015-08-25
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You SASAKI , Tadayuki Ito
CPC classification number: G06T7/80 , G01C11/02 , G01S19/49 , G06K9/0063 , G06K9/00637 , G06K9/6211 , G06T3/40 , G06T7/20 , G06T7/85 , G06T2207/10021 , G06T2207/30204 , G06T2207/30252 , H04N5/2356 , H04N5/247
Abstract: Exterior orientation parameters of a camera are easily determined by, for example, a reference image being obtained by photographing a building 131 with a camera 112, in which exterior orientation parameters are determined, while a vehicle 100 travels, and a comparative image being simultaneously obtained by photographing the building 131 with a camera 113, in which exterior orientation parameters are undetermined. Then, points that match between the reference image and the comparative image are selected, and relative orientation and scale adjustment using a predetermined scale are performed, whereby the exterior orientation parameters of the camera 113 are calculated.
Abstract translation: 照相机的外部取向参数可以容易地通过例如通过在车辆100行进时确定外部取向参数的摄像机112拍摄建筑物131而获得的参考图像，同时获得比较图像 通过用相机113拍摄建筑物131，其中外部取向参数是未确定的。 然后，选择在参考图像和比较图像之间匹配的点，并且执行使用预定比例的相对取向和尺度调整，由此计算照相机113的外部取向参数。
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7.发明授权Point cloud position data processing device, point cloud position data processing system, point cloud position data processing method, and point cloud position data processing program 有权点云位置数据处理装置，点云位置数据处理系统，点云位置数据处理方法和点云位置数据处理程序公开(公告)号：US09251624B2
公开(公告)日：2016-02-02
申请号：US13763336
申请日：2013-02-08
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： Tadayuki Ito , Nobuo Kochi , Hitoshi Otani , Kazuo Kitamura
CPC classification number: G01C15/002 , G06T17/00 , G06T17/10 , G06T2200/08 , G06T2200/24 , G06T2210/56
Abstract: The device includes a unit obtaining an object's point cloud position data, a unit obtaining the object's image data, a unit in which co-relationship between point cloud position data obtained in the point cloud position data obtaining unit through a primary viewpoint or image data obtained in the image data obtaining unit through the primary viewpoint and image data obtained in the image data obtaining unit through a secondary (different from the primary) viewpoint are identified, a unit forming a three-dimensional model by the data obtained in the point cloud position data obtaining unit, and a unit controlling displaying of the model formed in the model forming unit on a displaying device. The model forming unit forms a three-dimensional model having direction seen from the secondary viewpoint, depending on the co-relationship identified in the co-relationship identifying unit. Operators see the model seen from the secondary viewpoint as an image.
Abstract translation: 该装置包括获得对象的点云位置数据的单位，获取对象的图像数据的单位，其中通过主视点在点云位置数据获取单元中获得的点云位置数据与获得的图像数据之间的相互关系的单位 在图像数据获取单元中通过主视点识别图像数据，并且通过次要（与主要视点不同）在图像数据获得单元中获得的图像数据被识别，通过在点云位置获得的数据形成三维模型的单元 数据获取单元，以及控制在显示装置上在模型形成单元中形成的模型的显示的单元。 模型形成单元根据在共同关系识别单元中识别的共同关系形成具有从次要观点看到的方向的三维模型。 操作者将从次要观点看到的模型视为图像。
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8.发明申请公开(公告)号：US20160063704A1
公开(公告)日：2016-03-03
申请号：US14834553
申请日：2015-08-25
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You SASAKI , Tadayuki Ito
CPC classification number: H04N13/239 , G01C15/00 , G06T7/80 , G06T2207/10012 , G06T2207/30252 , H04N2013/0081
Abstract: The position and the attitude of a device or a member are determined. A camera 115, in which exterior orientation parameters are not determined, is photographed by a camera 113, in which exterior orientation parameters in an IMU coordinate system are determined. The camera 115 is rotatable around a shaft, in which the direction of the rotational shaft is preliminarily set, and a distance between the camera 113 and the camera 115 is known. In this condition, by analyzing the image of the camera 115 photographed by the camera 113, the exterior orientation parameters of the camera 115 are calculated.
Abstract translation: 确定设备或成员的位置和姿态。 其中未确定外部取向参数的相机115由照相机113拍摄，其中确定了IMU坐标系中的外部取向参数。 照相机115可以绕预定设置旋转轴的方向的轴旋转，并且照相机113和照相机115之间的距离是已知的。 在这种情况下，通过分析由相机113拍摄的相机115的图像，计算相机115的外部取向参数。
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公开(公告)号：US10509983B2
公开(公告)日：2019-12-17
申请号：US14843298
申请日：2015-09-02
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You Sasaki , Tadayuki Ito
IPC: G06K9/62 , G01S17/02 , G01S17/42 , G01S17/89 , G06K9/00 , G06K9/52 , G01S7/48 , G01S7/497 , B60R1/00 , G06T7/60 , H04N17/00 , G06T7/80
Abstract: A technique for efficiently calibrating a camera is provided. Reference laser scan data is obtained by scanning a building 131 by a laser scanner 115, which is fixed on a vehicle 100 and has known exterior orientation parameters, while the vehicle 100 travels. An image of the building 131 is photographed at a predetermined timing by an onboard camera 113. Reference point cloud position data, in which the reference laser scan data is described in a coordinate system defined on the vehicle 100 at the predetermined timing, is calculated based on the trajectory the vehicle 100 has traveled. Matching points are selected between feature points in the reference point cloud position data and in the image. Exterior orientation parameters of the camera 113 are calculated based on relative relationships between the reference point cloud position data and image coordinate values in the image of the matching points.
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公开(公告)号：US09659378B2
公开(公告)日：2017-05-23
申请号：US14834657
申请日：2015-08-25
Applicant: KABUSHIKI KAISHA TOPCON
Inventor： You Sasaki , Tadayuki Ito , Kazuhiro Ogawa
IPC: G06T7/00 , G01S17/02 , G01S17/42 , G01S17/89 , G01S7/48 , G01S7/497 , G01S17/58 , G06T17/10 , G01S5/16 , G06T7/521
CPC classification number: G06T7/246 , G01S5/16 , G01S7/4808 , G01S7/497 , G01S7/4972 , G01S17/023 , G01S17/42 , G01S17/58 , G01S17/89 , G06T7/521 , G06T17/10 , G06T2207/10028 , G06T2210/56 , G06T2215/16
Abstract: A technique for performing calibration of a laser scanner efficiently is provided. Point cloud position data of a building 131 is obtained by a laser scanner 141 in which exterior orientation parameters are already known. On the other hand, the building 131 is scanned by a laser scanner 115 while a vehicle 100 travels, and point cloud position data of the building 131 measured by the laser scanner 115 is obtained based on a trajectory the vehicle 100 has traveled. Then, exterior orientation parameters of the laser scanner 115 are calculated based on a correspondence relationship between these two point cloud position data.
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