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1. 发明授权

US09224242B2 Automated three dimensional mapping method 有权
标题翻译：自动三维映射方法
公开(公告)号：US09224242B2
公开(公告)日：2015-12-29
申请号：US13575454
申请日：2010-01-26
申请人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
发明人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
IPC分类号： H04N13/02 , G06T17/05 , G06T7/00
CPC分类号： G06T7/579 , G06T17/05 , G06T2207/10032
摘要： An automated three dimensional mapping method estimating three dimensional models taking advantage of a plurality of images. Positions and attitudes for at least one camera are 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 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 to form a 3D model. The stereo disparity estimates are reweighted automatically and adaptively based on the estimated 3D model.
摘要翻译：一种利用多个图像估计三维模型的自动三维映射方法。拍摄图像时，会记录至少一台相机的位置和态度。至少一个相机被几何校准以指示图像的每个像素的方向。对于覆盖相同场景位置的多个图像对，为每个立体视差设置差异和确定度量估计，计算立体视差。不同的立体视差估计被加权在一起以形成3D模型。基于估计的3D模型自动重新加权立体视差估计。

2. 发明申请

US20130027519A1 AUTOMATED THREE DIMENSIONAL MAPPING METHOD 有权
标题翻译：自动三维映射方法
公开(公告)号：US20130027519A1
公开(公告)日：2013-01-31
申请号：US13575454
申请日：2010-01-26
申请人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
发明人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
IPC分类号： H04N13/02
CPC分类号： G06T7/579 , G06T17/05 , G06T2207/10032
摘要： An automated three dimensional mapping method estimating three dimensional models taking advantage of a plurality of images. Positions and attitudes for at least one camera are 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 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 to form a 3D model. The stereo disparity estimates are reweighted automatically and adaptively based on the estimated 3D model.
摘要翻译：一种利用多个图像估计三维模型的自动三维映射方法。拍摄图像时，会记录至少一台相机的位置和态度。至少一个相机被几何校准以指示图像的每个像素的方向。对于覆盖相同场景位置的多个图像对，为每个立体视差设置差异和确定度量估计，计算立体视差。不同的立体视差估计被加权在一起以形成3D模型。基于估计的3D模型自动重新加权立体视差估计。

3. 发明申请

US20130041637A1 THREE DIMENSIONAL MODEL METHOD BASED ON COMBINATION OF GROUND BASED IMAGES AND IMAGES TAKEN FROM ABOVE 有权
标题翻译：基于地面图像和上述图像的组合的三维模型方法
公开(公告)号：US20130041637A1
公开(公告)日：2013-02-14
申请号：US13575372
申请日：2010-01-26
申请人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
发明人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
IPC分类号： G06F17/10
CPC分类号： G01C11/06 , G06T17/05
摘要： A three dimensional model method based on combination of ground based images and images taken from above. An existing 3D model based on images taken from above is matched with images taken from ground level. All images including information about position and attitudes of the camera when the images from ground level and the images 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.
摘要翻译：基于地面图像和从上图拍摄的图像的组合的三维模型方法。基于从上面拍摄的图像的现有3D模型与从地平面拍摄的图像相匹配。所有图像包括关于来自地面的图像和从上方拍摄的图像的照相机的位置和态度的信息以及每个像素的方向。该方法提供自动执行成像解决或至少减轻遮挡问题。

4. 发明授权

US08885924B2 Three dimensional model method based on combination of ground based images and images taken from above 有权
标题翻译：基于地面图像和上述图像的组合的三维模型方法
公开(公告)号：US08885924B2
公开(公告)日：2014-11-11
申请号：US13575372
申请日：2010-01-26
申请人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
发明人： Leif Haglund , Johan Borg , Ingemar Andersson , Folke Isaksson
IPC分类号： G06T17/00 , G01C11/06 , G06T17/05
CPC分类号： G01C11/06 , G06T17/05
摘要： A three dimensional model method based on combination of ground based images and images taken from above. An existing 3D model based on images taken from above is matched with images taken from ground level. All images including information about position and attitudes of the camera when the images from ground level and the images 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.
摘要翻译：基于地面图像和从上图拍摄的图像的组合的三维模型方法。基于从上面拍摄的图像的现有3D模型与从地平面拍摄的图像相匹配。所有图像包括关于来自地面的图像和从上方拍摄的图像的照相机的位置和态度的信息以及每个像素的方向。该方法提供自动执行成像解决或至少减轻遮挡问题。

5. 发明授权

US09792701B2 Method and system for determining a relation between a first scene and a second scene 有权
公开(公告)号：US09792701B2
公开(公告)日：2017-10-17
申请号：US14355144
申请日：2011-11-08
申请人： Michael Olofsson , Folke Isaksson , Magnus Brege , Ingmar Andersson , Per Carlbom , Johan Borg , Leif Haglund , Fredrik Rosenqvist
发明人： Michael Olofsson , Folke Isaksson , Magnus Brege , Ingmar Andersson , Per Carlbom , Johan Borg , Leif Haglund , Fredrik Rosenqvist
IPC分类号： G06T17/05 , G06K9/00 , G06T3/00 , G01C11/06 , G06T7/73 , G06T7/33
CPC分类号： G06T7/75 , G01C11/06 , G06K9/00208 , G06K9/00624 , G06T3/0068 , G06T7/337 , G06T17/05 , G06T2207/10032 , G06T2207/30181 , G06T2207/30244
摘要： 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.

6. 发明申请

US20120182399A1 METHOD AND AN ARRANGEMENT FOR ESTIMATING 3D MODELS IN A STREET ENVIRONMENT 审中-公开
标题翻译：用于估计街道环境中3D模型的方法和方案
公开(公告)号：US20120182399A1
公开(公告)日：2012-07-19
申请号：US13381840
申请日：2009-06-30
申请人： Ingmar Andersson , Folke Isaksson , Leif Haglund , Johan Borg , Johan Bejeryd
发明人： Ingmar Andersson , Folke Isaksson , Leif Haglund , Johan Borg , Johan Bejeryd
IPC分类号： H04N13/02
CPC分类号： H04N13/239 , H04N13/221 , H04N2213/001
摘要： 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.
摘要翻译：一种用于使用立体声传感器技术估计街道环境中的3D模型的方法和装置。至少一对传感器成对布置并安装在支架上。每对传感器位于公共平面内。每对的传感器基于对比度信息来定位，使得避免了在图像平面中的低水平的对比度。传感器对相对于支架的基本水平的平面相互定位，使得传感器对的传感器水平定位在彼此一定距离处，并且一个传感器位于支架的水平面之上，另一个位于水平面。

7. 发明申请

US20150078652A1 METHOD AND SYSTEM FOR DETERMINING A RELATION BETWEEN A FIRST SCENE AND A SECOND SCENE 有权
标题翻译：用于确定第一场景和第二场景之间的关系的方法和系统
公开(公告)号：US20150078652A1
公开(公告)日：2015-03-19
申请号：US14355144
申请日：2011-11-08
申请人： Michael Olofsson , Folke Isaksson , Magnus Brege , Ingmar Andersson , Per Carlbom , Johan Borg , Leif Haglund , Fredrik Rosenqvist
发明人： Michael Olofsson , Folke Isaksson , Magnus Brege , Ingmar Andersson , Per Carlbom , Johan Borg , Leif Haglund , Fredrik Rosenqvist
IPC分类号： G06T7/00
CPC分类号： G06T7/75 , G01C11/06 , G06K9/00208 , G06K9/00624 , G06T3/0068 , G06T7/337 , G06T17/05 , G06T2207/10032 , G06T2207/30181 , G06T2207/30244
摘要： 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.
摘要翻译：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。

8. 发明授权

US10187589B2 System and method for mixing a scene with a virtual scenario 有权
公开(公告)号：US10187589B2
公开(公告)日：2019-01-22
申请号：US13140973
申请日：2008-12-19
申请人： Måns Hagström , Ulf Erlandsson , Johan Borg , Folke Isaksson , Ingmar Andersson , Adam Tengblad
发明人： Måns Hagström , Ulf Erlandsson , Johan Borg , Folke Isaksson , Ingmar Andersson , Adam Tengblad
IPC分类号： H04N5/265 , G06T19/00 , G09B9/00 , H04N5/222 , H04N5/232 , H04N13/275 , H04N13/183 , H04N13/239
摘要： A system and method for mixing a scene with a virtual scenario. An image capturing unit is arranged to capture at least one image so as to cover the scene from a first viewpoint. An image representation generation unit is arranged to generate at least one image representation based on the captured image. A game engine unit is arranged to generate a virtual scenario. An image processing unit is arranged to adapt the at least one image representation based on the generated virtual scenario so as to provide a virtual video sequence.

9. 发明申请

US20120115598A1 SYSTEM AND METHOD FOR MIXING A SCENE WITH A VIRTUAL SCENARIO 审中-公开
标题翻译：混合场景与虚拟场景的系统和方法
公开(公告)号：US20120115598A1
公开(公告)日：2012-05-10
申请号：US13140973
申请日：2008-12-19
申请人： Måns Hagström , Ulf Erlandsson , Johan Borg , Folke Isaksson , Ingmar Andersson , Adam Tengblad
发明人： Måns Hagström , Ulf Erlandsson , Johan Borg , Folke Isaksson , Ingmar Andersson , Adam Tengblad
IPC分类号： A63F13/00
CPC分类号： 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
摘要： A system and method for mixing a scene with a virtual scenario. An image capturing unit is arranged to capture at least one image so as to cover the scene from a first viewpoint. An image representation generation unit is arranged to generate at least one image representation based on the captured image. A game engine unit is arranged to generate a virtual scenario. An image processing unit is arranged to adapt the at least one image representation based on the generated virtual scenario so as to provide a virtual video sequence.
摘要翻译：用于将场景与虚拟场景混合的系统和方法。图像拍摄单元被布置成捕获至少一个图像，以便从第一视点覆盖场景。图像表示生成单元布置成基于所捕获的图像生成至少一个图像表示。游戏引擎单元被安排成产生虚拟场景。图像处理单元被布置为基于所生成的虚拟场景来适配所述至少一个图像表示，以便提供虚拟视频序列。

10. 发明申请

US20070296815A1 Image-Based Movement Tracking 审中-公开
标题翻译：基于图像的运动跟踪
公开(公告)号：US20070296815A1
公开(公告)日：2007-12-27
申请号：US11667706
申请日：2005-10-31
申请人： Folke Isaksson , Johan Borg
发明人： Folke Isaksson , Johan Borg
IPC分类号： H04N9/47
CPC分类号： H04N7/18 , G06T7/20 , G06T2207/10021 , G06T2207/30221
摘要： Image-based movement tracking of a number of objects in a particular area. A number of image registration units repeatedly record data pertaining to multiple simultaneous representations of events occurring within the area. At least one stereo-pair of cameras repeatedly record stereo-image data based upon which a data processing unit repeatedly determines a respective position for each of the objects. A first camera and a second camera in the stereo-pair are separated by a base distance. Moreover, the cameras are essentially parallel and directed towards the area, such that a first image plane of the first camera registers a portion of the area, which substantially overlaps a portion of the area registered by a second image plane of the second camera.
摘要翻译：基于图像的运动跟踪特定区域中的多个对象。多个图像配准单元重复地记录关于在该区域内发生的事件的多个同时表示的数据。至少一个立体声对的相机重复地记录立体图像数据，基于该立体图像数据，数据处理单元重复地确定每个对象的相应位置。立体声对中的第一台相机和第二台相机以基座距离分开。此外，相机基本上平行并指向该区域，使得第一相机的第一图像平面注册该区域的一部分，该区域与由第二相机的第二图像平面注册的区域的一部分基本重叠。

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