37 results about "Stereo photogrammetry" patented technology

A method and apparatus for interactive TV camera based games in which position or orientation of points on a player or of an object held by a player are determined and used to control a video display. Both single camera and stereo camera pair based embodiments are disclosed, preferably using stereo photogrammetry where multi-degree of freedom information is desired. Large video displays, preferably life-size may be used where utmost realism of the game experience is desired.

A calibration cage for use in Roentgen Stereophotogrammetric Analysis (RSA), comprising a biplanar configuration of two compartments, each with a fiducial plate at the bottom and a control plate at the top and parallel thereto, the fiducial and control plates of one compartment being oriented at approximately 90° to fiducial and control plates of the other compartment such that a region of interest is positioned on one side of the fiducial and control plates of both compartments.

Methods and systems are described herein for high-speed observation and recognition of an object which is within or passes through a designated area using 3D image data and tomography, stereo-photogrammetry, range finding and / or structured illumination. Such a security system may comprise multiple pairs of 3D sensors surrounding the designated area such as a portal or doorway. Alternatively, it may comprise a 3D sensor which is capable of acquiring 3D image data of an object that is situated in front of it. Using at least one 3D sensor and a 3D data collection technique such as structured illumination and / or stereo-photogrammetry, 3D image data of the object is acquired. 3D image data representing the object's surface may be determined based on the acquired data and may be compared to data representing known objects to identify the object. Methods for fast processing of 3D data and recognition of objects are also described.

The present invention provides three-dimensional, topographic data (x,y,z) for a golf course navigation device. In an embodiment of the invention, three data sets are acquired for each golf hole: (1) geospatial digital image data, (2) geospatial terrain data including elevation and topographic measurements, and (3) object data pertaining to trees, bushes, water hazards, buildings, and any other objects present. Each hole is mapped using high resolution airborne photogrammetry and in some cases, light detection and ranging acquisition sensors. Geospatial, three-dimensional terrain data is acquired using a photogrammetry and / or stereo photogrammetry compilation. Object data is acquired from measurements taken from ground level. From all of this acquired data, a three-dimensional (x,y,z) geospatial model is built and then integrated into 3-D gaming, visualization and web mapping environments such as Microsoft Bing Maps, Google Earth, and various mobile and golf cart mounted, golf course navigation systems.

Methods and systems are described herein for high-speed observation and recognition of objects or persons within a controlled area using 3D image data and tomography, stereo-photogrammetry, range finding and / or structured illumination. A wide area security system may comprise multiple pairs of 3D sensors surrounding a controlled area. Using at least two pairs of 3D sensors and a first 3D data collection technique such as tomography, a zone of interest within the controlled area is detected. Using at least one pair of 3D sensors and a second 3D data collection technique such as structured illumination, more 3D image data related to an object of interest is collected. The 3D image data may be compared to data representing known objects and used to identify an object of interest. Methods for fast processing of 3D data and recognition of objects of interest are also described.

The present disclosure is directed towards determining, at sea, the respective weights of fish species that are part of a fish catch. By way of the present disclosure, images of a fish catch are taken using triangulation techniques involving stereo-photogrammetry. According to one embodiment, a method for estimating a total weight of a fish catch includes receiving a fish catch on a fishing vessel and capturing images of the fish catch. From the images, fishes are identified and the species to which the corresponding fishes belong are also identified. Using the images, lengths of the identified fishes as well as the total volume occupied by the fish catch are determined, which can be used to estimate the total weight of the fish catch.

The invention discloses a multi-camera stereoscopic shooting based pavement damage crack detection system and method. The system comprises a test system and an image processing module. The test system includes cameras, camera supports and test mark cards. Two cameras are mounted on a camera support at certain angle to shoot the pavement. Through system calibration, an object image mathematical relationship can be obtained. By means of image pretreatment, cracked image treatment, image threshold segmentation and image feature extraction, the crack length can finally be calculated. The system and method provided by the invention are mainly used for road crack detection and study on detection and recognition of cracks, a new idea is put forward for exploratory study, and certain foundation for further study of the pavement crack automatic detection technology is laid. With the characteristics of small investment, fast detection speed and high precision, the stereophotogrammetry based pavement damage crack automatic detection system provided by the invention can realize simple, rapid and high precision pavement crack detection.

The invention discloses a power transmission line crossing measuring system based on stereo photogrammetry measurement. The system comprises a camera control module, a verification module and a data processing module, wherein the camera control module is used for controlling synchronous image shooting of two stereo cameras in a binocular system and guiding shot images to a set catalog; the verification module is used for completing the measurement of a target and the verification of the binocular system and storing parameters obtained through verification into a file; the data processing module is used for measuring the distance between shot power transmission lines or between the power transmission lines and other crossed objects. The measurement accuracy reaches 1 / 1000 when the measured range of the system disclosed by the invention reaches 50-100 meters; the system can realize full-automatic and semi-automatic selection of homonymy points, and the points can be accurately positioned; the system can automatically calculate the distances among different points and the minimum distances between the points and the power transmission lines as well as between the power transmission lines, so that the workload of operators is reduced.

The invention relates to a portable four-camera three-dimensional photographic measurement system and method. According to the system, four cameras can synchronously shoot images, and equipment parameters which are set in advance can be kept; a three-dimensional image can be measured automatically on a computer, so that physical geometric information such as positions, sizes and shapes of objectsand scenes and physical property information such as the materials and textures of the objects can be obtained; and on the basis of the information, a three-dimensional model can be automatically constructed or the volume, the area and the like of a three-dimensional object can be analyzed. The system is portable and can be carried and operated by a user conveniently, and can be flexibly applied to measurement and three-dimensional reconstruction of a plurality of scenes.

The invention is directed to a stereophotogrammetric system and method for generating 3D images. A stereophotogrammetric unit, having a plurality of cameras, is structured to capture a set of images of an object at different angles. A controller is communicably connected to the stereophotogrammetric unit, and is configured to facilitate the simultaneous triggering of the plurality of cameras through a synchronized trigger signal, such that the cameras will capture respective images of the object at the same time. A processing module is configured to generate 3D image from the set of images captured. The controller may further be configured to facilitate the sequential triggering of a plurality of stereophotogrammetric units, such that the object in motion may be captured at increased frames per second. The processing module may further be configured to link together the plurality of 3D images in sequence to then create a 4D image.

The application relates to a surgical robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and / or other objects to be tracked include active and / or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, areable to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.

The invention relates to a surgical robot system that may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and / or other objects to be tracked include active and / or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.

The present invention provides three-dimensional, topographic data (x,y,z) for a golf course navigation device. In an embodiment of the invention, three data sets are acquired for each golf hole: (1) geospatial digital image data, (2) geospatial terrain data including elevation and topographic measurements, and (3) object data pertaining to trees, bushes, water hazards, buildings, and any other objects present. Each hole is mapped using high resolution airborne photogrammetry and in some cases, light detection and ranging acquisition sensors. Geospatial, three-dimensional terrain data is acquired using a photogrammetry and / or stereo photogrammetry compilation. Object data is acquired from measurements taken from ground level. From all of this acquired data, a three-dimensional (x,y,z) geospatial model is built and then integrated into 3-D gaming, visualization and web mapping environments such as Microsoft Bing Maps, Google Earth, and various mobile and golf cart mounted, golf course navigation systems.

The present invention relates to a surgical robotic system that may include a robot having a robotic base, a robotic arm coupled to the robotic base, and an end effector coupled to the robotic arm. The end effectors, surgical instruments, patients and / or other objects to be tracked include active and / or passive tracking markers. A camera, such as a stereo photogrammetric infrared camera, can detect the tracking markers, and the robot determines the three-dimensional position of the object from the tracking markers.

The present disclosure is directed towards determining, at sea, the respective weights of fish species that are part of a fish catch. By way of the present disclosure, images of a fish catch are taken using triangulation techniques involving stereo-photogrammetry. According to one embodiment, a method for estimating a total weight of a fish catch includes receiving a fish catch on a fishing vessel and capturing images of the fish catch. From the images, fishes are identified and the species to which the corresponding fishes belong are also identified. Using the images, lengths of the identified fishes as well as the total volume occupied by the fish catch are determined, which can be used to estimate the total weight of the fish catch.

The present invention relates to a stereophotogrammetric survey-based method for obtaining the morphological parameters of a maize plant. The method comprises the steps of (1) forming a rectangular marking ruler by adopting 4-bit typical gray codes, with 1cm as the width of a code element, 1cm as the spacing between adjacent code elements and 2cm as the width of a reference code; (2) in the maize growing season, standing the rectangular marking ruler upright besides a to-be-measured maize plant, photographing by a binocular camera, and obtaining the three-dimensional counterpart of the maize plant with the above rectangular marking ruler as a reference; (3) according to the three-dimensional counterpart, calculating the morphological parameters of the maize plant through referring to the reading data of the rectangular marking ruler. According to the technical scheme of the invention, the maize plant is stereoscopically photographed by the conventional binocular camera, so that the morphological parameters of the maize plant can be obtained. Therefore, the field data acquisition speed and the indoor data processing speed are comprehensively improved. Meanwhile, the measuring and calculating precision and the measuring and calculating efficiency for the form factors of the maize plant are effectively improved.

The invention relates to a distributed-analysis-based high-speed video measuring method of a multi-layer-frame anti-seismic experiment. The method comprises: step one, constructing a distributed stereo photogrammetric network and acquiring a structure sequence image; step two, carrying out tracking matching on target points on a to-be-measured structural object by using the distributed stereo photogrammetric network based on a distributed parallel processing strategy, calculating a three-dimensional space coordinate of atarget point sequence image by overall adjustment based on a beam method,and then calculating a vibration parameter of a calculated target point to complete measurement. Compared with the prior art, the distributed-analysis-based high-speed video measuring method has advantages of reducing data processing time, and improving processing efficiency, and the like.

A stereophotogrammetry device intended to reduce the 3D surface reconstruction artifacts due to specular reflections when a unique camera body is used. Indeed, specular reflection of the camera flash on shiny objects are creating virtual objects in the scene inducing spikes in reconstruction. The device is constituted of a computing unit (C) enabling 3D reconstruction, a unique camera body (5) equipped with a non-polarized double-optics (OA) and (OB) and two light sources (2A) and (2B) separated by the same distance as the double-optics and aligned with these such that (2A) is aligned with (OA) and (2B) is aligned with (OB) relative to the subject (S). According to geometry considerations, the computing unit (C) is defining the best matching amongst four possible matches relative to the specular spot position.

The invention discloses a method for extracting stand structure parameters of artificial forest on the basis of aerial photogrammetric measurement point clouds. The method includes: filtering airbornelidar discrete point cloud data, interpolating to generate a digital terrain model and performing point cloud data normalization processing; extracting and matching true color image pair feature points, performing aerial triangulation to generate the aerial photogrammetric measurement point clouds, and subjecting the aerial photogrammetric measurement point clouds to normalization processing; extracting feature variables on the basis of the normalized aerial photogrammetrical measurement point clouds; respectively constructing a multivariate regression model to predict the structural featuresof each stand in combination with ground measured data and the extracted feature variables. The three-dimensional structural features of forest canopy can be acquired through high overlapping image data efficiently acquired by an unmanned aerial vehicle and by the aid of the three-dimensional point clouds extracted from image pairs with the stereophotogrammetry method, inversion precision of thestand structure parameters is helpfully improved, and problems about high forest coverage and structure parameter inversion 'saturation' of high stand of biomass are effectively solved.

The present invention provides a system for accurate three-dimensional (3D) capture of apparel by 3D scanning and stereo photogrammetry. One or more flexible deflated bladders are inserted into an apparel and inflated by a filling media source. The bladder is inflated to measure at least one of size of the apparel, tensile strength of the fabric of the apparel, or cross section perimeter of the apparel. A rotating structure is anchored onto the stable structure to uniformly rotate all the fixed points of the apparel. One or more 3D scanners are configured to scan the inflated apparel on the stable structure and export the scanned data to one or more software applications. The processor retrieves the 3D scanned dimensional data from a searchable database and compares the given apparel's dimensions with one or more apparels' dimensions in the database to provide the customer with size recommendation via a display.

The invention discloses a method for acquiring tree branch and trunk factors based on three-dimensional photographical measurement. A 3D digital camera is utilized to shoot and acquire three-dimensional photos of an individual tree, a plurality of cylinders are utilized to simulate tree branches and tree trunks in a subsection mode to restore the shapes of the tree branches and the tree trunks, and the tree branch and trunk factors of the root branch diameters, branch and trunk included angles and branch azimuth angles of a first-level branch, a second-level branch and a third-level branch are acquired. The method improves the efficiency and the accuracy for acquiring the tree branch and trunk factors and overcomes the defects that existing tree branch and trunk factors are difficult to measure and low in accuracy.

The device and method are intended for reconstructing in 3-Dimensions comprehensive representations of the head and torso of subject (S) with a portable stereophotogrammetry device which can operate at, at least, two predefined positions (A3, A4).The device is composed of a camera body (1), a double optics (2) and a measuring distance system (34) enabling the repositioning of subject (S) at position (A3) or (A4). The user can operate a switch (5) to select one of these at least two pre-defined positions. The method is further to process the stereo-pairs of the subject to reconstruct 3-Dimensional surfaces (400), match them (500) and then stitch them (600) in a comprehensive representation of the subject. By selecting a distance corresponding to a field of view of respectively approximately A4 dimension the device and method is enabling reconstructing the face and of approximately A3 dimension is enabling reconstructing the torso of subject (S).

The invention discloses a secondary forest structure parameter inversion method based on unmanned aerial vehicle stereo photogrammetry point cloud, and belongs to the fields of forest resource monitoring, ecological factor investigation, biodiversity research and the like. The method comprises the following steps: acquiring image data of a secondary forest by virtue of an unmanned aerial vehicle,and performing image matching and image splicing on the image data to obtain sparse point cloud; encrypting the sparse point cloud to obtain an encrypted point cloud; normalizing the encrypted point cloud by means of a digital terrain model obtained by a laser radar carried by the unmanned aerial vehicle, and obtaining normalized photogrammetric point cloud data; extracting point cloud characteristic variables from the normalized photogrammetric point cloud data; optimally selecting point cloud characteristic variables, establishing a multiple regression model by means of ground measured datato invert forest stand characteristics, and achieving high-quality inversion of forest structure parameters.

The invention relates to a surgical robot system. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end effector coupled to the robot arm. The end effector, surgical instrument, patient, and / or other object to be tracked contain active and / or passive tracking markers. A camera, such as a stereoscopic photogrammetric infrared camera, iscapable of detecting the tracking marker, and the robot determines a three-dimensional position of the object from the tracking marker.

The application relates to surgical robotic automation with tracking markers. Devices, systems, and methods for instrument verification or checking the accuracy of the registration of the instrument for use with surgical robot systems are disclosed. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and / or other objects to be tracked include active and / or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers. Instruments having relatively large tips may be used for verification of the instrument.

The invention discloses a method for extracting stand structure parameters of artificial forest on the basis of aerial photogrammetric measurement point clouds. The method includes: filtering airbornelidar discrete point cloud data, interpolating to generate a digital terrain model and performing point cloud data normalization processing; extracting and matching true color image pair feature points, performing aerial triangulation to generate the aerial photogrammetric measurement point clouds, and subjecting the aerial photogrammetric measurement point clouds to normalization processing; extracting feature variables on the basis of the normalized aerial photogrammetrical measurement point clouds; respectively constructing a multivariate regression model to predict the structural featuresof each stand in combination with ground measured data and the extracted feature variables. The three-dimensional structural features of forest canopy can be acquired through high overlapping image data efficiently acquired by an unmanned aerial vehicle and by the aid of the three-dimensional point clouds extracted from image pairs with the stereophotogrammetry method, inversion precision of thestand structure parameters is helpfully improved, and problems about high forest coverage and structure parameter inversion 'saturation' of high stand of biomass are effectively solved.

The invention provides devices, systems, and methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and / or other objects to be tracked include active and / or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the objectfrom the tracking markers.

The invention relates to a portable four-camera three-dimensional photographic measurement system and method. According to the system, four cameras can synchronously shoot images, and equipment parameters which are set in advance can be kept; a three-dimensional image can be measured automatically on a computer, so that physical geometric information such as positions, sizes and shapes of objectsand scenes and physical property information such as the materials and textures of the objects can be obtained; and on the basis of the information, a three-dimensional model can be automatically constructed or the volume, the area and the like of a three-dimensional object can be analyzed. The system is portable and can be carried and operated by a user conveniently, and can be flexibly applied to measurement and three-dimensional reconstruction of a plurality of scenes.

The invention is a stereophotogrammetry device intended to reduce the 3D surface reconstruction artefacts due to specular reflections when a unique camera body is used. Indeed, specular reflection of the camera flash on shiny objects are creating virtual objects in the scene inducing spikes in reconstruction. The device is constituted of a computing unit enabling 3D reconstruction, a unique camera body 5 equipped with a non-polarized double-optics OA and OB and two light sources 2A and 2B separated by the same distance as the double-optics and aligned with these such that 2A is aligned with OA and 2B is aligned with OB relative to the subject S. According to geometry considerations, the computing unit is defining the best matching amongst four possible matches relative to the specular spot position.