CN111742348B - 图像处理装置、飞行体及程序 - Google Patents

图像处理装置、飞行体及程序 Download PDF

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Publication number
CN111742348B
CN111742348B CN201980013537.2A CN201980013537A CN111742348B CN 111742348 B CN111742348 B CN 111742348B CN 201980013537 A CN201980013537 A CN 201980013537A CN 111742348 B CN111742348 B CN 111742348B
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image
height
camera
image processing
flying
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CN111742348A (zh
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田近明彦
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SoftBank Corp
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SoftBank Corp
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H04B7/18508—Communications with or from aircraft, i.e. aeronautical mobile service with satellite system used as relay, i.e. aeronautical mobile satellite service
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/77—Retouching; Inpainting; Scratch removal
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/174—Segmentation; Edge detection involving the use of two or more images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/22—Arrangements for acquiring, generating, sharing or displaying traffic information located on the ground
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/25—Transmission of traffic-related information between aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/26—Transmission of traffic-related information between aircraft and ground stations
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/723—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • G08G5/72—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic
    • G08G5/727—Arrangements for monitoring traffic-related situations or conditions for monitoring traffic from a ground station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/08—Detecting or categorising vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/10—Recognition assisted with metadata

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Astronomy & Astrophysics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Emergency Management (AREA)
  • Business, Economics & Management (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)
  • Alarm Systems (AREA)
  • Navigation (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN201980013537.2A 2018-02-20 2019-01-30 图像处理装置、飞行体及程序 Active CN111742348B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2018027905A JP6652979B2 (ja) 2018-02-20 2018-02-20 画像処理装置、飛行体及びプログラム
JP2018-027905 2018-02-20
PCT/JP2019/003219 WO2019163454A1 (ja) 2018-02-20 2019-01-30 画像処理装置、飛行体及びプログラム

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CN111742348A CN111742348A (zh) 2020-10-02
CN111742348B true CN111742348B (zh) 2022-02-15

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US (1) US11042740B2 (enExample)
EP (1) EP3757941B1 (enExample)
JP (1) JP6652979B2 (enExample)
KR (1) KR102266223B1 (enExample)
CN (1) CN111742348B (enExample)
CA (1) CA3091897C (enExample)
IL (1) IL276818B (enExample)
WO (1) WO2019163454A1 (enExample)

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EP3814864A1 (en) * 2018-07-24 2021-05-05 Tg-17, Llc Systems and methods for autonomous machine tracking and localization of mobile objects
US11532155B1 (en) 2019-07-09 2022-12-20 ACME Atronomatic, LLC Methods and devices for earth remote sensing using stereoscopic hyperspectral imaging in the visible (VIS) and infrared (IR) bands
GB2588893A (en) * 2019-10-23 2021-05-19 Airbus Operations Ltd Aerial vehicle detection
US20240078920A1 (en) * 2021-01-29 2024-03-07 Nec Corporation Air traffic control system, method of identifying flying object, computer readable medium, and flying object
KR102473353B1 (ko) * 2021-04-01 2022-12-06 주식회사 켐에쎈 드론을 이용한 전신주 새집 생성 방지 시스템 및 그 방법

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JPH11257931A (ja) * 1998-03-13 1999-09-24 Matsushita Electric Ind Co Ltd 物体認識装置
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CN205524962U (zh) * 2016-03-30 2016-08-31 深圳市高巨创新科技开发有限公司 一种组合式无人机
CN106444837A (zh) * 2016-10-17 2017-02-22 北京理工大学 一种无人机避障方法及系统
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JPH0969148A (ja) * 1995-08-31 1997-03-11 Tokyo Gas Co Ltd 地図データ作成方法
JPH11257931A (ja) * 1998-03-13 1999-09-24 Matsushita Electric Ind Co Ltd 物体認識装置
JP2000283753A (ja) * 1999-03-31 2000-10-13 Fuji Heavy Ind Ltd ステレオ画像による測距装置
JP2001333416A (ja) * 2000-05-19 2001-11-30 Fujitsu General Ltd ネットワーク監視カメラシステム
CN102779347A (zh) * 2012-06-14 2012-11-14 清华大学 一种用于飞行器的目标跟踪与定位方法和装置
WO2017073310A1 (ja) * 2015-10-27 2017-05-04 三菱電機株式会社 構造物の形状測定用の画像撮影システム、構造物の形状測定に使用する構造物の画像を撮影する方法、機上制御装置、遠隔制御装置、プログラム、および記録媒体
CN205524962U (zh) * 2016-03-30 2016-08-31 深圳市高巨创新科技开发有限公司 一种组合式无人机
CN106598075A (zh) * 2016-07-21 2017-04-26 深圳曼塔智能科技有限公司 一种基于发光目标识别的无人机跟踪控制系统及方法
CN107439004A (zh) * 2016-08-11 2017-12-05 深圳市道通智能航空技术有限公司 一种跟踪和识别的方法、系统及飞行器
CN106444837A (zh) * 2016-10-17 2017-02-22 北京理工大学 一种无人机避障方法及系统
CN107016690A (zh) * 2017-03-06 2017-08-04 浙江大学 基于视觉的无人机入侵检测与识别系统及方法

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Publication number Publication date
IL276818A (en) 2020-10-29
JP6652979B2 (ja) 2020-02-26
KR102266223B1 (ko) 2021-06-18
EP3757941A4 (en) 2022-03-30
CA3091897C (en) 2021-03-09
WO2019163454A1 (ja) 2019-08-29
CA3091897A1 (en) 2019-08-29
IL276818B (en) 2021-04-29
EP3757941C0 (en) 2023-06-07
JP2019144804A (ja) 2019-08-29
US20200372238A1 (en) 2020-11-26
EP3757941A1 (en) 2020-12-30
KR20200115648A (ko) 2020-10-07
CN111742348A (zh) 2020-10-02
EP3757941B1 (en) 2023-06-07
US11042740B2 (en) 2021-06-22

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