JPWO2021044777A1 - - Google Patents

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Publication number
JPWO2021044777A1
JPWO2021044777A1 JP2021543660A JP2021543660A JPWO2021044777A1 JP WO2021044777 A1 JPWO2021044777 A1 JP WO2021044777A1 JP 2021543660 A JP2021543660 A JP 2021543660A JP 2021543660 A JP2021543660 A JP 2021543660A JP WO2021044777 A1 JPWO2021044777 A1 JP WO2021044777A1
Authority
JP
Japan
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2021543660A
Other versions
JP7313454B2 (ja
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed filed Critical
Publication of JPWO2021044777A1 publication Critical patent/JPWO2021044777A1/ja
Application granted granted Critical
Publication of JP7313454B2 publication Critical patent/JP7313454B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/203—Specially adapted for sailing ships
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G06T2207/20101—Interactive definition of point of interest, landmark or seed

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices By Optical Means (AREA)
JP2021543660A 2019-09-02 2020-07-31 相対位置計測装置、相対位置計測方法、および、相対位置計測プログラム Active JP7313454B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019159210 2019-09-02
JP2019159210 2019-09-02
PCT/JP2020/029457 WO2021044777A1 (ja) 2019-09-02 2020-07-31 相対位置計測装置、相対位置計測方法、および、相対位置計測プログラム

Publications (2)

Publication Number Publication Date
JPWO2021044777A1 true JPWO2021044777A1 (ja) 2021-03-11
JP7313454B2 JP7313454B2 (ja) 2023-07-24

Family

ID=74852541

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021543660A Active JP7313454B2 (ja) 2019-09-02 2020-07-31 相対位置計測装置、相対位置計測方法、および、相対位置計測プログラム

Country Status (4)

Country Link
EP (1) EP4027102A4 (ja)
JP (1) JP7313454B2 (ja)
CN (1) CN114222897A (ja)
WO (1) WO2021044777A1 (ja)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3690767A (en) * 1970-10-01 1972-09-12 Systron Donner Corp Optical tanker-docking system
JP2005180949A (ja) * 2003-12-16 2005-07-07 Tama Tlo Kk 船舶自動接岸システム
US7561886B1 (en) * 2006-01-06 2009-07-14 Brunswick Corporation Method for determining the position of a marine vessel relative to a fixed location
CN104590319A (zh) * 2014-06-11 2015-05-06 北京交通大学 异物侵入检测装置和异物侵入检测方法
JP2019132795A (ja) * 2018-02-02 2019-08-08 マクセル株式会社 距離算出装置および距離算出方法
JP2019139084A (ja) * 2018-02-13 2019-08-22 京セラドキュメントソリューションズ株式会社 画像形成装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7477360B2 (en) * 2005-02-11 2009-01-13 Deltasphere, Inc. Method and apparatus for displaying a 2D image data set combined with a 3D rangefinder data set
US7389735B2 (en) * 2005-09-15 2008-06-24 Yamaha Hatsudoki Kubushiki Kaisha Docking supporting apparatus, and marine vessel including the apparatus
DE102010020925B4 (de) * 2010-05-10 2014-02-27 Faro Technologies, Inc. Verfahren zum optischen Abtasten und Vermessen einer Umgebung
JP6194610B2 (ja) 2013-03-28 2017-09-13 富士通株式会社 移動距離推定装置、移動距離推定方法、及びプログラム
JP6880822B2 (ja) * 2017-02-24 2021-06-02 株式会社リコー 装置、移動体装置及び方法
JP6969047B2 (ja) * 2018-03-20 2021-11-24 三井Ｅ＆Ｓ造船株式会社 船舶の自動操船システム
EP3805089B1 (en) * 2018-05-29 2023-04-19 Yamaha Hatsudoki Kabushiki Kaisha Ship docking assisting apparatus and ship docking assisting method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3690767A (en) * 1970-10-01 1972-09-12 Systron Donner Corp Optical tanker-docking system
JP2005180949A (ja) * 2003-12-16 2005-07-07 Tama Tlo Kk 船舶自動接岸システム
US7561886B1 (en) * 2006-01-06 2009-07-14 Brunswick Corporation Method for determining the position of a marine vessel relative to a fixed location
CN104590319A (zh) * 2014-06-11 2015-05-06 北京交通大学 异物侵入检测装置和异物侵入检测方法
JP2019132795A (ja) * 2018-02-02 2019-08-08 マクセル株式会社 距離算出装置および距離算出方法
JP2019139084A (ja) * 2018-02-13 2019-08-22 京セラドキュメントソリューションズ株式会社 画像形成装置

Also Published As

Publication number Publication date
CN114222897A (zh) 2022-03-22
JP7313454B2 (ja) 2023-07-24
WO2021044777A1 (ja) 2021-03-11
EP4027102A4 (en) 2024-01-03
EP4027102A1 (en) 2022-07-13

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