JP2016537613A - 3次元グレイスケール走査画像に重畳されるカラーカメラ画像の改良されたダイナミックレンジ - Google Patents
3次元グレイスケール走査画像に重畳されるカラーカメラ画像の改良されたダイナミックレンジ Download PDFInfo
- Publication number
- JP2016537613A JP2016537613A JP2016516903A JP2016516903A JP2016537613A JP 2016537613 A JP2016537613 A JP 2016537613A JP 2016516903 A JP2016516903 A JP 2016516903A JP 2016516903 A JP2016516903 A JP 2016516903A JP 2016537613 A JP2016537613 A JP 2016537613A
- Authority
- JP
- Japan
- Prior art keywords
- color
- image
- angle
- images
- sequence
- Prior art date
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 claims abstract description 16
- 238000005259 measurement Methods 0.000 claims description 26
- 238000011156 evaluation Methods 0.000 claims description 23
- 230000004044 response Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 10
- 238000013507 mapping Methods 0.000 description 6
- 238000012935 Averaging Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 239000003086 colorant Substances 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 238000004040 coloring Methods 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/51—Display arrangements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
-
- 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
- G06T2207/20172—Image enhancement details
- G06T2207/20208—High dynamic range [HDR] image processing
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Image Input (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013110583.1 | 2013-09-24 | ||
DE102013110583.1A DE102013110583C5 (de) | 2013-09-24 | 2013-09-24 | Verfahren und Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
US201461926461P | 2014-01-13 | 2014-01-13 | |
US61/926,461 | 2014-01-13 | ||
US14/494,639 | 2014-09-24 | ||
PCT/US2014/057093 WO2015048053A1 (en) | 2013-09-24 | 2014-09-24 | Improved dynamic range of color camera images superimposed on scanned three dimensional gray scale images |
US14/494,639 US20150085079A1 (en) | 2013-09-24 | 2014-09-24 | Dynamic range of color camera images superimposed on scanned three-dimensional gray-scale images |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2016537613A true JP2016537613A (ja) | 2016-12-01 |
Family
ID=52106549
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016516903A Pending JP2016537613A (ja) | 2013-09-24 | 2014-09-24 | 3次元グレイスケール走査画像に重畳されるカラーカメラ画像の改良されたダイナミックレンジ |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP2016537613A (de) |
DE (1) | DE102013110583C5 (de) |
GB (1) | GB2533753A (de) |
WO (1) | WO2015048053A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20200046131A (ko) * | 2017-09-28 | 2020-05-06 | 웨이모 엘엘씨 | 동기화된 회전식 lidar 및 롤링 셔터 카메라 시스템 |
JP2020523566A (ja) * | 2017-08-31 | 2020-08-06 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 物体を感知する方法及びセンサシステム |
JP7510730B2 (ja) | 2021-10-15 | 2024-07-04 | 杭州宇▲樹▼科技有限公司 | 3dレーザーレーダーおよび脚式ロボット |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3319013A1 (de) * | 2016-11-03 | 2018-05-09 | Thomson Licensing | Verfahren und vorrichtung zur schätzung der schlagschattenregionen und/oder spitzlichtregionen in bildern |
US20220351417A1 (en) * | 2021-04-27 | 2022-11-03 | Faro Technologies, Inc. | Occlusion detection for laser scan-point coloring |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7359782B2 (en) * | 1994-05-23 | 2008-04-15 | Automotive Technologies International, Inc. | Vehicular impact reactive system and method |
US5828793A (en) * | 1996-05-06 | 1998-10-27 | Massachusetts Institute Of Technology | Method and apparatus for producing digital images having extended dynamic ranges |
US6753876B2 (en) * | 2001-12-21 | 2004-06-22 | General Electric Company | Method for high dynamic range image construction based on multiple images with multiple illumination intensities |
WO2007035720A2 (en) * | 2005-09-20 | 2007-03-29 | Deltasphere, Inc. | Methods, systems, and computer program products for acquiring three-dimensional range information |
DE102008031243B4 (de) * | 2008-07-02 | 2010-09-16 | Eads Deutschland Gmbh | Verfahren und Vorrichtung zur Erzeugung von High Dynamic Range(HDR)-Bildaufnahmen sowie Belichtungsvorrichtungen zur Verwendung darin |
US8346009B2 (en) * | 2009-06-29 | 2013-01-01 | Thomson Licensing | Automatic exposure estimation for HDR images based on image statistics |
DE102009055988B3 (de) * | 2009-11-20 | 2011-03-17 | Faro Technologies, Inc., Lake Mary | Vorrichtung zum optischen Abtasten und Vermessen einer Umgebung |
DE102010045803A1 (de) * | 2010-09-20 | 2012-03-22 | Leica Camera Ag | Verfahren zur Erzeugung einer Bilddatei mit hohem Dynamikumfang - HDR Raw Workflow |
DE102011103510A1 (de) * | 2011-06-03 | 2012-12-06 | Daimler Ag | Verfahren zum Erstellen einer dreidimensionalen Repräsentation einer Objektanordnung |
EP2718669B1 (de) * | 2011-06-09 | 2016-08-10 | Zoller & Fröhlich GmbH | Laserscanner und verfahren zum ansteuern eines laserscanners |
US20130176453A1 (en) * | 2012-01-06 | 2013-07-11 | Nokia Corporation | Methods, apparatuses and computer program products for facilitating image registration based in part on using sensor data |
-
2013
- 2013-09-24 DE DE102013110583.1A patent/DE102013110583C5/de not_active Expired - Fee Related
-
2014
- 2014-09-24 WO PCT/US2014/057093 patent/WO2015048053A1/en active Application Filing
- 2014-09-24 JP JP2016516903A patent/JP2016537613A/ja active Pending
- 2014-09-24 GB GB1606874.4A patent/GB2533753A/en not_active Withdrawn
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2020523566A (ja) * | 2017-08-31 | 2020-08-06 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 物体を感知する方法及びセンサシステム |
JP7019894B2 (ja) | 2017-08-31 | 2022-02-16 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッド | 物体を感知する方法及びセンサシステム |
US11675076B2 (en) | 2017-08-31 | 2023-06-13 | SZ DJI Technology Co., Ltd. | Solid state light detection and ranging (LIDAR) system and system and method for improving solid state light detection and ranging (LIDAR) resolution |
KR20200046131A (ko) * | 2017-09-28 | 2020-05-06 | 웨이모 엘엘씨 | 동기화된 회전식 lidar 및 롤링 셔터 카메라 시스템 |
KR102277447B1 (ko) * | 2017-09-28 | 2021-07-14 | 웨이모 엘엘씨 | 동기화된 회전식 lidar 및 롤링 셔터 카메라 시스템 |
JP7510730B2 (ja) | 2021-10-15 | 2024-07-04 | 杭州宇▲樹▼科技有限公司 | 3dレーザーレーダーおよび脚式ロボット |
Also Published As
Publication number | Publication date |
---|---|
DE102013110583B3 (de) | 2015-01-08 |
GB2533753A (en) | 2016-06-29 |
WO2015048053A1 (en) | 2015-04-02 |
DE102013110583C5 (de) | 2017-12-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20150085079A1 (en) | Dynamic range of color camera images superimposed on scanned three-dimensional gray-scale images | |
US10116920B2 (en) | Balancing colors in a scanned three-dimensional image | |
JP5753409B2 (ja) | パノラマ画像作成方法及び3次元レーザスキャナ | |
US9689972B2 (en) | Scanner display | |
JP5816778B2 (ja) | 追加の検出装置を備えたレーザスキャナ | |
JP2016537613A (ja) | 3次元グレイスケール走査画像に重畳されるカラーカメラ画像の改良されたダイナミックレンジ | |
EP3598174B1 (de) | Laserscanner mit bildgebung mit erweitertem dynamischem bereich | |
JP2015017992A (ja) | 環境を光学的に走査および測定する方法ならびにデバイス | |
JP2015535337A (ja) | 角度スキャン速度の動的調整を伴うレーザスキャナ | |
JP6972224B2 (ja) | 深度感知システムおよび方法 | |
CN107229056A (zh) | 图像处理装置、图像处理方法以及记录介质 | |
EP3789955A1 (de) | System und verfahren zum trainieren eines neuronalen netzwerks zum füllen von lücken zwischen abtastpunkten in bildern und zum entrauschen von punktwolkenbildern | |
AU2020417796A1 (en) | System and method of capturing and generating panoramic three-dimensional images | |
US11523029B2 (en) | Artificial intelligence scan colorization | |
JP2017181488A (ja) | 距離画像生成装置、距離画像生成方法及びプログラム | |
US20160212412A1 (en) | Device, system and method for three-dimensional modeling | |
JP6948407B2 (ja) | 表面トポロジおよび関連する色を決定するための装置および方法 | |
JP5241944B2 (ja) | 拡大観察装置、拡大画像撮影方法、拡大画像撮影プログラム及びコンピュータで読み取り可能な記録媒体 | |
JP5298229B2 (ja) | 拡大観察装置、拡大画像撮影方法、拡大画像撮影プログラム及びコンピュータで読み取り可能な記録媒体 | |
US20220170737A1 (en) | Multi-band attribute blending in three-dimensional space | |
JP2018191049A (ja) | 撮像装置及びその調整方法 | |
WO2020195755A1 (ja) | 測距撮像システム、測距撮像方法、及びプログラム | |
JP2009217174A (ja) | 映像表示システムの調整装置、調整方法、幾何情報取得方法、及びプログラム | |
JPH0863618A (ja) | 画像処理装置 | |
CN111246120B (zh) | 移动设备的图像数据处理方法、控制***及存储介质 |