WO2008020461A1 - Method for acquiring, processing and presenting images and multimedia navigating system for performing such method - Google Patents
Method for acquiring, processing and presenting images and multimedia navigating system for performing such method Download PDFInfo
- Publication number
- WO2008020461A1 WO2008020461A1 PCT/IT2006/000826 IT2006000826W WO2008020461A1 WO 2008020461 A1 WO2008020461 A1 WO 2008020461A1 IT 2006000826 W IT2006000826 W IT 2006000826W WO 2008020461 A1 WO2008020461 A1 WO 2008020461A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- panoramic
- video
- images
- camera
- image
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000012545 processing Methods 0.000 title claims abstract description 9
- 238000009877 rendering Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 7
- 238000013507 mapping Methods 0.000 description 7
- 238000012937 correction Methods 0.000 description 2
- 238000012805 post-processing Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 201000009310 astigmatism Diseases 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
- G01C21/3638—Guidance using 3D or perspective road maps including 3D objects and buildings
-
- G06T3/12—
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
Abstract
A method is disclosed for acquiring, processing and presenting panoramic images in a visor according to a function of three-dimensional rendering, such method being adapted to directly correlate spherical coordinates (6) of a three-dimensional map (7) to Cartesian coordinates of 'a map (5) . Α system is further described for managing images of a urban territory, that operates with such method, comprising a video-camera (1) coupled with a parabolic mirror (2) by means of a framework (3) integral with means moving along a urban route and comprising a visor of panoramic recordings of the video-camera (1) related to acquisition data of a satellite tele-detecting system.
Description
METHOD FOR ACQUIRING, PROCESSING AND PRESENTING IMAGES AND MULTIMEDIA NAVIGATING SYSTEM FOR PERFORMING SUCH METHOD
The present invention deals with a method for acquiring, processing and presenting images and the application of such method in terrestrial navigation, in particular in urban territories.
The invention refers to: systems for taking photographs (G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR); methods for using photographic systems (G06K9/00: Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints); measuring and navigating systems (GOlC: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY) ; methods for transforming three-dimensional image models (G06T15/00: Three dimensional (3D) image rendering, e.g. from a model to a bit-mapped image) .
The prior art is represented in particular by EP-A-O 908 053, that deals with an apparatus for capturing and displaying 360° panoramic images (panoramic images), equipped with an apparatus for correcting astigmatism optic aberration, the so-corrected image being captured as annular image, then transformed through a transformation mechanism.
US-A-5 563 650 deals with a method for producing panoramic images captured by means of a fish-eye optics and transformed into digital form by removing distortions through software. The method further correlates panoramic' images to spots of a layout and a series of information such as address, data, orientation, direction, street names and names of members living in displayed houses.
US 2004/0169724 Al uses a panoramic image to create spherical environment maps correcting perspective distortions, obtaining a plurality of images, or their portions, free from distortions.
The above described state of the art has the problem of having to real-time correct perspective distortions resulting from the capture of panoramic images through optics of the fish-eye type or the reflection of panoramic images through convex mirrors. A correction of the perspective distortion, in fact, implies the use of an additional unwrapping software, to perform which a
dedicated hardware must be used. The post processing activity linked to the need of correcting perspective distortions typical of panoramic images obtained through particular optics such as fish-eye or convex mirrors, therefore implies a burdensome CPU computation activity; it also implies the loss of image quality due to the treatment of digitised image pixels (source video) detected by an optic chamber of the digital type and handled in terms of pixel translation and interpolation. This problem is more strongly felt in case of a motion picture shooting in which the disturbance induced by vibrations of the camera supporting device is not easily . filtered, resulting into an unpleasant effect on the final yield of the produced image.
The difficulty linked to real-time uses of a panoramic image taken by a video-camera has been confronted and solved through an innovative method for acquiring, processing and presenting images, subject matter of the present document. A further object of the invention is developing a multimedia navigating system coupled with such method.
This method is a method for acquiring images or sequences of panoramic images and for processing the same according to a spherical mapping whose space coordinates are bi-univocally related to two-dimensional coordinates of a plane mapping obtained from the image captured by the
video-camera, and for displaying panoramic photographs in a visor shaped as a two-dimensional or three-dimensional map, pointing out position and direction thereof with respect to a geo-stationary reference.
The above and other objects and advantages of the invention, as will result from the following description, are obtained with a method as claimed in claim 1. Preferred embodiments and non-trivial variations of the present invention are the subject matter of the dependent claims.
The present invention will be better described by some preferred embodiments thereof, provided as a non-limiting example, with reference to the enclosed drawings, in which:
- figure 1 shows the system for capturing panoramic images at 360° composed of a video-camera coupled with a parabolic mirror; figure 2 shows an orthogonal projection view of the parabolic mirror that reflects a panoramic image at 360° as annular image;
- figure 3 shows the two-dimensional mapping of the annular image taken by the video-camera;
- figure 4 shows an axonometric view of the spherical virtual space on which the annular image is projected (image rendering form the model to the bit-mapped image) ;
- figure 5 shows the image extracted from the spherical virtual space and projected on a visor;
- figure 6 and figure 7 show the handling of a portion of the two-dimensional mapping of the annular image taken by the video-camera;
- figure 8 shows the portion of spherical virtual space used for projecting the portion of image as seen in figure 7 ; and
- figure 9 shows the yield of a multimedia application that integrates the panoramic images to a two-dimensional map.
A video-camera 1 is aligned with a convex mirror 2 through a rigid framework 3. The convex mirror 2 in this case is parabolic. The video-camera 1 can be of a commercial type - provided with low video resolution - or of an industrial type - provided with high quality video resolution - equipped with a driver that is able to process a plane image depending on the electro-optical sensor coupled with the video-camera itself. The image 4 reflected by the parabolic mirror 2 is an image of the panoramic type characterised by a view field of about 110° of angular opening, suitably slanted on its top and bottom parts with respect to the line of framed horizon. The video-camera 1 receives the image 4 reflected and projected by the parabolic mirror 2 associating the points of a Cartesian plane 5 to an array of active electro-optical elements. The
e ro-o ic array of H x V pixels in which: H = V guarantees a management of square-shaped images with a resolution power equal to 2.
The method for acquiring and managing the panoramic image of the present invention substantially consists in performing a rendering in a three-dimensional environment starting from a two-dimensional map built in the Cartesian plane 5 (three-dimensional (3D) image rendering, e.g. from a model to a bit-mapped image) . In this case, such three- dimensional environment corresponds to a mapping in spherical coordinates 6. The rendering of the image 4 built in the Cartesian plane 5 and projected in the virtual space in spherical coordinates 6 is represented by image 7.
In case of a convex mirror 2 equipped with spherical surface, the algorithm regulating the bi-univocal correspondence between the two maps, respectively built in plane 5 and in the sphere in spherical coordinates 6, is given by: u = α*cos ( β) ; v = α*sin (β) ; in which angle α moves in elevation, angle β moves in azimuth.
In case of a convex mirror 2 equipped with a parabolic surface, the algorithm regulating the bi-univocal
correspondence between the two maps in plane 5 and in the sphere in spherical coordinates 6 is given by: u = f (α) *cos (β) ; v = f (α) *sin(β) ; in which angle α moves in elevation, angle β moves in azimuth, f(α) represents a correction factor depending on the parabolic mirror curvature.
Figure 5 shows the panoramic photograph resulting from the image 4, this latter one processed in three-dimensional mapping 7 and therefore projected through a visor.
The bi-univocal correspondence between map associated with the Cartesian plane 5 and three-dimensional map 7 also allows partially managing the image 4. In fact, it is possible to cut a portion of image 4, namely to perform a zooming, cutting a portion 8 of Cartesian plane 5, and to re-build the three-dimensional rendering, obtaining the three-dimensional map shown in figure 8.
The method for acquiring and rendering in a panoramic image in a three-dimensional environment according to the above procedure enables a series of real-time functions with a small use of CPU memory and computation resources. First of all, the method is free from post-processing unwrapping processing. The two-dimensional mapping 5 of a square portion 1:1 and power resolution 2 is the excellent format for exploiting the hardware acceleration of 3D video
cards, optimising the relationship between speed (frames/second) and image quality. The direct rendering in spherical coordinates does not require high performance hardware, operating on conventional platforms (Windows, Mac) ; moreover, it does not require the installation of additional software; after installing a Shockwave plug-in, it is possible to directly navigate in Internet.
From the point of view of optical yield, the video recording of the panoramic image is realistic and free from perspective distortions. The method also allows: using video sources with integrated audio, displaying video images recorded on moving means; performing the zooming on portions of panoramic images; saving panoramic images in a video format or in sequences of frames; managing the frames by using conventional commands of video-recorders and DVD players DVD; positioning dynamic hotspots directly in fixed video points; displaying three-dimensional elements; providing the video with special three-dimensional effects of the fog effect or particle, LensFlare effect types; processing the frames with video effects such as de- saturation, blur, contrast; interacting with other external programs such as satellite maps and GPS navigators, two- and three-dimensional geographic maps, videogames.
The method for acquiring and managing the panoramic image of the present invention has been successfully used
within displaying systems for urban territory and guided navigation through a geo-stationary reference.
In both systems, the urban territory is captured as images or a sequence of panoramic (video) images pf external and internal environments, complying with a sequence of image acquisition as guarantee of the integral coverage of the captured _ territory; in this case, the optical system of the type comprising the video-camera 1 coupled with a a parabolic mirror 2 assembled on the framework 3 is applied to a moving means along a urban route; the optical device operates at a height from the ground of at least 150 centimetres, under good meteorologic conditions in order to realise a perfect brightness yield. A software program correlates panoramic recordings of video-camera 1 with acquisition data of a GPS satellite antenna, realising a data base of images coupled with geo- referred longitude, latitude and direction data.
A further software program checks the display of two- dimensional and three-dimensional panoramic images in a visor by showing geo-referenced data coupled with each image. The system (player) allows navigating through cursor keys or interface keys or through active keys on the reference geographic map.
The thereby obtained geographic map is equipped with a special position pointing device that is able to point out
the framing direction of the panoramic image or a portion thereof, as pointed out in the yield images in figure 9. The player can contain, inside the displayed panoramic photograph window, some pieces of information, texts and hotspots keys that can be activated by a computer through mouse or touch screen.
These hotspots allow accessing related texts, by- opening Internet windows, or by opening other media such as video, photo, etc.
The player is written according to the most common programming languages (C, Java, Visual Basic, etc.) and, for the WEB environment, it exploits plug-ins for browsers like Shockwave, Flash, Java, ActiveX. Moreover, the player can operate in a standalone mode or can be managed through a latest-generation cellular phone in a Java and Symbian environment .
Claims
1. Method for acquiring, processing and presenting panoramic images in a visor according to a three- dimensional rendering function, characterised in that it is adapted to directly correlate spherical coordinates (6) of a three-dimensional map (7) to Cartesian coordinates of a map (5) .
2. Method according to claim 1, characterised in that it is adapted to capture the panoramic images by means of a video-camera (1) coupled with a convex mirror (2), both being made integral by means of a framework (3) .
3. Method according to claim 2, characterised in that the algorithm regulating a bi-univocal correspondence between the two maps in the plane (5) and in the sphere in spherical coordinates (β) is function of the convex mirror (2) curvature.
4. Method according to any one of claims 1 to 3, characterised in that the convex mirror (2) has a parabolic geometry.
5. Method according to claim 3, characterised in that Ia two-dimensional map (5) has sizes with a 1:1 proportion and its optical resolution is a power equal to 2.
6. Method according to any one of the previous claims, characterised in that it does not provide for using an additional unwrapping software or other software for correcting perspective distortions that are typical of panoramic images obtained through particular optics, such as "fish-eye" or convex mirrors.
7. System for managing images of a urban territory of a type operating according to the method according to any one of the previous claims, comprising a video-camera (1) couplet with a parabolic mirror (2) by means of the framework (3), said framework (3) being integral with means moving along a urban route, characterised in that it comprises a visor of panoramic recordings of the video- camera (1) related with acquisition data of a satellite tele-detecting system.
8. System according to claim 7, characterised in that panoramic recordings compose a database of images coupled with geo-referenced longitude, latitude and direction data.
9. System according to any one of claims 7 or 8, characterised in that the panoramic recordings visor is adapted to show a special position pointing device that is able to point out the framing direction of the panoramic image or a portion thereof.
10. System according to any one of claims 7 to 9, characterised in that it is adapted to include, within the displayed panoramic photograph window, some pieces of information, texts and hotspots keys that can be activated by a computer through mouse or touch screen.
11. System according to claim 10, characterised in that said hotspots allow accessing related texts, by opening Internet windows, or by opening other media such as video, photo, etc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP06832343A EP2076808A1 (en) | 2006-08-17 | 2006-11-29 | Method for acquiring, processing and presenting images and multimedia navigating system for performing such method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ITT02006A000609 | 2006-08-17 | ||
| IT000609 IT1378233B1 (en) | 2006-08-17 | 2006-08-17 | METHOD OF ACQUISITION, PROCESSING AND PRESENTATION OF IMAGES AND MULTIMEDIA NAVIGATION SYSTEM COMBINED WITH THIS METHOD |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2008020461A1 true WO2008020461A1 (en) | 2008-02-21 |
Family
ID=37877420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IT2006/000826 WO2008020461A1 (en) | 2006-08-17 | 2006-11-29 | Method for acquiring, processing and presenting images and multimedia navigating system for performing such method |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP2076808A1 (en) |
| IT (1) | IT1378233B1 (en) |
| WO (1) | WO2008020461A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009130729A2 (en) * | 2008-04-22 | 2009-10-29 | Geomondo S.R.L. | Application for identifying, geo-locating and managing points of interest (poi) |
| EP2704415A1 (en) * | 2012-08-28 | 2014-03-05 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Imaging device with wide viewing angle |
| US8701040B2 (en) | 2008-09-29 | 2014-04-15 | Microsoft Corporation | Panoramic graphical user interface |
| CN110060201A (en) * | 2019-04-15 | 2019-07-26 | 深圳市数字城市工程研究中心 | Hot spot interaction method for panoramic video |
| CN112242002A (en) * | 2020-10-09 | 2021-01-19 | 同济大学 | Object identification and panoramic roaming method based on deep learning |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITTO20120877A1 (en) * | 2012-10-09 | 2013-01-08 | Geomondo S R L | METHOD OF VIRTUAL EXPLORATION OF THE THREE-DIMENSIONAL SPACE OF AN EXHIBITION FAIR |
| CN107040792A (en) * | 2017-05-05 | 2017-08-11 | 暴风集团股份有限公司 | Panoramic video player method, panoramic video playing device and player |
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| US5050966A (en) * | 1988-07-06 | 1991-09-24 | Kaiser Aerospace & Electronics Corporation | Optical combiner collimating apparatus |
| WO1996005532A1 (en) * | 1994-08-10 | 1996-02-22 | Virtuality (Ip) Limited | Head mounted display optics |
| US5563650A (en) * | 1992-11-24 | 1996-10-08 | Geeris Holding Nederland B.V. | Method and device for producing panoramic images, and a method and device for consulting panoramic images |
| WO1997050252A1 (en) * | 1996-06-24 | 1997-12-31 | Behere Corporation | Panoramic camera |
| JP2000206635A (en) * | 1999-01-06 | 2000-07-28 | Yisheng Science & Technology Co Ltd | Panoramic image device |
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| US20040169724A1 (en) * | 2002-12-09 | 2004-09-02 | Ekpar Frank Edughom | Method and apparatus for creating interactive virtual tours |
-
2006
- 2006-08-17 IT IT000609 patent/IT1378233B1/en active
- 2006-11-29 WO PCT/IT2006/000826 patent/WO2008020461A1/en active Application Filing
- 2006-11-29 EP EP06832343A patent/EP2076808A1/en not_active Withdrawn
Patent Citations (7)
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| US5050966A (en) * | 1988-07-06 | 1991-09-24 | Kaiser Aerospace & Electronics Corporation | Optical combiner collimating apparatus |
| US5563650A (en) * | 1992-11-24 | 1996-10-08 | Geeris Holding Nederland B.V. | Method and device for producing panoramic images, and a method and device for consulting panoramic images |
| WO1996005532A1 (en) * | 1994-08-10 | 1996-02-22 | Virtuality (Ip) Limited | Head mounted display optics |
| WO1997050252A1 (en) * | 1996-06-24 | 1997-12-31 | Behere Corporation | Panoramic camera |
| JP2000206635A (en) * | 1999-01-06 | 2000-07-28 | Yisheng Science & Technology Co Ltd | Panoramic image device |
| EP1233345A1 (en) * | 2001-02-09 | 2002-08-21 | Sharp Kabushiki Kaisha | Imaging system, program used for controlling image data in the same system, method for correcting distortion of captured images in the same system, and recording medium storing procedures for such a method |
| US20040169724A1 (en) * | 2002-12-09 | 2004-09-02 | Ekpar Frank Edughom | Method and apparatus for creating interactive virtual tours |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009130729A2 (en) * | 2008-04-22 | 2009-10-29 | Geomondo S.R.L. | Application for identifying, geo-locating and managing points of interest (poi) |
| WO2009130729A3 (en) * | 2008-04-22 | 2010-01-28 | Geomondo S.R.L. | Application for identifying, geo-locating and managing points of interest (poi) |
| US8701040B2 (en) | 2008-09-29 | 2014-04-15 | Microsoft Corporation | Panoramic graphical user interface |
| EP2704415A1 (en) * | 2012-08-28 | 2014-03-05 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Imaging device with wide viewing angle |
| FR2995091A1 (en) * | 2012-08-28 | 2014-03-07 | Commissariat Energie Atomique | IMAGING DEVICE WITH A WIDE ANGLE OF VIEW |
| CN110060201A (en) * | 2019-04-15 | 2019-07-26 | 深圳市数字城市工程研究中心 | Hot spot interaction method for panoramic video |
| CN110060201B (en) * | 2019-04-15 | 2023-02-28 | 深圳市数字城市工程研究中心 | Hot spot interaction method for panoramic video |
| CN112242002A (en) * | 2020-10-09 | 2021-01-19 | 同济大学 | Object identification and panoramic roaming method based on deep learning |
| CN112242002B (en) * | 2020-10-09 | 2022-07-08 | 同济大学 | Object identification and panoramic roaming method based on deep learning |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2076808A1 (en) | 2009-07-08 |
| ITTO20060609A1 (en) | 2006-11-16 |
| IT1378233B1 (en) | 2010-07-30 |
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