Surveying system
First Claim
1. Surveying subsystem comprising a camera module and a control and evaluation unit,the camera module comprising at least one camera for capturing images,an inertial measuring unit being associated with the surveying subsystem in a fixed spatial relationship relative to the surveying subsystem,the control and evaluation unit having stored a program with program code so as to control and execute a calibration functionality in which—
- when moving along a path through a surroundinginertial measuring data is gathered while moving along the path,camera-based localisation data is generated, whereforea series of images of the surrounding is captured with the at least one camera, the series comprising an amount of images captured with different poses of the camera, the poses representing respective positions and orientations of the camera,a SLAM-evaluation with a defined algorithm using the series of images is performed, wherein a plurality of respectively corresponding image points are identified in each of several sub-groups of images of the series of images and, based on resection and forward intersection using the plurality of respectively corresponding image points,a reference point field is built up comprising a plurality of reference points of the surrounding, wherein coordinates of the reference points are derived, andthe poses for the images are determined, andcalibration parameters for the inertial measuring unit are derived based on the gathered inertial measuring data and the camera-based localisation data.
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Abstract
A system is disclosed that comprises a camera module and a control and evaluation unit. The camera module is designed to be attached to the surveying pole and comprises at least one camera for capturing images. The control and evaluation unit has stored a program with program code so as to control and execute a functionality in which a series of images of the surrounding is captured with the at least one camera; a SLAM-evaluation with a defined algorithm using the series of images is performed, wherein a reference point field is built up and poses for the captured images are determined; and, based on the determined poses, a point cloud comprising 3D-positions of points of the surrounding can be computed by forward intersection using the series of images, particularly by using dense matching algorithm.
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Citations
13 Claims
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1. Surveying subsystem comprising a camera module and a control and evaluation unit,
the camera module comprising at least one camera for capturing images, an inertial measuring unit being associated with the surveying subsystem in a fixed spatial relationship relative to the surveying subsystem, the control and evaluation unit having stored a program with program code so as to control and execute a calibration functionality in which— - when moving along a path through a surrounding
inertial measuring data is gathered while moving along the path, camera-based localisation data is generated, wherefore a series of images of the surrounding is captured with the at least one camera, the series comprising an amount of images captured with different poses of the camera, the poses representing respective positions and orientations of the camera, a SLAM-evaluation with a defined algorithm using the series of images is performed, wherein a plurality of respectively corresponding image points are identified in each of several sub-groups of images of the series of images and, based on resection and forward intersection using the plurality of respectively corresponding image points, a reference point field is built up comprising a plurality of reference points of the surrounding, wherein coordinates of the reference points are derived, and the poses for the images are determined, and calibration parameters for the inertial measuring unit are derived based on the gathered inertial measuring data and the camera-based localisation data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
- when moving along a path through a surrounding
Specification