Surveying system
First Claim
1. A surveying system adapted to determine a position of a position measuring resource being mounted on a surveying pole, the surveying system comprising:
- a camera module being attached to the surveying pole and comprising at least one camera for capturing images;
a control and evaluation unit having stored a program with program code so as to control and execute an orientation determining functionality including;
capturing a series of images of the surrounding with the at least one camera when moving along a path through a surrounding, the series comprising an amount of images captured with different poses of the camera, the poses representing respective positions and orientations of the camera;
performing a SLAM-evaluation with a defined algorithm using the series of images, 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 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;
retrieving determined positions from the surveying system that are adopted by the position measuring resource when moving along the path; and
deriving an external orientation of the at least one camera in the coordinate system of the surveying system at least based on the determined pose for at least one designated image of the series of images and on the determined positions;
a processing unit having stored a program with program code so as to control and execute a single point measurement functionality upon a trigger, the single point measurement functionality including;
determining a trigger-related position, which has been adopted by the position measuring resource at a trigger-related point of time when moving along the path, with the use of the position measuring resource;
determining a trigger-related external orientation, which has been adopted by the at least one camera at the trigger-related point of time; and
determining a position of a bottom of the pole of the surveying system in coordinates of the coordinate system based on at least the trigger-related position and the trigger-related external orientation.
1 Assignment
0 Petitions
Accused Products
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.
12 Citations
25 Claims
-
1. A surveying system adapted to determine a position of a position measuring resource being mounted on a surveying pole, the surveying system comprising:
-
a camera module being attached to the surveying pole and comprising at least one camera for capturing images; a control and evaluation unit having stored a program with program code so as to control and execute an orientation determining functionality including; capturing a series of images of the surrounding with the at least one camera when moving along a path through a surrounding, the series comprising an amount of images captured with different poses of the camera, the poses representing respective positions and orientations of the camera; performing a SLAM-evaluation with a defined algorithm using the series of images, 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 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; retrieving determined positions from the surveying system that are adopted by the position measuring resource when moving along the path; and deriving an external orientation of the at least one camera in the coordinate system of the surveying system at least based on the determined pose for at least one designated image of the series of images and on the determined positions; a processing unit having stored a program with program code so as to control and execute a single point measurement functionality upon a trigger, the single point measurement functionality including; determining a trigger-related position, which has been adopted by the position measuring resource at a trigger-related point of time when moving along the path, with the use of the position measuring resource; determining a trigger-related external orientation, which has been adopted by the at least one camera at the trigger-related point of time; and determining a position of a bottom of the pole of the surveying system in coordinates of the coordinate system based on at least the trigger-related position and the trigger-related external orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A surveying subsystem being adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource being mounted on a surveying pole, the surveying subsystem comprising:
-
a camera module designed to be linked with the position measuring resource and comprising at least one camera for capturing images; and a control and evaluation unit having stored a program with program code so as to control and execute a data reduction functionality in which, when moving along a path through a surrounding; captures a series of images of the surrounding with the at least one camera, the series of images comprising an amount of images captured with different poses of the camera representing respective positions and orientations of the camera; performing a SLAM-evaluation with a defined algorithm using the series of images, 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; based on the determined poses, computing a point cloud comprising 3D-positions of points of the surrounding by forward intersection using the series of images; identify pre-defined or user-defined objects in the images; and modify or delete 3D-positions of points being connected to the identified objects in the image. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
-
Specification