Surveying system
First Claim
1. A surveying subsystem comprising a camera module and a control and evaluation unit, wherein the surveying subsystem is adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource, the surveying system further comprising a hand-carried surveying pole and the position measuring resource being mounted on the hand-carried surveying pole:
- the camera module comprising at least one camera for capturing images, particularly wherein the camera module is designed to be attached to the hand-carried surveying pole,the control and evaluation unit having stored a program with program code so as to control and execute a remote point measurement functionality in which—
when moving along a path through a surrounding—
a series of images of the surrounding is captured with the camera, the series comprising a plurality of images captured with different poses of the camera, i.e. from different points on the path and with different 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,and,upon selection of an image point in an image of the surrounding, said image basing on at least one of the images of the series of images, a 3d-position of the remote point being represented by said selected image point is derived, wherefore a subset of images related to the remote point is automatically identified from the series of images and the 3d-position is determined based on forward intersection using said subset of images and the determined poses for the images of said subset.
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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.
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Citations
12 Claims
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1. A surveying subsystem comprising a camera module and a control and evaluation unit, wherein the surveying subsystem is adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource, the surveying system further comprising a hand-carried surveying pole and the position measuring resource being mounted on the hand-carried surveying pole:
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the camera module comprising at least one camera for capturing images, particularly wherein the camera module is designed to be attached to the hand-carried surveying pole, the control and evaluation unit having stored a program with program code so as to control and execute a remote point measurement functionality in which—
when moving along a path through a surrounding—a series of images of the surrounding is captured with the camera, the series comprising a plurality of images captured with different poses of the camera, i.e. from different points on the path and with different 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, upon selection of an image point in an image of the surrounding, said image basing on at least one of the images of the series of images, a 3d-position of the remote point being represented by said selected image point is derived, wherefore a subset of images related to the remote point is automatically identified from the series of images and the 3d-position is determined based on forward intersection using said subset of images and the determined poses for the images of said subset. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification