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 camera module comprising at least one camera for capturing images,the control and evaluation unit having stored a program with program code so as to control and execute a spatial representation generation functionality in which, when moving along a path through a surrounding;
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) 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(b) the poses for the images are determined, anda quality indicative output is generated concerning the measurement uncertainty of a 3D-position for at least one point of the surrounding to be computable by forward intersection using the images of the series of images and the determined poses.
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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
29 Claims
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1. A surveying subsystem comprising:
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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 camera module comprising at least one camera for capturing images, the control and evaluation unit having stored a program with program code so as to control and execute a spatial representation generation functionality in which, when moving along a path through a surrounding; 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) 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 (b) the poses for the images are determined, and a quality indicative output is generated concerning the measurement uncertainty of a 3D-position for at least one point of the surrounding to be computable by forward intersection using the images of the series of images and the determined poses. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A surveying subsystem comprising:
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a camera, a profiler, 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 camera module is designed to be brought into a fixed mechanical connection with the position measuring resource, and comprising at least one camera for capturing images, the profiler is designed to be brought into a fixed mechanical connection with the position measuring resource, in particular by being attached to the surveying pole, and is adapted for; emission of a rotating laser beam, and reception and detection of a returning part of the emitted laser beam being scattered back from points of a surrounding, the profiler is further provided with an electronic distance measuring functionality as well as an angle measuring functionality for the rotating laser beam so that profiler measurement data comprising distance and angle information is gatherable, and the control and evaluation unit has stored a program with program code so as to control and execute a spatial representation generation functionality in which, when moving along a path through the 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) 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 (b) the poses for the images are determined, determined positions of the position measuring resource for points that have been adopted on the path are received by the control and evaluation unit from the surveying system, a 6-dof-travelling-history including translational and rotational information in 6 degrees of freedom is derived for the moved path based at least on the poses determined within the SLAM-evaluation and the received determined positions, particularly by use of a Kalman filter, and coordinates for points of the surrounding are determined as the spatial representation, based on the profiler measurement data in combination with the derived 6-dof-travelling-history. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A surveying subsystem comprising:
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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 camera module is designed to be linked with the position measuring resource and comprising 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 data reduction functionality in which, when moving along a path through a surrounding 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) 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 (b) the poses for the images are determined; based on the determined poses, a point cloud comprising 3D-positions of points of the surrounding is computed by forward intersection using the series of images; objects of a pre-defined and/or user-defined kind are identified in the images; and 3D-positions of points being connected to the identified objects in the image are modified or deleted. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29)
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Specification