Surveying system
First Claim
1. A camera module to be used as part of a surveying system that is adapted to determine positions of a position measuring resource that is mounted on a surveying pole and includes a GNSS-antenna or a retro-reflector, wherein:
- the camera module is configured to be attached to the surveying pole; and
the camera module comprises;
at least a first and a second camera, the first camera having first imaging properties and the second camera having second imaging properties different from the first imaging properties.
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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.
18 Citations
19 Claims
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1. A camera module to be used as part of a surveying system that is adapted to determine positions of a position measuring resource that is mounted on a surveying pole and includes a GNSS-antenna or a retro-reflector, wherein:
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the camera module is configured to be attached to the surveying pole; and the camera module comprises; at least a first and a second camera, the first camera having first imaging properties and the second camera having second imaging properties different from the first imaging properties. - View Dependent Claims (2, 3, 4, 5)
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6. A surveying subsystem comprising:
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a camera module; 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 that includes a GNSS-antenna or a retro-reflector; and a hand-carried surveying pole on which the position measuring resource is mounted, wherein; the camera module includes at least two cameras for capturing images, wherein a first of the at least two cameras is designed to capture first images with a lower image resolutions compared to second images capturable with a second of the at least two cameras, the control and evaluation unit having stored thereon a program with program code that, when executed, controls and executes a spatial representation generation functionality in which, when moving along a path through a surrounding; a first series of images of the surrounding is captured with the first camera, the first series comprising an amount of images captured with different poses of the first camera, the poses representing respective positions and orientations of the first camera, and a second series of images of the surrounding is captured in parallel with the second camera, a SLAM-evaluation with a defined algorithm using only the first 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 first 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, thus providing for a faster data processing within the SLAM-evaluation compared to processing data generated by capturing images with the second camera. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 18)
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15. A surveying subsystem comprising:
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a camera module; 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 that includes a GNSS-antenna or a retro-reflector; and a hand-carried surveying pole on which the position measuring resource is mounted, wherein; the camera module includes at least one camera for capturing images, the camera being designed so that different capturing modes regarding capturing images with different resolutions and/or with different frame rates are provided, 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; a low-resolution-high-frame-rate mode is provided for high-frequency capturing of images with comparatively low resolution with the at least one camera; a high-resolution-low-frame-rate mode is provided for high-resolution capturing of images with comparatively low frame rates with the at least one camera; and when moving along a path through a surrounding; a series of images of the surrounding is captured using the low-resolution-high-frame-rate mode, 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. - View Dependent Claims (16, 17, 19)
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Specification