System and method for obtaining georeferenced mapping data

• US 20090262974A1
• Filed: 04/17/2009
• Published: 10/22/2009
• Est. Priority Date: 04/18/2008
• Status: Abandoned Application

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Lithopoulos, Erik
• Application Number:
  US12/386,478
• Publication Number:
  US 20090262974A1
• Time in Patent Office: Days
• US Class Current: 382/100
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A system and method for acquiring spatial mapping information of surface data points defining a region unable to receive effective GPS signals, such as the interior of a building, includes an IMU for dynamically determining geographical positions relative to at least one fixed reference point, a LIDAR or camera for determining range of the IMU to each surface data point, and a processor to determine position data for each surface data point relative to the at least one reference point. A digital camera obtains characteristic image data, including color data, of the surface data points, and the processor correlates the position data and image data for the surface data points to create an image of the region.

Claims

1. A system for acquiring geospatial data information, comprising:

a positioning device for determining the position of surface data points of a structure in three-dimensions in a region unable to receive adequate GPS signals;

an image capture device for obtaining characteristic image data of the surface data points;

a data store device for storing information representing the position and characteristic image data of the surface data points, and for correlating the position and image data for the data points.

2. The system of claim 1, further comprising a processor for recreating an image of the building structure using the position data and image data.

3. The system of claim 1, wherein the position device comprises an Inertial Measurement Unit (IMU).

4. The system of claim 1, wherein the position device comprises a LIDAR.

5. The system of claim 1, wherein the position device comprises an IMU for determining the position of at least one reference point, and a LIDAR for determining the positions of at least some surface data points relative to the reference point.

6. The system of claim 1, wherein the image capture device comprises a digital camera.

7. The system of claim 1, wherein the position device comprises a LIDAR and the image capture device comprises a digital camera.

8. The system of claim 1, wherein the position device and image capture device are mounted on a common frame.

9. The system of claim 8, wherein the frame is adapted to be carried by a person.

10. The system of claim 8, wherein the frame has wheels to form a mobile cart.

11. The system of claim 3, further including a GPS receiver for obtaining position of an initial reference point which is used by the IMU.

12. The system of claim 1, wherein the characteristic image data includes color data.

13. The system of claim 2, wherein the processor recreates an image of the building structure from a perspective different from the location of the position device.

14. The system of claim 13, wherein the processor recreates an image of the building structure which can be panned to different horizontal and vertical positions.

15. The system of claim 13, wherein the processor recreates an image which can be zoomed in and out.

16. A system for acquiring spatial mapping information, comprising:

an IMU for dynamically determining geographical position data relative to at least one fixed reference point;

a range scanning device for obtaining distance data representative of the distance from said IMU to each of a plurality of surface data points, each of said plurality of surface data points defining a region unable to receive effective GPS signals;

an image capture device to provide characteristic image data for each of said plurality of surface data points;

a data store for all of said data; and

a data processor to determine position information for each of said plurality of surface data points and to correlate the position data and characteristic image data for each of said surface data points to create an image of the region.

17. The system of claim 16, in which said region is the interior of a building and the processor creates an image of the building interior using the position data and characteristic image data.

18. The system of claim 16, wherein the image capture device comprises a digital camera.

19. The system of claim 16, wherein the IMU and image capture device are mounted on a common frame.

20. The system of claim 19, wherein the frame is adapted to be carried by a person.

21. The system of claim 19, wherein the frame has wheels to form a mobile cart.

22. The system of claim 16, further including a GPS receiver for obtaining the position of said at least one fixed reference point.

23. The system of claim 16, wherein the characteristic image data includes color data.

24. The system of claim 17, wherein the processor creates an image of the building from a perspective different from the position of the IMU.

25. The system of claim 17, wherein the processor creates an image of the building which can be panned to different horizontal and vertical positions.

26. The system of claim 17, wherein the processor creates an image of the building which can be zoomed in and out.

45. The system of claim 16 in which said region is the interior of a building.

46. The system of claim 45 comprising aerial or ground-based images of the exterior of said building combined with said image of said region.

47. The system of claim 16 in which said IMU is adapted to traverse through said region.

48. The system of claim 47 in which said fixed reference point is within a GPS active location and its position is determined based upon GPS signals.

49. The system of claim 48 in which said fixed reference point is a starting point for said IMU.

27. A system for acquiring spatial mapping information, comprising:

A sensor platform for determining the position of surface data points of building structure in three-dimensions in a region unable to receive adequate GPS signals, the sensor platform comprising an IMU for determining the position of at least one reference point, and a LIDAR for determining the positions of the surface data points relative to the reference point, and further including a GPS receiver for obtaining position of at least one initial reference point which is used as a starting reference point by the IMU;

a digital camera for obtaining characteristic image data of the surface data points, said image data including color data;

a processor and data store device for receiving and storing information representing the position of surface data points and the characteristic image data of the surface data points, and for correlating the position data and image data for the data points, said processor recreating an image of the building structure using the position data and image data.

28. The system of claim 27, wherein the position device and image capture device are mounted on a common frame.

29. The system of claim 28, wherein the frame is adapted to be carried by a person.

30. The system of claim 28, wherein the frame has wheels to form a mobile cart.

31. The system of claim 27, wherein the processor recreates an image of the building structure from a perspective different from the location of the position device.

32. The system of claim 27, wherein the processor recreates an image of the building structure which can be panned to different horizontal and vertical positions.

33. A method for acquiring spatial mapping information, comprising:

determining the position of surface data points of building structure in three-dimensions in a region unable to receive adequate GPS signals;

obtaining characteristic image data of the surface data points; and

storing information representing the position of surface data points and the characteristic image data of the surface data points, wherein the position data and image data for the data points are correlated.

34. The method of claim 33, further including the step of recreating an image of the building structure using the position data and image data.

35. The method of claim 33, wherein the step of determining the position of surface data points comprises using an inertial measurement unit (IMU) determining the position of at least one reference point, and a LIDAR for determining the positions of at least some surface data points relative to the reference point.

36. The method of claim 33, wherein the step of obtaining characteristic image data comprises using a digital camera.

37. The method of claim 33, wherein the steps of determining the position of surface data points and obtaining characteristic image data of the surface data points comprise using a common frame to which is mounted a device for determining the position of the surface data points and a device for obtaining characteristic image data.

38. The method of claim 37, wherein the common frame is adapted to be carried by a person.

39. The method of claim 37, wherein the common frame is mounted on wheels.

40. The method of claim 33, wherein the step of obtaining the position of surface data points comprises using a GPS receiver for obtaining position of an initial reference point which is used by the IMU.

41. The method of claim 33, wherein the characteristic image data includes color data.

42. The method of claim 33, further including the step of recreating an image of the building structure from a perspective different from the location of the position device.

43. The method of claim 33, further including the step of recreating an image of the building structure which can be panned to different horizontal and vertical positions.

44. The method of claim 33, further including the step of recreating an image which can be zoomed in and out.