Method and apparatus for generating an orthorectified tile
First Claim
1. Method for generating an orthorectified tile comprising:
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retrieving a sequence of source images obtained by a terrestrial based camera mounted on a moving vehicle driving across a surface of the earth;
retrieving position data associated with the retrieved source images, wherein the retrieved position data includes constant position parameters defining a relationship with a reference position within the vehicle and variable parameters in a geographic coordinate reference system corresponding to a coordinate location of the vehicle'"'"'s reference position in said coordinate reference system;
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retrieving orientation data associated with the retrieved source images, wherein the retrieved orientation data includes constant orientation parameters having a relationship with the orientation of the camera with respect to a reference orientation of the vehicle and variable orientation parameters in the geographic coordinate reference system corresponding to the orientation of the reference orientation of the vehicle in the coordinate reference system;
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converting a source image by way of corresponding position data and orientation data to obtain the orthorectified tile and corresponding metadata defining a conversion of pixel coordinates in an orthorectified image to a position in the geographic coordinate reference system.
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Abstract
A method is disclosed for generating an orthorectified tile. In at least one embodiment, the method includes retrieving source images obtained by way of a terrestrial based camera; retrieving position data associated with the source images; retrieving orientation data associated with the source images; and converting source image by means of corresponding position data and orientation data to obtain the orthorectified tile. Orthorectified tiles are used to generate an orthorectified mosaic. As such, images recorded by terrestrial based camera may be used to generate a map of a road surface with corresponding road signs.
45 Citations
22 Claims
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1. Method for generating an orthorectified tile comprising:
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retrieving a sequence of source images obtained by a terrestrial based camera mounted on a moving vehicle driving across a surface of the earth; retrieving position data associated with the retrieved source images, wherein the retrieved position data includes constant position parameters defining a relationship with a reference position within the vehicle and variable parameters in a geographic coordinate reference system corresponding to a coordinate location of the vehicle'"'"'s reference position in said coordinate reference system;
—retrieving orientation data associated with the retrieved source images, wherein the retrieved orientation data includes constant orientation parameters having a relationship with the orientation of the camera with respect to a reference orientation of the vehicle and variable orientation parameters in the geographic coordinate reference system corresponding to the orientation of the reference orientation of the vehicle in the coordinate reference system;
—converting a source image by way of corresponding position data and orientation data to obtain the orthorectified tile and corresponding metadata defining a conversion of pixel coordinates in an orthorectified image to a position in the geographic coordinate reference system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 12, 13, 14, 18, 19, 20)
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11. A computer arrangement comprising:
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an input device;
—a processor readable storage medium;
—a processor in communication with said input device and said processor readable storage medium; and an output device in communication with the processor, said processor readable storage medium storing code to program said processor to perform a method comprising;
—retrieving a sequence of source images obtained by terrestrial based camera mounted on a moving vehicle driving across a surface of the earth;
—retrieving position data associated with the retrieved source images, wherein the position data includes constant position parameters defining a relationship with the reference position within the vehicle and variable parameters in a geographic coordinate reference system corresponding to the coordinate location of the vehicle'"'"'s reference position in the coordinate reference system;
—retrieving orientation data associated with the retrieved source images, wherein the retrieved orientation data include constant orientation parameters having a relationship with the orientation of the camera with respect to a defined orientation of the vehicle and variable orientation parameters in the geographic coordinate reference system corresponding to the orientation of the reference orientation of the vehicle in the coordinate reference system;
—converting source images by way of the corresponding position data and orientation data to obtain orthorectified tiles and corresponding metadata defining a conversion of pixel coordinates to positions in the geographic coordinate reference system;
—generating an orthorectified mosaic and corresponding metadata from the obtained orthorectified tiles; and
—storing the orthorectified mosaic and associated metadata on the processor readable storage medium.
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15. Method of collecting both positionally accurate horizontal information and positionally accurate vertical information from source images of at least one terrestrial based image sequence obtained by a terrestrial based camera mounted on a moving vehicle driving across a surface of the earth, the method comprising:
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retrieving source images;
—retrieving position data associated with the retrieved source images, wherein the position data includes constant position parameters defining a relationship with a reference position within the vehicle and variable parameters in a geographic coordinate reference system corresponding to the coordinate location of the vehicle'"'"'s reference position in the coordinate reference system;
—retrieving orientation data associated with the retrieved source images, wherein the orientation data includes constant orientation parameters having a relationship with an orientation of the camera with respect to a reference orientation of the vehicle and variable orientation parameters in the geographic coordinate reference system corresponding to the orientation of the reference orientation of the vehicle in the coordinate reference system;
—retrieving horizontal information and corresponding position in the geographic coordinate reference system from the retrieved source images, wherein the position has been obtained by converting at least partially source images including at least partially the horizontal information by way of position data and orientation data associated with the source images to obtain an orthorectified representation of the horizontal information, the orthorectified representation including image data and metadata defining the conversion of pixel coordinates of the orthorectified representation to a position in the geographic coordinate reference system;
—retrieving vertical information from at least one source image and locating the position of said vertical information by way of the position data and orientation data associated with the source images; and
—storing the retrieved vertical and horizontal information and associated positions for use in a map database. - View Dependent Claims (21)
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16. (canceled)
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17. Method of collecting both positionally accurate horizontal information and positionally accurate information regarding an object from at least one source image obtained by a terrestrial based camera mounted on a moving vehicle driving across the earth surface, wherein an attachment point at which the object is attached to the ground is visible in at least one pixel of the at least one source image, the method comprising:
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retrieving the at least one source image;
—retrieving position data associated with the retrieved at least one source image, wherein the position data includes constant position parameters defining a relationship with a reference position within the vehicle and variable parameters in a geographic coordinate reference system corresponding to a coordinate location of the vehicle'"'"'s reference position in the coordinate reference system;
—retrieving orientation data associated with the at least one source image, wherein the orientation data includes constant orientation parameters having a relationship with the orientation of the camera with respect to a reference orientation of the vehicle and variable orientation parameters in said geographic coordinate reference system corresponding to the orientation of the reference orientation of the vehicle in the coordinate reference system;
—retrieving horizontal information and corresponding position in the geographic coordinate reference system from the retrieved at least one source image, wherein the position has been obtained by determining by way of the position data and orientation data associated with the retrieved at least one source image, an orthorectified position of at least one source image pixel associated to horizontal information;
—retrieving object information from the retrieved at least one source image;
—determining the at least one pixel corresponding to the attachment point of the object to the ground and determining, by way of the position data and orientation data associated with the at least one source image, the orthorectified position in the geographic coordinate reference system of at least one pixel corresponding to the attachment point of the object to the ground;
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andstoring the retrieved object information and horizontal information and associated positions in the geographic coordinate reference system for use in a map database. - View Dependent Claims (22)
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Specification