METHOD AND SYSTEM FOR MEASURING ANGLES BASED ON 360 DEGREE IMAGES

• US 20100174507A1
• Filed: 01/08/2009
• Published: 07/08/2010
• Est. Priority Date: 01/08/2009
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Vogel, Michael, Muncy, Darin, Soubra, Omar
• Granted Patent: US 7,991,575 B2
• Time in Patent Office: Days
• US Class Current: 702/151
• CPC Class Codes: G01B 11/26 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G02B 13/06 Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A system for measuring angles includes a housing and an imaging device disposed in the housing. The system also includes a first optical element disposed in the housing and configured to receive light propagating from a first target along a first optical path and direct the light toward the imaging device and receive light propagating from a second target along a second optical path and direct the light toward the imaging device. The system further includes a processor in electrical communication with the imaging device and configured to receive data from the imaging device, compute a 360° angular map based on the received data, and determine an angular separation between the first target and the second target.

Claims

1. A system for measuring angles comprising:

a housing;

an imaging device disposed in the housing;

a first optical element disposed in the housing and configured to;

receive light propagating from a first target along a first optical path and direct the light toward the imaging device; and

receive light propagating from a second target along a second optical path and direct the light toward the imaging device; and

a processor in electrical communication with the imaging device and configured to;

receive data from the imaging device;

compute a 360°

angular map based on the received data; and

determine an angular separation between the first target and the second target.

2. The system of claim 1 wherein the housing includes a transparent window.

3. The system of claim 1 wherein the transparent window comprises a cylindrical optical element.

4. The system of claim 1 wherein the transparent window comprises a hemispherical dome.

5. The system of claim 1 further comprising a second optical element disposed in the housing between the first optical element and the imaging device.

6. The system of claim 1 wherein the housing comprises a pole.

7. The system of claim 6 wherein the system further comprises a GPS antenna mounted on the pole.

8. The system of claim 1 wherein the optical element comprises a reflective cone.

9. The system of claim 8 wherein the reflective cone is characterized by at least one of a hyperbolic or parabolic shape.

10. The system of claim 1 wherein the optical element comprises a micromirror array.

11. The system of claim 1 wherein the optical element comprises a rotatable mirror.

12. The system of claim 1 wherein the imaging device comprises at least one of a CCD array or a CMOS array.

13. A surveying apparatus comprising:

a support structure;

a reflective surface mechanically coupled to the support structure, wherein the reflective surface is configured to receive panoramic data over a 360°

field of view;

an optical system mechanically coupled to the support structure and optically coupled to the reflective surface;

an imaging system mechanically coupled to the support structure and optically coupled to the optical system; and

a processor configured to;

receive data from the imaging system; and

compute an angular measurement based on the received data.

14. The surveying apparatus of claim 13 wherein the support structure comprises a pole.

15. The surveying apparatus of claim 13 wherein the surveying apparatus further comprises a GPS antenna mounted on the pole.

16. The surveying apparatus of claim 13 wherein the reflective structure comprises a micromirror array.

17. The surveying apparatus of claim 13 wherein the reflective structure comprises a rotatable mirror.

18. The surveying apparatus of claim 13 wherein the imaging system comprises at least one of a CCD array or a CMOS array.

19. A method of measuring an angle, the method comprising:

orienting a measurement device at a reference position characterized by a reference angle;

acquiring a first panoramic image defined by a predetermined range of elevation angles, wherein the first panoramic image includes an object;

determining a first bearing of the object in relation to the reference angle;

rotating the measurement device to a measurement position characterized by a measurement angle;

acquiring a second panoramic image defined by the predetermined range of elevation angles, wherein the second panoramic image includes the object;

determining a second bearing of the object in relation to the reference angle; and

computing the measurement angle as a function of the first bearing and the second bearing.

20. The method of claim 19 wherein the first panoramic image and the second panoramic image comprise 360°

panoramic images.

21. The method of claim 19 further comprising measuring a distance from the measurement device to the object.

22. The method of claim 21 wherein measuring the distance from the measurement device to the object comprises use of an electronic distance measurement unit.

23. The method of claim 19 wherein the measurement device comprises a housing and a GPS antenna mounted on the housing.

24. The method of claim 19 wherein the measurement device comprises an imaging device.

25. The method of claim 24 wherein the imaging device comprises at least one of a CCD array or a CMOS array.

26. A method of determining an orientation of a measurement device, the method comprising:

orienting the measurement device at a first position;

acquiring a first panoramic image including a plurality of object points;

determining a location of the measurement device at the first position;

repositioning the measurement device to a second position;

acquiring a second panoramic image including the plurality of object points;

determining a location of the measurement device at the second position;

identifying the plurality of object points; and

determining the orientation of the measurement device in the second position.

27. The method of claim 26 wherein the first panoramic image and the second panoramic image comprise 360°

panoramic images.

28. The method of claim 26 wherein acquiring the first panoramic image including the plurality of object points and determining the location of the measurement device at the first position is performed concurrently.

29. The method of claim 28 wherein acquiring the first panoramic image including the plurality of object points and determining the location of the measurement device at the first position is performed simultaneously.

30. The method of claim 26 wherein acquiring the second panoramic image including the plurality of object points and determining the location of the measurement device at the second position is performed concurrently.

31. The method of claim 30 wherein acquiring the second panoramic image including the plurality of object points and determining the location of the measurement device at the second position is performed simultaneously.

32. The method of claim 26 wherein identifying the plurality of object points comprises a photogrammetry process.

33. The method of claim 26 further comprising estimating an azimuth associated with the measurement device oriented at the first position.