LIDAR-ASSISTED MULTI-IMAGE MATCHING FOR 3-D MODEL AND SENSOR POSE REFINEMENT
First Claim
1. A computer-readable storage medium comprising executable instructions to cause a computing device to perform a method for constructing a model of a subject matter, the method comprising:
- accessing modeling data comprising a plurality of overlapping EO images of the subject matter;
a plurality of lidar shots of the subject matter, and correlation data associated with each of the EO images and lidar shots;
projecting each of the lidar shots onto two or more of the EO images using the correlation data;
calculating pixel-to-pixel coordinate associations between the overlapping EO images, wherein the pixel-to-pixel coordinate associations are calculated using the lidar shot projections; and
constructing a 3-D model of the subject matter using the pixel-to-pixel coordinate associations.
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Accused Products
Abstract
A 3-D model of a subject matter may be constructed from a plurality of lidar shots and overlapping EO images of the subject matter. Each of the lidar shots may be mapped to image patches within two or more of the EO images using navigation data associated with the lidar shots and EO images. Each of the back-projected lidar points may be set as a centroid of an image patch (collection of pixels) within an EO image. With the aid of the lidar centroids, the image patches in overlapping EO images may be correlated and an image-based pixel-to-pixel coordinate association therebetween may be calculated. Using this refined pixel-to-pixel coordinate association, a 3-D model of the subject matter may be constructed and refined using photogrammetry techniques. Videogrammetry techniques, such as optical flow techniques, may be applied if a sufficient amount of EO imagery data is available.
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Citations
32 Claims
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1. A computer-readable storage medium comprising executable instructions to cause a computing device to perform a method for constructing a model of a subject matter, the method comprising:
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accessing modeling data comprising a plurality of overlapping EO images of the subject matter;
a plurality of lidar shots of the subject matter, and correlation data associated with each of the EO images and lidar shots;projecting each of the lidar shots onto two or more of the EO images using the correlation data; calculating pixel-to-pixel coordinate associations between the overlapping EO images, wherein the pixel-to-pixel coordinate associations are calculated using the lidar shot projections; and constructing a 3-D model of the subject matter using the pixel-to-pixel coordinate associations. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method for constructing a model of a subject matter using a computing device comprising a processor, the method comprising:
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acquiring modeling data comprising a plurality of overlapping EO images of the subject matter captured using an EO imaging device, a plurality of lidar shots of the subject matter captured using a lidar, and correlation data; the computing device estimating a pose of the EO imaging device as each EO image was acquired and estimating a pose of the lidar as each of the lidar shots was acquired; the computing device projecting each of the lidar shots onto two or more of the EO images using the pose estimates; the computing device defining bounding primitives for each of the lidar shot projections on the image plane; calculating pixel-to-pixel coordinate associations between the overlapping EO images, wherein the pixel-to-pixel coordinate associations are calculated using an image processing technique seeded using the bounding primitives; and constructing a 3-D model of the subject matter using the pixel-to-pixel coordinate associations.
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32. A system for constructing a 3-D model of a subject matter using modeling data comprising a plurality of EO images of the subject matter, a plurality of lidar shots of the subject matter, and correlation data associated with the EO images and the lidar shots, comprising:
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a computing device comprising a processor; a correlation module operable on the processor and configured to project each of the plurality of lidar shots onto two or more EO images and to set each of the lidar shot projections as centroids of respective bounding primitives within the respective EO images; an image processing module operable on the processor and communicatively coupled to the correlation module, the image processing module configured to calculate pixel-to-pixel coordinate associations between the overlapping EO images, wherein the pixel-to-pixel coordinate associations are calculated using an image processing technique seeded using the bounding primitives; and a modeling module operable on the processor and communicatively coupled to the image processing module, the modeling module configured to construct a 3-D model of the subject matter using the pixel-to-pixel coordinate associations.
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Specification