ARRANGEMENT AND METHOD FOR PROVIDING A THREE DIMENSIONAL MAP REPRESENTATION OF AN AREA

• US 20100250125A1
• Filed: 07/04/2007
• Published: 09/30/2010
• Est. Priority Date: 07/04/2007
• Status: Active Grant

• Current Assignee: Saab AB
• Original Assignee: Saab AB
• Inventors: Lundberg, Kristian, Isaksson, Folke
• Granted Patent: US 9,094,673 B2
• Time in Patent Office: Days
• US Class Current: 701/208
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30188 Vegetation; Agriculture
• CPC Class Codes: G06T 7/593 from stereo images
• CPC Class Codes: H04N 13/207 using a single 2D image sensor
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence

Abstract

An arrangement and a method for providing a three dimensional map representation of an area. The arrangement includes an image generating unit and a processing unit. The image generating unit is arranged to generate time recorded images. The image generating unit is arranged to provide a plurality of at least partly overlapping images each covering at least a part of the area. The processing unit is arranged to stereo process an arbitrary number of at least partly overlapping image sets generated by the image generating unit so as to provide the three dimensional map representation. A navigation unit is arranged to output time recorded navigation states related to the image generating unit. The processing unit is arranged to, for each time recorded image to be stereo processed, associate the navigation states relating to a corresponding time record.

Claims

1. An arrangement for providing a three dimensional map representation of an area, the arrangement comprising:

an image generating unit arranged to generate time recorded images, said image generating unit being arranged to provide a plurality of at least partly overlapping images each covering at least a part of said area,

a navigation unit arranged to output time recorded navigation states related to the image generating unit, and

a processing unit arranged to, based on said navigation states, stereo process an arbitrary number of at least partly overlapping image sets generated by said image generating unit so as to provide said three dimensional map representation, wherein the processing unit is arranged to, for each time recorded image to be stereo processed, associate the navigation states relating to a corresponding time record so that each pixel of each time recorded image is correlated to a corresponding navigation state and to perform the stereo processing based on the associated navigation states so that all pixels in the map representation are specified in three geographical dimensions.

2. The arrangement according to claim 1, wherein the image generating unit is mountable on a movable carrier.

3. The arrangement according to claim 1, wherein the time recorded navigation states comprises position and attitude.

4. The arrangement according to claim 3, wherein the navigation unit comprises an inertial navigation system.

5. The arrangement according to claim 3, wherein the navigation unit comprises a means for providing position data in a predetermined coordinate system.

6. The arrangement according to claim 1, wherein the processing unit is arranged to determine a relation between the images in each image set based on the navigation states associated to the respective images so as to provide matching between the images.

7. The arrangement according to claim 1, wherein the processing unit is arranged to form a plurality of three dimensional map representation parts each corresponding to a unique image set and to generate the three dimensional map representation of the area based upon the three dimensional map representation parts.

8. The arrangement according to claim 7, wherein the processing unit is arranged to transform each map representation part based on height data so as to perform ortho projection.

9. The arrangement according to claim 1, wherein the arrangement is arranged to form the three dimensional map representation in real time.

10. A platform comprising an arrangement according to claim 1.

11. The platform according to claim 10, wherein the platform is chosen from a group comprising a land vehicle, satellite, aircraft watercraft and person.

12. Use of three-dimensional map representations provided from an arrangement according to claim 1, wherein a difference map representation is formed based on a relation between heights in two three-dimensional map representations of corresponding areas.

13. Use of a difference map representation according to claim 12, wherein the difference map representation is used for performing volume determinations.

21. The arrangement according to claim 2, wherein the movable carrier comprises a land vehicle, satellite, aircraft, watercraft, or a person.

22. The arrangement according to claim 5, wherein the means for providing position data in a predetermined coordinate system comprises a GPS receiver or a map.

23. The platform according to claim 11, wherein the platform comprises a lorry, airplane, ship, or submarine.

14. A method for providing a three dimensional map representation of an area, the method comprising:

generating time recorded images,

providing a plurality of at least partly overlapping images each covering at least a part of said area,

forming an arbitrary number of at least partly overlapping image sets from said provided at least partly overlapping images,

outputting time recorded navigation states comprising position and attitude, and

stereo processing said image sets based on the navigational states so as to provide said three dimensional map representation, wherein for each time recorded image to be stereo processed the navigation states relating to a corresponding time record are associated with the image, said associating comprising correlating each pixel of each time recorded image to a corresponding navigation state, and wherein the stereo processing is performed based on the associated navigation states so that all pixels in the map representation are specified in three geographical dimensions.

15. A computer program product, comprising:

a computer readable medium; and

a programme code recorded on the computer readable medium for performing a method for providing a three dimensional map representation of an area when said computer programme is run on a computer, the method comprising

generating time recorded images,

providing a plurality of at least partly overlapping images each covering at least a part of said area,

forming an arbitrary number of at least partly overlapping image sets from said provided at least partly overlapping images,

outputting time recorded navigation states comprising position and attitude, and

stereo processing said image sets based on the navigational states so as to provide said three dimensional map representation, wherein for each time recorded image to be stereo processed the navigation states relating to a corresponding time record are associated with the image, said associating comprising correlating each pixel of each time recorded image to a corresponding navigation state, and wherein the stereo processing is performed based on the associated navigation states so that all pixels in the map representation are specified in three geographical dimensions.

16. (canceled)

17. (canceled)

18. A computer readable medium having embodied thereon a computer program for processing by a computer program comprising:

a first code segment for generating time recorded images; and

a second code segment for providing a plurality of at least partly overlapping images,

a fourth code segment for outputting time recorded navigation states, and

a fifth code segment for associating for each generated time recorded image the navigation states relating to a corresponding time record by correlating each pixel of each time recorded image to a corresponding navigation state, and

a third code segment for stereo processing, based on said associated navigation states, an arbitrary number of overlapping image sets generated by said image generating unit so as to provide a three dimensional map representation wherein all pixels are specified in three geographical dimensions.

19. The medium of claim 18, wherein said medium is a propagated signal.

20. The medium of 19, wherein said propagated signal is a carrier wave.