SYSTEM AND METHOD FOR AUTOMATIC STEREO MEASUREMENT OF A POINT OF INTEREST IN A SCENE
First Claim
1. A system for performing three dimensional, stereo measurement, the system comprising:
- a sensor for obtaining a sensor image of a scene;
a database for providing first and second reference images of the scene that are a stereo pair of images;
at least one processing system responsive to an output of the sensor and in communication with the database, and operable to;
register the sensor image with the first reference image;
select a point of interest from the sensor image;
derive a point of interest in the first reference image from a selected point of interest in the sensor image and a registration between the sensor image and the first reference image;
perform a stereo point measurement from the selected point of interest and the first reference image to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image; and
modify the stereo point measurement using stereo evaluation to select an adjacent three dimensional point which more accurately corresponds with the selected point in the sensor image;
wherein said three dimensional stereo measurement of the selected point of interest in the sensor image is in scene coordinates.
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Abstract
A system for performing a three dimensional stereo measurement that uses a sensor for obtaining a sensor image of a scene, and a database for providing first and second reference images of the scene that are a stereo pair of images. At least one processing system is responsive to an output of the sensor and in communication with the database. The processing system registers the sensor image with the first reference image, and also selects a point of interest from one of the sensor image and the first reference image. The processing system performs a stereo point measurement from the selected point of interest and the first reference image to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image.
46 Citations
21 Claims
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1. A system for performing three dimensional, stereo measurement, the system comprising:
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a sensor for obtaining a sensor image of a scene; a database for providing first and second reference images of the scene that are a stereo pair of images; at least one processing system responsive to an output of the sensor and in communication with the database, and operable to; register the sensor image with the first reference image; select a point of interest from the sensor image; derive a point of interest in the first reference image from a selected point of interest in the sensor image and a registration between the sensor image and the first reference image; perform a stereo point measurement from the selected point of interest and the first reference image to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image; and modify the stereo point measurement using stereo evaluation to select an adjacent three dimensional point which more accurately corresponds with the selected point in the sensor image; wherein said three dimensional stereo measurement of the selected point of interest in the sensor image is in scene coordinates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 21)
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10. A system for performing three dimensional, stereo measurement, comprising:
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a sensor that obtains a sensor image of a scene; at least one database for providing first and second reference images of the scene that are a stereo pair of images; a processing system in communication with the at least one database configured to; register the sensor image with the first reference image; select a point of interest from one of the sensor image and the first reference image; perform a stereo point measurement from the selected point of interest and the first reference image to determine a point in the second reference image that represents a stereo mate of the selected point in the first reference image; define a three dimensional grid; analyze parametric data from the first and second reference images, the selected points of interest in the first and second reference images, and each three dimensional point within the grid, to determine three dimensional coordinates of a calculated point within the second reference image that is a minimum distance from the stereo mate point in the second reference image; and denote the calculated point as an optimum stereo coordinate measurement of the point in the second reference image. - View Dependent Claims (11, 12, 13, 15, 16, 17, 18)
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14. The system of claim 14, wherein the processing system determines that the selected point of interest in the first reference image is defined by a first pixel, and the point in the second reference image comprises a second pixel that is a stereo mate in the second reference image of the first pixel.
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19. A system for performing three dimensional, stereo measurement, comprising:
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a sensor carried on an airborne mobile platform for generating an image of a scene; at least one database for providing; a first reference image of the scene, with the scene being comprised of a plurality of pixels; and a second reference image of the scene that is comprised of a plurality of pixels, the first and second reference images of the scene comprising a stereo pair of images; a processing system operable to; register the sensor image with the first reference image; select a first pixel representing a point of interest from one of the sensor image and the first reference image; perform a stereo point measurement using the first pixel to determine a second pixel in the second reference image that represents a stereo mate of the first pixel in the first reference image; define a three dimensional grid around a portion of the first reference image; use said three dimensional grid and the first and second pixels to determine three dimensional coordinates of a calculated point in the second reference image that is closest to the stereo mate point in the second reference image; and denote the calculated point as an optimum stereo coordinate measurement of the point in the second reference image. - View Dependent Claims (20)
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Specification