METHOD OF USING IMAGE WARPING FOR GEO-REGISTRATION FEATURE MATCHING IN VISION-AIDED POSITIONING
First Claim
1. A method comprising:
- capturing an oblique optical image of an area of interest using an image capturing device;
providing digital elevation data of an area that includes the area of interest and at least one geo-referenced orthoimage of an area that includes the area of interest;
correlating the area of interest in the oblique optical image with the digital elevation data to create an image warping matrix;
warping the at least one geo-referenced orthoimage to the perspective of the oblique optical image using the image warping matrix; and
matching features in the oblique optical image with features in the at least one warped geo-referenced orthoimage.
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Accused Products
Abstract
Systems and methods for using image warping to improve geo-registration feature matching in vision-aided positioning is provided. In at least one embodiment, the method comprises capturing an oblique optical image of an area of interest using an image capturing device. Furthermore, digital elevation data and at least one geo-referenced orthoimage of an area that includes the area of interest are provided. The area of interest in the oblique optical image is then correlated with the digital elevation data to create an image warping matrix. The at least one geo-referenced orthoimage is then warped to the perspective of the oblique optical image using the image warping matrix. And, features in the oblique optical image are matched with features in the at least one warped geo-referenced orthoimage.
13 Citations
20 Claims
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1. A method comprising:
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capturing an oblique optical image of an area of interest using an image capturing device; providing digital elevation data of an area that includes the area of interest and at least one geo-referenced orthoimage of an area that includes the area of interest; correlating the area of interest in the oblique optical image with the digital elevation data to create an image warping matrix; warping the at least one geo-referenced orthoimage to the perspective of the oblique optical image using the image warping matrix; and matching features in the oblique optical image with features in the at least one warped geo-referenced orthoimage. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising:
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at least one sensor image capturing device configured to capture at least one optical image; one or more processing devices; one or more memory devices configured to store digital elevation data and geo-referenced orthoimagery, wherein the one or more memory devices are coupled to the one or more processing devices and including instructions which, when executed by the one or more processing devices, cause the one or more processing devices to; capture an oblique optical image of an area of interest using the image capturing device; retrieve digital elevation data of an area that includes the area of interest and at least one geo-referenced orthoimage of an area that includes the area of interest; correlate the area of interest in the oblique optical image with the digital elevation data to create an image warping matrix; warp the at least one geo-referenced orthoimage to the perspective of the oblique optical image using the image warping matrix; and match features in the at least one oblique optical image with features in the warped geo-referenced orthoimage. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A program product comprising a computer readable medium on which program instructions are embodied, wherein the program instructions are configured, when executed by at least one programmable processor, to cause the at least one programmable processor:
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to capture an oblique optical image of an area of interest using a image capturing device, to estimate a first position and attitude of the image capturing device at the time the oblique optical image was captured; to provide digital elevation data of an area that includes the area of interest and at least one geo-referenced orthoimage of an area that includes the area of interest; to correlate the area of interest in the oblique optical image with the digital elevation data to create an image warping matrix; to warp the at least one geo-referenced orthoimage to the perspective of the oblique optical image using the image warping matrix; to match features in the at least one oblique optical image with features in the warped geo-referenced orthoimage; and to use the matched features to estimate a second estimated position and attitude of the image capturing device at the time the oblique optical image was captured. - View Dependent Claims (18, 19, 20)
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Specification