SYSTEM AND METHOD FOR INTERIOR MOBILE MAPPING
First Claim
1. An interior mobile mapping system is adapted for producing or updating an interior layout of an inspected area, comprising:
- an inertial measurement unit;
a digital camera module; and
a control device coupled to the inertial measurement unit and the digital camera module, wherein the control device establishes at least two interior reference points through the inertial measurement unit and obtains the respective coordinate of the at least two interior reference points corresponded to an interior coordinate system, the control device moves from one interior reference point which is the closest interior reference point corresponding to an update object, a running trace of the inertial measurement unit in the inspected area is feedback positioned by the control device according to the coordinate of the at least one interior reference points, the control device uses the digital camera module to take one picture for the update object at more than two different places individually, the coordinate of the update object corresponded to the interior coordinate system is calculated by the control device according to the respective position of the update object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system, so as to update the interior layout.
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Abstract
The present invention discloses an interior mobile mapping system and method thereof. The interior mobile mapping method comprises the following steps: establishing a plurality of interior reference points; obtaining coordinates of the plurality of interior reference points corresponded to an interior coordinate system; moving from one interior reference point which is closest to an interior object; taking a picture for the interior object at more than two different places individually; and calculating the coordinate of the interior object corresponded to an exterior coordinate system according to the respective position of the interior object in the pictures and the coordinates of the different shooting locations.
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Citations
16 Claims
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1. An interior mobile mapping system is adapted for producing or updating an interior layout of an inspected area, comprising:
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an inertial measurement unit; a digital camera module; and a control device coupled to the inertial measurement unit and the digital camera module, wherein the control device establishes at least two interior reference points through the inertial measurement unit and obtains the respective coordinate of the at least two interior reference points corresponded to an interior coordinate system, the control device moves from one interior reference point which is the closest interior reference point corresponding to an update object, a running trace of the inertial measurement unit in the inspected area is feedback positioned by the control device according to the coordinate of the at least one interior reference points, the control device uses the digital camera module to take one picture for the update object at more than two different places individually, the coordinate of the update object corresponded to the interior coordinate system is calculated by the control device according to the respective position of the update object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system, so as to update the interior layout. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An interior mobile mapping method is adapted for producing or updating an interior layout of an inspected area, comprising:
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obtaining the respective coordinate of the at least two interior reference points corresponded to an interior coordinate system, wherein the at least two interior reference are established by an inertial measurement unit; moving from one interior reference point which is the closest interior reference point corresponding to an update object, wherein a running trace of the inertial measurement unit in the inspected area is feedback positioned according to the coordinate of the at least one interior reference points; taking one picture for the update object at more than two different places individually; and calculating the coordinate of the update object corresponded to the interior coordinate system according to the respective position of the update object in the more than two pictures and the coordinate of the more than two shooting locations corresponded to the interior coordinate system, so as to update the interior layout. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. An interior mobile mapping method, comprising:
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implementing by a mobile image system, wherein the mobile image system includes an inertial measurement unit, an image capture unit and a control device, the mobile image system is adapted for producing an interior layout of an interior inspected area, the interior inspected area has an update object, the interior mobile mapping method comprises the following steps; (A) obtaining coordinates of at least two interior reference points corresponded to an exterior coordinate system, wherein the at least two interior reference points are established by the inertial measurement unit; (B) moving from the interior reference point which is closest to the update object, and a running trace of the mobile image system in the interior inspected area is feedback positioned according to the coordinates of each interior reference point by the inertial measurement unit; (C) taking one picture for the update object at more than two different places individually through the image capture unit; and (D) calculating a coordinate of the update object according to the respective position of the update object in the more than two pictures and coordinates of the more than two shooting locations, so as to update the interior layout.
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16. An interior mobile mapping system is adapted for producing an interior layout of an inspected area, comprising:
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an inertial measurement unit used to position a running trace of the interior mobile mapping system according to an acceleration of the interior mobile mapping system; a digital camera module used to shoot a peripheral image of the interior mobile mapping system; a control device coupled to the inertial measurement unit and the digital camera module, wherein the control device is used to calculate a coordinate of each point on the running trace according to an initial coordinate of an initial position, the control device calculates the coordinate of a real object according to the pictures which are focus on the real object and captured by the digital camera module at more than two shooting location on the running trace and coordinates of the more than two shooting locations, so as to update the interior layout; and at least two optical transmitter modules configured on the interior mobile mapping system and individually emit a beam to the ground vertically at an operational state in order to align at least two alignment points, so as to check a position and an orientation of the interior mobile mapping system at the initial position precisely.
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Specification