MOBILE MAPPING SYSTEM

• US 20170227361A1
• Filed: 06/22/2015
• Published: 08/10/2017
• Est. Priority Date: 06/20/2014
• Status: Active Grant

• Current Assignee: Profound Positioning, Inc.
• Original Assignee: UTI Limited Partnership
• Inventors: Al-Hamad, Amr, El-Sheimy, Naser
• Granted Patent: US 11,959,749 B2
• Time in Patent Office: Days
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 11/12 the pictures being supported in the same relative position as when they were taken
• CPC Class Codes: G01C 11/34 Aerial triangulation
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G06T 2207/30184 Infrastructure
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 7/74 involving reference images or patches

Abstract

Embodiments of systems and methods for a mobile mapping system are described. In an embodiment, a method includes capturing a plurality of images of an object point using a mobile computing platform. The method may also include determining an initial set of orientation parameters in response to one or more orientation sensors on the mobile computing platform. Additionally, the method may include calculating a corrected set of orientation parameters by matching object points in the plurality of images. Further, the method may include estimating a three-dimensional ground coordinate associated with the captured images in response to the corrected set of orientation parameters.

Claims

1. A method comprising:

capturing a plurality of images of an object point using a mobile computing platform;

determining an initial set of orientation parameters in response to one or more orientation sensors on the mobile computing platform;

calculating a corrected set of orientation parameters by matching object points in the plurality of images; and

estimating a three-dimensional ground coordinate associated with the captured images in response to the corrected set of orientation parameters.

2. The method of claim 1, wherein the set of orientation parameters comprise External Orientation Parameters (EOPs).

3. The method of claim 2, wherein the EOPs are determined using an onboard Global Positioning Satellite (GPS) system.

4. The method of claim 2, wherein the EOPs are determined using an onboard accelerometer and magnetometer.

5. The method of claim 1, wherein the set of orientation parameters comprise Internal Orientation Parameters (IOPs).

6. The method of claim 1, further comprising detecting and removing blunders in the matched object points.

7. The method of claim 1, wherein the object points are matched to image center-points along epipolar lines.

8. The method of claim 1, wherein estimating the three-dimensional ground coordinate is calculated using a bundle adjustment algorithm.

10. The MMS of claim 1, wherein the set of orientation parameters comprise External Orientation Parameters (EOPs).

11. The MMS of claim 2, wherein the EOPs are determined using an onboard Global Positioning Satellite (GPS) system.

12. The MMS of claim 2, wherein the EOPs are determined using an onboard accelerometer and magnetometer.

13. The MMS of claim 1, wherein the set of orientation parameters comprise Internal Orientation Parameters (IOPs).

14. The MMS of claim 1, further comprising detecting and removing blunders in the matched object points.

15. The MMS of claim 1, wherein the object points are matched to image center-points along epipolar lines.

16. The MMS of claim 1, wherein estimating the three-dimensional ground coordinate is calculated using a bundle adjustment algorithm.

9. A mobile mapping system (MMS), comprising:

a mobile device configured to;

capture a plurality of images of an object point using a mobile computing platform;

determine an initial set of orientation parameters in response to one or more orientation sensors on the mobile computing platform;

calculate a corrected set of orientation parameters by matching object points in the plurality of images; and

estimate a three-dimensional ground coordinate associated with the captured images in response to the corrected set of orientation parameters.