Automatic map compilation system

• US 5,345,086 A
• Filed: 10/24/1963
• Issued: 09/06/1994
• Est. Priority Date: 11/28/1962
• Status: Expired due to Term

• Current Assignee: AIL Systems, Inc. (L3Harris Technologies, Inc.)
• Original Assignee: Eaton Corp. (Wisconsin) (Eaton Corporation PLC.)
• Inventors: Bertram, Sidney
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US04/318,538
• Time in Patent Office: 11,275 Days
• Field of Search: 178/6.5, 88/14 E, 88/29 M, 88/24 H, 88/24, 250/220, 250/558, 356/12
• US Class Current: 250/558
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: H04N 13/10 Processing, recording or transmission of stereoscopic or multi-view image signals
• CPC Class Codes: H04N 13/20 Image signal generators
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

An automatic map complication system, for deriving information from a pair of stereoscopic photographs by scanning portions thereof which represent homologous imagery comprising:

first means for scanning at least portions of a pair of stereoscopic photographs and developing video signals in accordance therewith;

second means, including computing means, operable in a sequence of cycles of operation, for estimating for successive cycles of operation, on the basis of at least photogrammetric data related to said pair of photographs, the portions of said photographs which represent homologous imagery and controlling said first means to synchronously scan said portions; and

third means responsive to said video signals for comparing said video signals therein and producing error signals which represent the degree of error in said second means in estimating said portions of said photographs as representing homologous imagery, said second means including means responsive to said error signals for updating the estimate of the locations of portions of said photographs, which represent homologous imagery, adjacent the scanned portions.

Claims

1. An automatic map compilation system, for deriving information from a pair of stereoscopic photographs by scanning portions thereof which represent homologous imagery comprising:

first means for scanning at least portions of a pair of stereoscopic photographs and developing video signals in accordance therewith;

second means including computing means, operable in a sequence of cycles of operation, for estimating for successive cycles of operation, on the basis of at least photogrammetric data related to said pair of photographs, the portions of said photographs which represent homologous imagery and controlling said first means to synchronously scan said portions; and

third means responsive to said video signals for comparing said video signals therein and producing error signals which represent the degree of error in said second means in estimating said portions of said photographs as representing homologous imagery said second means including means responsive to said error signals for updating the estimate of the locations of portions of said photographs, which represent homologous imagery, adjacent the scanned portions.

2. An automatic map compilation system for deriving information from a pair of stereoscopic photographs by scanning portions thereof which represent homologous imagery comprising:

first means for scanning at least portions of a pair of stereoscopic photographs and developing video signals in accordance therewith;

second means, including computing means for storing photogrammetric data related to said pair of stereoscopic photographs and means for cyclically estimating for each cycle of operation of said second means, the locations of portions of said photographs which represent homologous imagery and for moving said photographs with respect to said first means, so that said first means synchronously scan the portions, the locations of which were estimated by said computing means; and

third means responsive to said video signals for correlating the signals therein and producing error signals which indicate an error in the estimates computed in said second means, said second means being responsive to said error signals to update the estimates computed therein.

3. An automatic map compilation system, for deriving information from a pair of stereoscopic photographs by scanning portions thereof selected as representing substantially homologous imagery

first means for scanning a pair of stereoscopic photographs and developing video signals in accordance therewith;

computing means, including means for storing photogrammetric data related to said pair of stereoscopic photographs and means for estimating, on the basis of said photogrammetric data and information derived during scanning contiguous portions of said photographs, for each cycle of operation of said computing means, portions of said pair of stereoscopic photographs substantially representing homologous imagery, said computing means further including means for controlling the positions of said photographs with respect to said first means, so that said first means means said estimated portions; and

second means responsive to said video signals for comprising said video signals therein, and producing information signals which are related to the degree of error in the selection of said portions as representing homologous imagery.

4. An automatic map compilation system for deriving data from a pair of stereoscopic photographs by scanning incremental areas thereof comprising:

means for scanning a pair of stereoscopic photographs of an object and developing video signals in accordance therewith;

computing means for controlling the positions of said means for scanning with respect to said pair of stereoscopic photographs to cause synchronous scanning of a first pair of incremental areas on said pair of stereoscopic photographs, said incremental areas having been selected on the basis of photogrammetric data including estimated height related to said pair of stereoscopic photographs as representing homologous object imagery;

means responsive to said video signals for analyzing said video signals therein and producing error signals which represent the degree of error in selecting said first pair of incremental areas as representing homologous object imagery; and

means for energizing said computing means with said error signals for updating therein said estimated height of the homologous object imagery represented in said first pair of incremental areas and for use in selecting a second pair of incremental areas on said pair of stereoscopic photographs as representing homologous object imagery.

5. An automatic map compilation system for deriving terrain height information from a pair of stereoscopic photographs of terrain, by scanning incremental areas thereof, comprising:

means for scanning a pair of stereoscopic photographs of terrain and developing video signals in accordance therewith;

computing means for controlling said means for scanning to cause synchronous scanning of a first pair of incremental areas on said pair of stereoscopic photographs, the locations of said incremental areas one said pair of stereoscopic photo having been computed on the basis of photogrammetric data including estimated height related to said pair of stereoscopic photographs as representing homologous terrain imagery;

means responsive to said video signals for analyzing said video signals therein and producing error signals which represent the degree of error in computing said first pair of incremental areas as representing homologous terrain imagery; and

means for energizing said computing means with said error signals for updating therein said estimated height of the homologous terrain imagery represented in said first pair of incremental areas and for use in computing the locations of a second pair of incremental areas on said pair of stereoscopic photographs as representing homologous terrain imagery.

6. An automatic map compilation system for recording terrain data, derived from scanning incremental areas of a pair of stereoscopic photographs of terrain comprising:

means for scanning a pair of stereoscopic photographs of terrain and developing video signals in accordance therewith;

computing means for controlling said means for scanning to cause synchronous scanning of substantially homologous incremental areas on said photographs in accordance with preprogrammed photogrammetric data related to said pair of stereoscopic photographs;

means responsive to said video signals for developing scanning error signals for adjusting the relative incremental areas Of the photographs being synchronously scanned, said scanning error signals also energizing said computing means for further controlling said means for scanning said pair of photographs; and

output means for recording terrain data derived from the synchronously scanned homologous areas of said pair of stereoscopic;

photographs.

7. An automatic map compilation system for deriving data from a pair of stereoscopic photographs by scanning incremental areas thereof, which represent homologous terrain imagery comprising:

means for scanning a pair of stereoscopic photographs of terrain and developing video signals in accordance therewith;

computing means for controlling said means for scanning to cause synchronous Scanning of a first pair of incremental areas on said pair of stereoscopic photographs, said incremental areas having been computed by said computing means on the basis of photogrammetric data including estimated height related to said pair of stereoscopic photographs as representing homologous terrain imagery;

means responsive to said video signals for analyzing said video signals therein and producing error signals which represent the degree of error in said computing means in computing said first pair of incremental areas as representing homologous terrain imagery;

means for energizing said computing means with said error signals for updating therein estimated height of the homologous terrain imagery represented in said first pair of incremental areas and for computing a second pair of incremental areas on said pair of stereoscopic photographs as representing homologous terrain imagery; and

output means for recording data related to the terrain represented by said homologous terrain imagery from signals derived from the scanning of said first pair of incremental areas.

8. An automatic map compilation system for deriving data from a pair of stereoscopic photographs of terrain by scanning incremental areas thereof, comprising:

means for scanning a pair of stereoscopic photographs of terrain and developing video signals in accordance therewith;

computing means for controlling said means for scanning to cause synchronous scanning of a first pair of incremental areas on said pair of stereoscopic photographs, said incremental areas having been computed by the computing means on the basis of photogrammetric data related to said pair of stereoscopic photographs as representing homologous terrain imagery;

means responsive to said video signals for analyzing said video signals therein and producing error signals which represent the degree of error in said computing means in computing said first pair of incremental area as representing homologous terrain imagery;

means for energizing said computing means with said error signals for updating therein estimated height of the homologous terrain imagery represented in said first pair of incremental areas and for computing a second pair of incremental areas on said pair of stereoscopic photographs as representing homologous terrain imagery; and

means for recording data of terrain represented by said homologous terrain imagery in response to said video signals developed during scanning of said first pair of incremental areas, and in response to signals representing updated estimated height from said computing means.

9. In an automatic map compilation system in which, incremental areas of a pair of stereoscopic photographs, supplied to said system, arm scanned to derive information therefrom, the improvement comprising:

means for scanning a pair of stereoscopic photographs;

computing means for controlling positions of said means for scanning with respect to said photographs to cause synchronous scanning of portions thereof in accordance with photogrammetric information stored by said computing means;

means for generating signals corresponding to imagery in the scanned portions of the photographs; and

means responsive to said video signals for developing scanning error signals for adjusting the relative incremental areas of the photographs being synchronously scanned, said scanning error signals also energizing said computing means for further controlling the homologous incremental areas on said photographs for synchronous scanning.

10. An automatic map compilation system for printing out information derived from scanning portions of a pair of stereoscopic photographs of terrain comprising:

means for scanning a pair of stereoscopic photographs;

computing means for controlling positions of said means for scanning with respect to said photographs to cause synchronous scanning of portions thereof in accordance with photogrammetric information stored by said computing means;

means for generating video signals corresponding to imagery in the scanned portions of the photographs;

means responsive to said video signals for developing scanning error signals for adjusting the relative incremental areas of the photographs being synchronously scanned, said scanning error signals also energizing said computing means for further controlling the subsequent selection of portions of said photographs for synchronous scanning; and

means for printing out an orthophoto corresponding to said generated signals and an altitude chart corresponding to the height of the terrain represented in the stereoscopic photographs substantially concurrently with the operation of scanning.

11. An automatic map compilation system for printing out terrain data by scanning portions of a pair of stereoscopic photographs of terrain comprising:

scanning means for scanning a pair of stereoscopic photographs;

computing means including means for storing photogrammetric information related to said pair of stereoscopic photographs for controlling positions of said means for scanning with respect to said photographs to cause synchronous scanning of portions thereof in accordance with the photogrammetric information stored by in said computing means;

means for generating signals corresponding to imagery in the scanned portions of the photographs;

means including correlating circuitry responsive to said generated signals for developing error signals, said scanning means being responsive to said error signals for deflecting said scanning means so as to change the positions of the centers of the portions of said photographs which are synchronously scanned so that substantially homologous incremental areas of the photographs are synchronously being scanned; and

means for printing out an orthophoto corresponding to said generated signals and an altitude chart corresponding to the height of the terrain represented in the stereoscopic photographs, substantially concurrently with the operation of scanning.

12. An automatic map compilation system for printing out an orthophoto and an altitude chart from signals derived by scanning incremental areas of a pair of stereoscopic photographs comprising:

means for scanning a pair of stereoscopic photographs and developing video signals in accordance therewith;

computing means for controlling said means for scanning to cause synchronous scanning of substantially homologous incremental areas on said photographs in accordance with photogrammetric data stored therein related to the pair of stereoscopic photographs;

means responsive to said video signals for developing scanning error signals for adjusting the relative incremental areas of the photographs being synchronously scanned, said scanning error signals also energizing said computing means for further controlling the homologous incremental areas on said photographs for synchronous scanning; and

means for printing out an orthophoto corresponding to said generated signals and an altitude chart corresponding to the height of the terrain represented in the stereoscopic photographs substantially concurrently with the operation of scanning.

13. An automatic map compilation system for recording information derived by scanning incremental areas of a pair of stereoscopic photographs comprising:

means for scanning a pair of stereoscopic photographs and developing video signals in accordance therewith;

computing means for controlling said means for scanning to cause synchronous scanning of substantially homologous incremental areas on said photographs in accordance with photogrammetric data stored therein related to the pair of stereoscopic photographs;

means responsive to said video signals for developing scanning error signals for adjusting the relative incremental areas of the photographs being synchronously scanned, said scanning error signals also energizing said computing means for further controlling the homologous incremental areas on said photographs for synchronous scanning; and

means for incrementally recording image detail from said synchronously scanned homologous incremental areas and altitude information derived from the synchronously scanned homologous areas of the stereoscopic photographs.

14. An automatic map compilation system for deriving printable information by scanning incremental areas of a pair of stereoscopic photographs comprising:

scanning means for electronically scanning a pair of stereoscopic photographs;

means for generating electrical signals corresponding to imagery in scanned portions of said photographs;

means for correlating said electrical signals to detect relative time displacements therebetween and producing height error signals in accordance therewith;

means responsive to said height error signals for modifying the portions of said photographs being synchronously scanned to establish time coincidence between said electrical signals generated during the synchronous scanning of the portions of said photographs;

a computer responsive to said height error signals for calculating altitude information of the portions of said photographs being synchronously scanned in accordance therewith and with photogrammetric information stored therein, said computer further controlling relative portions of said photographs to be scanned;

first printout means coupled to receive said electrical signals for providing a record in orthographic projection corresponding to said stereoscopic photographs; and

second printout means coupled to the computer for providing;

a record indicative of the altitudes of the record printed out by said first printout means.

15. An automatic map compilation system for deriving printable information by scanning portions of a pair of stereoscopic photographs comprising:

positioning means for positioning a pair of stereoscopic photographs and a photosensitive film sheet in predetermined fixed relationships to each other;

scanning means for electronically scanning predetermined portions of said stereoscopic photographs, said portions defining centers;

means for moving said positioning means in a predetermined pattern;

means for generating electrical signals corresponding to imagery in scanned portions of said photographs;

means for correlating corresponding portions of said generated electrical signals to detect relative time displacements therebetween, and producing height error signals in accordance therewith;

means responsive to said height error signals for independently varying the positions of the centers of the scanned portions of said photographs relative to each other, to establish time coincidence of said generated electrical signals;

a computer for calculating the altitudes of the imagery in the scanned portions of said photographs in accordance with photogrammetric data stored therein, and said height error signals supplied thereto; and

printout means responsive to the altitudes calculated in said computer for printing out said altitudes on said photosensitive film sheet.

16. An automatic map compilation system for printing out information derived from scanning portions of a pair of stereoscopic photographs comprising:

support means for supporting a pair of stereoscopic photographs and a photosensitive film sheet in predetermined fixed positions thereon;

scanning means for electronically scanning predetermined portions of said stereoscopic photographs;

means for moving said support means in a predetermine&

fixed pattern;

generating means for generating electrical signals corresponding to imagery in scanned portions of said photographs;

means for correlating corresponding portions of said generated electrical signals to detect relative time displacements therebetween and to produce height error signals in accordance there-. with;

a computer responsive to said height error signals and to photogrammetric information stored therein for controlling the synchronous scanning of substantially homologous portions of said stereoscopic photographs; and

printout means responsive to said generated electrical signals corresponding to the scanned portions of said photographs printing out on said photosensitive film sheet image elements, so as to provide a record in orthographic projection corresponding to said stereoscopic photographs.

17. An automatic map compilation system for printing out information on photosensitive film sheets, said information out information on photosensitive film sheets, said information being derived by scanning incremental areas of a pair of stereoscopic photographs comprising:

a movable table on which a pair of stereoscopic photographs and a pair of photosensitive film sheets to be exposed in accordance with information derived from photographic detail in the stereoscopic photographs are adapted to be placed in fixed relationship to each other;

means for automatically moving said movable table in a predetermined pattern;

scanning means for scanning each of said photographs with an individually controllable raster;

movable lens means for directing the scanning rasters of said scanning means to selected incremental areas of said photographs;

a computer responsive to signals corresponding to the position of said movable table which is related to said pair of stereoscopic photographs and to photogrammetric data stored therein for directing the scanning rasters, which scan said photographs, to selected areas thereof;

means for modifying the photogrammetric data in accordance with the actual positions of the photographs as determined during an alignment process preparatory to automatically moving said movable table in said predetermined pattern;

means for generating signals corresponding to imagery in the scanned areas on the photographs;

means responsive to said generated signals for correlating corresponding portions of the signals to detect relative time displacements therebetween;

error detecting means responsive to the signals having relative time displacements for developing height and tilt error signals and applying them to said scanning means so as to vary the relative positions and shapes of the scanning rasters on the stereoscopic photographs in order to substantially eliminate the detected relative tinge displacements between the portions of said signals and establish time coincidence therebetween, said computer further being energized by said height error signals to correct the previously approximated altitude of the incremental area represented by the said incremental areas being scanned and further control the incremental scanned areas on the next scanning cycle by incorporating the corrected altitude in computations performed therein;

first printout means responsive to the corrected calculated altitudes in said computer for incrementally printing out on one of said photosensitive film sheets information corresponding to altitudes of said scanned incremental areas; and

second printout means responsive to said generated signals corresponding to the scanned areas on the photographs for incrementally printing out on the other of said photosensitive film sheets image elements so as to provide a record in orthographic projection corresponding to said stereoscopic photographs.

18. In an automatic map compilation system, of the type in which a pair of stereoscopic photographs, supplied thereto, are positioned for scanning to derive data by scanning portions thereof, an alignment arrangement comprising:

means for positioning a pair of stereoscopic photographs with respect to one another;

means for electronically scanning said pair of stereoscopic photographs;

means for generating video signals corresponding to imagery in the scanned portions of the photographs;

a computer connected to control the scanning means;

means for applying appropriate photogrammetric information related to the pair of stereoscopic photographs to the computer for storage therein;

means for manually controlling the computer to cause the scanning of particular selected portions of the photographs;

remote electronic viewing means coupled to display a representation of the selected portions to an operator for use in aligning the corresponding selected portions of the respective photographs in order to compensate for any misalignment in the acutal positioning of said photographs with respect to one another;

means for supplying signals indicative of the coordinates of the selected portions of the photographs to the computer in order to modify the stored photogrammetric information stored therein; and

means for printing selected marks on associated photosensitive sheets to designate positions corresponding to selected portions of the photographs.

19. An automatic map compilation system for deriving information from a pair of stereoscopic photographs supplied thereto by scanning incremental areas thereof comprising:

movable means for transporting and moving in a predetermined profiling pattern a pair of stereoscopic photographs fixed in position with respect to one another;

position indicating means for developing signals indicative of the position of said movable means with respect to predetermined references;

electronic scanning means individually associated with each of said stereoscopic photographs for scanning incremental areas of the photographs with controllable rasters;

a computer for controlling synchronous scanning of substantially homologous incremental areas of the photographs in accordance with specific photogrammetric data related to the particular stereoscopic photographs and their relative positions on said movable means;

means responsive to signals from the computer for directing the respective scanning rasters to the selected incremental areas on the photographs for synchronous scanning;

means for generating video signals corresponding to imagery in the scanned areas of the photographs;

error sensing means including correlating means responsive to said generated signals to detect relative time displacements therebetween, for developing height error signals in response thereto, said height error signals being supplied to said scanning means to cause a relative displacement between said scanning rasters, so as to minimize the relative time displacements between said correlated video signals, said computer further being energized by said height error signals to;

adjust the previously estimated altitude of the incremental areas being scanned and further incorporate said adjusted altitude in calculating the position of homologous incremental areas on the photographs to be synchronously scanned; and

means for printing out photographic detail derived from said video signals in orthographic relationship and altitude information pertaining to the scanned photographs, derived from the computer.

20. The system defined by claim 19 further comprising:

means responsive to the motion of said movable table for generating a signal indicative of the motion thereof; and

means responsive to said motion indicating signal for generating deflecting signals so as to cause substantially zero displacement between the centers of the scanning rasters generated by said electronic scanning means and the centers of the incrementally scanned areas, while, said photographs are moved in said predetermined profiling pattern,

21. The system defined by claim 19 further comprising

raster shaping means energized by signals representing height and tilt information of said incremental areas being scanned ant further energized by said positioning indicating means to produce compensating signals corresponding to tilt components of said scanned incremental areas and to energize said scanning means therewith for controlling the sizes and shapes of said scanning rasters so as to scan substantially homologous incremental areas.

22. The system defined by claim 19 further comprising:

means for applying a servo error signal from said means responsive to signals from the computer to said electronic scanning means to deflect said scanning rasters to compensate for errors in the positioning of said means responsive to signals from the computer.

23. The system defined by claim 19 wherein said error sensing means further includes means responsive to said generated video signals to eliminate predetermined frequency components therefrom, and to detect relative time displacements therebetween, for developing height error signals in response thereto in combination with the signals developed by said correlating means included in said error sensing means, said height error signals being supplied to said scanning means to cause a relative displacement between said scanning rasters so as to minimize the relative time displacements between said video signals.

24. In an automatic map compilation system of the type, scanning portions of a pair of stereoscopic photographs supplied thereof, to derive information therefrom, an arrangement, comprising:

first and second movable means for transporting and moving a pair of stereoscopic photographs;

electronic scanning means associated with each of said stereoscopic photographs for scanning at least portions thereof and developing video signals in accordance with the imagery contained therein;

computing means for cyclically estimating for each cycle of operation of said computer means estimating on the basis of photogrammetric data related to said pair of stereoscopic photographs stored in said computing means positions of portions of said photographs which represent homologous imagery and controlling said first and second movable means to move said photographs with respect to said electronic scanning means to cause the synchronous scanning of said portions which represent homologous imagery;

error sensing means responsive to said video signals for analyzing said video signals therein and producing error signals which represent the degree of error of said computing means in estimating said portions as representing homologous imagery; and

means for energizing said computing means with said error signals so as to update the photogrammetric data related to said portions which have been synchronously scanned, and store said updated data therein.

25. The system defined by claim 24 further including:

third movable means responsive to controlling signals from said computing means for transporting and moving a material having a photosensitive surface; and

output means responsive to said video signals for producing an orthographic recording of imagery in said pair of stereoscopic photographs by exposing a portion of said material having a photosensitive surface with light signals corresponding to said video signals which are developed by said electronic scanning means.

26. The system defined by claim 24 further including:

means responsive to controlling signals from said computing means for transporting and moving a material having a photosensitive surface; and

output means responsive to signals from said computing means, said signals representing updated altitude information derived from said updated photogrammetric data related to said portions of said pair of stereoscopic photographs which have been synchronously scanned, for producing an altitude chart represented by the imagery in said pair of stereoscopic photographs by exposing a portion of said material having, a photosensitive surface with said signals.

27. In an automatic map compilation system, in which, incremental areas, of a pair of stereoscopic photographs supplied thereto, are scanned to derive information therefrom the arrangement comprising:

table means for mounting and moving at least a pair of stereoscopic photographs in a predetermined profiling pattern said photographs being fixedly mounted on said table means;

means including computing means and scanning means for scanning portions of said at least pair of stereoscopic photographs with rasters of predetermined patterns and configurations; and

means responsive to signals derived from said table means for energizing said scanning means so that the centers of said rasters substantially follow the centers of said portions of said photographs as controlled by said computing means, as said photographs are being moved by said table means in said predetermined profiling pattern.

28. In a mapping system an arrangement for synchronizing the position of an electronically deflected scanning beam to follow a moving object to be scanned during particular repetitive intervals comprising:

means for generating an electrical signal indicative of the motion of said object;

dual channel integrators for integrating said signal;

means for alternatively discharging said integrators as said moving object passes predetermined points; and

means for alternatively energizing said electronically deflected beam with the outputs of the respective integrators in synchronism with independent timing pulses by switching between the outputs thereof so as to deflect the beam in accordance with the selected integrator output.

29. In a mapping system of the type wherein information is derived from scanning an object, an arrangement for controlling scanning means which scan with a raster of a predetermined configuration a portion of a movable object so that the center of said raster follows the center of the portion of said movable object including:

Optical encoding means for detecting movement of said movable object and producing signals in accordance therewith; and

means responsive to said signals for producing output signals whose characteristics are related to the movement of said movable object and to energize said scanning means therewith so that the center of the raster of said scanning means substantially follows the center of the scanned portion of said object.

30. In an automatic map compilation system, wherein video signals are produced by electronically scanning incremental areas of a pair of stereoscopic photographs supplied thereto said incremental areas being selected by a computer for each cycle of operation thereof on the basis of photogrammetric data supplied thereto and altitude data previously updated therein so as to scan substantially homologous incremental areas, the arrangement comprising:

error sensing means including first and second correlating means, said first correlating means being responsive to said generated video signals to detect relative time displacements therebetween and producing a first height error sensing signal in response thereto, said second correlating means being responsive to a selected frequency bandwidth of the generated video signals for detecting relative time displacements therebetween and developing a second height error signal, said error sensing means further including means for combining said first and second height error signals and producing an output height error signal which is indicative of the degree of error in the selection of said incremental areas as representing homologous areas by said computer.

31. In an automatic map compilation system, wherein video signals are produced by scanning with scanning means in predetermined raster patterns and configurations incremental areas of a pair of stereoscopic photographs supplied thereto, said incremental areas having been selected on the basis of photogrammetric data related to said pair of photographs and data related to contiguous incremental areas by computing means as representing homologous imagery, the arrangement comprising:

height error sensing means responsive to said video signals for correlating the signals therein, and developing height error signals which are indicative of the degree of error in the selection of said incremental areas by said computing means as representing homologous imagery; and

electronic raster shape means responsive to said video signals and including means for switching said signals therein in a predetermined timing sequence as a function of said predetermined configurations of said rasters for producing slope-defining signals as a function of detected incremental altitude variations within said incremental areas being scanned, said computing means being adapted to be energized by said signals indicative of incremental altitude variations within said incremental areas being scanned.

32. In an automatic map compilation system, wherein video signals are produced by scanning with scanning means in predetermined raster patterns and configurations, incremental areas of a pair of stereoscopic photographs, supplied to said, the incremental areas being selected as representing homologous imagery by computing means on the basis of photogrammetric data related to said pair of photographs, and data related to contiguous incremental areas, the arrangement comprising:

height error sensing means responsive to said video signals for correlating the signals therein and developing height error signals which are related to the degree of error in the selection of said incremental areas by said computing means as representing homologous imagery;

electronic raster shape means responsive to said video signals and including means for switching said video signals therein in a predetermined timing sequence as a function of said predetermined configurations of said rasters for producing slope signals as a function indicative of incremental altitude variations within said incremental areas being scanned; and

means responsive to said slope for energizing said scanning means so that the configurations of said rasters may be shaped in accordance therewith, thereby further controlling the raster configurations for scanning said incremental areas of said pair of stereoscopic photographs which represent homologous imagery.

33. In an automatic mapping system, in which a pair of stereoscopic terrain photographs supplied thereto are scanned to record information therefrom, the combination comprising:

means for positioning a pair of stereoscopic terrain photographs in a controllable relationship to one another including means for moving said pair of stereoscopic terrain photographs along a predetermined profiling pattern with respect to preselected references;

means for electronically scanning said photographs;

means for generating video signals corresponding to terrain imagery in portions of the scanned photographs;

a digital computer coupled to control the scanning means;

correlation circuitry responsive to said video signals for developing height error signals;

raster shaping means energized by signals from said computer corresponding to height and tilt information stored therein and further energized by signals from said positioning means corresponding to the position of said pair of photographs with respect to said preselected references for developing tilt compensating signals for energizing said scanning means to control the size and shape of the scanned portions of said photographs so that they correspond to substantially homologous terrain incremental areas; and

means for recording altitude and terrain photographic information derived from the synchronously scanned homologous areas of the stereoscopic photographs.

34. In an automatic mapping system, in which a pair of stereoscopic terrain photographs supplied thereto are scanned to record information therefrom, the combination comprising:

means for positioning a pair of stereoscopic photographs in a controllable relationship to one another including means for moving said pair of stereoscopic photographs along a predetermined profiling pattern with respect to preselected references;

means for electronically scanning said photographs;

.

means for generating video signals corresponding to imagery in portions of the scanned photographs;

a digital computer coupled to control the scanning means;

correlation circuitry responsive to said video signals for developing height error signals; and

raster shaping means energized by signals from said computer corresponding to height and tilt information stored therein and further energized by signals from said positioning means corresponding to the position of said pair of photographs with respect to said preselected references for developing tilt compensating signals for energizing said scanning means to control the size and shape of the scanned portions of said photographs so that they correspond to substantially homologous incremental areas.

35. In an automatic map compilation system, wherein video signals are produced by electronically scanning incremental areas of a pair of stereoscopic photographs supplied thereto, said incremental areas being selected by a included in said system on the basis of prestored photogrammetric data and altitude data previously updated, so as to scan substantially homologous areas, said video signals being correlated to produce height and tilt error signals, said height error signals being used to vary the relative positions of the scanned areas so as to synchronously scan substantially homologous areas, the arrangement comprising:

raster shaping means energized by said tilt error signals corresponding to tilt components of the incremental areas being scanned, and further energized by position indicating means which relate the positions of the photographs with respect to predetermined references to said prestored photogrammetric data for producing tilt compensating signals to control the sizes and shapes of the incremental areas being scanned as a function of effective tilt directions of the incremental areas being scanned.

36. In an automatic map compilation system wherein a pair of stereoscopic photographs are scanned to derive information therefrom the combination comprising:

means for electronically scanning a pair of stereoscopic photographs;

means for generating video signals corresponding to imagery in scanned portions of the photographs;

a digital computer for controlling, for each cycle of operation thereof the portions of the photographs to be scanned in accordance with preprogrammed photogrammetric data related to said pair of stereoscopic photographs, stored therein; and

correlation circuitry responsive to said video signals for developing error signals, said circuitry including threshold circuit means responsive to a preselected correlation level for providing an inhibiting signal when the correlation of said video signals falls below said selected level.

37. An automatic map compilation system adapted to derive information from a pair of stereoscopic photographs supplied thereto comprising:

movable means for transporting and moving a pair of stereoscopic photographs;

position indicating means for developing signals indicative of the position of said movable means with respect to predetermined references;

electronic scanning means individually associated with each of said photographs for scanning incremental areas of the photographs with controllable rasters;

a computer for controlling synchronous scanning of substantially homologous incremental areas of the photographs in accordance with specific photogrammetric data related to the particular stereoscopic photographs and their positions on said movable means;

means responsive to signals from the computer for directing the respective scanning rasters to the selected incremental areas on the photographs for synchronous scanning;

means for generating video signals corresponding to imagery in the scanned areas of the photographs;

error sensing means, including differential delay means correlating means responsive to said generated signals to determine the magnitudes of any relative time displacements therebetween, for developing height error signals corresponding to said magnitudes to energize said computer so that previously estimated altitudes of the incremental areas being scanned are updated therein for calculating the positions of homologous incremental areas on the photographs be synchronously scanned; and

means for printing out image detail derived from said video, signals and altitude information derived from the computer pertaining to the scanned photographs.

38. In an automatic map compilation system wherein video signals are produced by electronically scanning incremental areas of stereoscopic photographs in a predetermined pattern consisting of a predetermined number of scanning lines, the selection of the areas being controlled by a computer as a function of calculations performed therein based on prestored photogrammetric data and altitude data previously updated so as to scan substantially homologous terrain areas, said video signals being correlated to produce height and tilt error signals, used to vary the computer selected scanned areas so as to synchronously scan substantially homologous areas, the arrangement comprising:

Y-parallax compensating means, including correlation circuitry, for producing signals in response to Y-parallax in a direction perpendicular to a line at which said photographs were recorded, by correlating the video signals corresponding to the areas of the photographs scanned in predetermined scanning patterns, and predetermined relative time displacements being introduced in said video signals so as to produce signals indicative of Y-parallax in said photographs, said Y-parallax compensating means further including means responsive to said correlation signal to further vary the relative areas synchronously scanned so as to compensate for any parallax therein,

39. The system defined by claim 38 wherein said video signals are time displaced relative to each other by a delay equal to a multiple of the time necessary to generate a complete scanning line within said patterns so as to produce said signals indicative of Y-parallax in said photographs.

40. The system defined by claim 38 wherein the correlated video signals produced by scanning incremental areas selected by said computer for synchronous scanning which have been relatively displaced in a first direction with respect to one another in the parallax determining direction are compared with correlated video signals produced by scanning said incremental areas which have been displaced relative to one another in said parallax determining direction but opposite in polarity from said first displacement, the resultant of the compared signals producing said signal indicative of parallax in said photographs in the direction of displacement.

41. An automatic map compilation system for recording data, derived by scanning incremental areas of a pair of stereoscopic photographs supplied thereto comprising:

support means for supporting and moving a pair of stereoscopic photographs, fixedly supported thereon means for synchronously scanning in a predetermined pattern consisting of a series of sequentially generated scanning lines, incremental areas of the stereoscopic photographs and developing signals in accordance therewith;

means responsive to said signals and photogrammetric data related to said photographs for controlling said scanning means so that incremental areas representing substantially homologous imagery on said photographs are synchronously scanned; and

means for recording altitude data and photographic detail derived from the synchronously scanned homologous incremental areas of the stereoscopic photographs.

42. The system defined by claim 41 further including, means for controlling said sequentially generated scanning lines scan to substantially contiguous terrain strips within said incremental areas, the entire areas being scanned in a preselected direction.

44. A scanning system for scanning a surface comprising:

means for electronically scanning a surface in a predetermined series of sequentially generated scanning lines each line, scanning an equal strip of said surface from one end thereof to the other; and

means for deflecting successive lines of said series so that predetermined noncontiguous strips of said surface are successively scanned with the entire surface being scanned by said predetermined series of sequentially generated scanning lines.

43. The system defined by claim 44 further including means for controlling said sequentially generate scanning lines of said series so that successive lines scan noncontiguous terrain strips within opposing halves of each of said incremental areas in accordance with a predetermined pattern, the entire areas being scanned by the complete series of the sequentially generated scanning lines.

45. A system for scanning a surface comprising:

means for electronically scanning a surface in a predetermined series of sequentially generated scanning lines each line, scanning an equal strip of said surface from one end there to the other; and

means for deflecting successive lines of said series so that predetermined strips of opposing halves of said surface are successively scanned and so that said surface is substantially scanned by said predetermined series of sequentially generated scanning lines.