Automated analytic stereo comparator
First Claim
1. A method of extracting topographic elevation from two partially overlapping images of terrain and two corresponding sets of airborne control data including respective camera stations, a set of camera parameters, respective roll angles, respective pitch angles, respective yaw angles, respective flight bearing angle, associated with each image stored in a random access memory device comprising the steps of:
- (a) identifying point and edge features in both the left image and the right image of said pair of images,(b) constructing a list of common features containing a first list of left photograph coordinates of common features in said left image and a second list of right photograph coordinates of common features in said right image,(c) projecting a common feature point in said left image from a left camera station onto a horizontal plane at a height h above a reference Datum plane,(d) calculating a first space coordinate of the projection of said common feature point onto said horizontal plane from said left image using the first set of airborne control data associated with said left image,(e) projecting said common feature point in said right image from a right camera station onto said horizontal plane,(f) calculating a second space coordinate of the projection of said common feature point onto said horizontal plane from said right image using the second set of airborne control data associated with said right image,(g) calculating an object space parallax between said first space coordinate and said second space coordinate,(h) estimating the true elevation h'"'"' of said common feature point from said object-space parallax, a base length, and the attitude of said left camera station,(i) repeating the steps (c) and (d) where said feature point is projected onto a new horizontal plane at height h'"'"' above said reference Datum to obtain a best three dimensional space coordinate of said feature point at elevation h'"'"',(j) repeating the steps (c) through (i) for each common feature point in said list of common features.
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Accused Products
Abstract
A method and an apparatus are disclosed that extract digital elevation data from a pair of stereo images with two corresponding sets of airborne control data associated with each image of the stereo image pair. Point and edge features are identified from the stereo image pair, projected from respective camera stations of the stereo images onto a horizontal projection plane using respective set of airborne control dam including respective positions of a camera station, the interior orientation and calibration data of the camera, respective roll angles, respective pitch angles, respective yaw angles of each image, and respective flight bearing angles. The space coordinate of each projection are compared in object space to obtain an object-space parallax. The topographic elevation of each feature is derived from said object-space parallax, a base length, and the altitude of a camera station autonomously to eliminate the need for stereoscopic viewing device or ground control data.
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Citations
14 Claims
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1. A method of extracting topographic elevation from two partially overlapping images of terrain and two corresponding sets of airborne control data including respective camera stations, a set of camera parameters, respective roll angles, respective pitch angles, respective yaw angles, respective flight bearing angle, associated with each image stored in a random access memory device comprising the steps of:
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(a) identifying point and edge features in both the left image and the right image of said pair of images, (b) constructing a list of common features containing a first list of left photograph coordinates of common features in said left image and a second list of right photograph coordinates of common features in said right image, (c) projecting a common feature point in said left image from a left camera station onto a horizontal plane at a height h above a reference Datum plane, (d) calculating a first space coordinate of the projection of said common feature point onto said horizontal plane from said left image using the first set of airborne control data associated with said left image, (e) projecting said common feature point in said right image from a right camera station onto said horizontal plane, (f) calculating a second space coordinate of the projection of said common feature point onto said horizontal plane from said right image using the second set of airborne control data associated with said right image, (g) calculating an object space parallax between said first space coordinate and said second space coordinate, (h) estimating the true elevation h'"'"' of said common feature point from said object-space parallax, a base length, and the attitude of said left camera station, (i) repeating the steps (c) and (d) where said feature point is projected onto a new horizontal plane at height h'"'"' above said reference Datum to obtain a best three dimensional space coordinate of said feature point at elevation h'"'"', (j) repeating the steps (c) through (i) for each common feature point in said list of common features. - View Dependent Claims (2, 3, 4, 5)
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6. A method of extracting topographic elevation from two partially overlapping images of terrain and two corresponding sets of airborne control data including respective camera station, a set of camera parameters, respective roll angle, respective pitch angle, respective yaw angle, respective flight bearing angle, associated with each image stored in an unprocessed mission media comprising the steps of:
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(a) retrieving both images and said both sets of airborne control data from said mission medium into a random access memory device, (b) identifying point and edge features in both the left image and the right image of said pair of images, (c) constructing a list of common features containing a first list of left photograph coordinates of common features in said left image and a second list of right photograph coordinates of common features in said right image, (d) projecting a common feature point in said left image from a left camera station onto a horizontal plane at a height h above a reference Datum plane, (e) calculating a first space coordinate of the projection of said common feature point onto said horizontal plane from said left image using the first set of airborne control data associated with said left image, (f) projecting said common feature point in said right image from a right camera station onto said horizontal plane, (g) calculating a second space coordinate of the projection of said common feature point onto said horizontal plane from said right image using the second set of airborne control data associated with said right image, (h) calculating an object space parallax between said first space coordinate and said second space coordinate, (i) estimating the true elevation h'"'"' of said common feature point from said object-space parallax, a base length, and the attitude of said left camera station, (j) repeating the steps (d) and (e) where said feature point is projected onto a new horizontal plane at height h'"'"' above said reference Datum to obtain a best three dimensional space coordinate of said feature point at elevation h'"'"', (k) repeating the steps (d) through (j) for each common feature point in said list of common features. - View Dependent Claims (7, 8, 9, 10)
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11. A stereocomparator for extracting topographical elevation information from digital image data and related airborne control data stored in a unprocessed mission media comprising:
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(a) a storage device containing said mission data medium storing at least one set of two partially overlapping images of terrain and two corresponding sets of airborne control data including respective camera station, a set of camera parameters, respective roll angle, respective pitch angle, respective yaw angle, respective flight bearing angle, associated with each image, (b) an input means for retrieving said pair of images and said two corresponding sets of airborne control data into a random access memory device, (c) a feature extraction means for identifying point and edge features in both the left image and the right image of said pair of images, (d) a common list construction means for constructing a list of common features containing a first list of left photograph coordinates of said common features in said left image and a second list of right photograph coordinates of said common features in said right image, (e) a projection means for projecting a common feature point in said left image from a left camera station onto a horizontal plane at a height h above a reference Datum plane and calculating a first space coordinate from left image projection, and projecting said common feature point in said right image from a right camera station onto said horizontal plane and calculating a second space coordinate from right image projection, (f) a coordinate comparator means for calculating an object space parallax between said first space coordinate and said second space coordinate, (g) a elevation estimator means for estimating the true elevation of said common feature point from said object space parallax, a base length, and the attitude of said left camera station. - View Dependent Claims (12, 13, 14)
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Specification