Any aspect passive volumetric image processing method
First Claim
Patent Images
1. A method of processing recorded images, the method comprising:
- selecting a pair of recorded images having pixels representing an overlapping scene, each recorded image having associated with it a camera optical center and a camera orientation;
transforming the pair of recorded images into a pair of transformed images in which pixels corresponding to a common scene object point are located in corresponding horizontal lines in the pair of transformed images; and
performing an image correlation using the pair of transformed images;
wherein transforming the pair of recorded images comprises;
establishing a shared spherical coordinate system having an orientation with a polar axis parallel to a line passing through the camera optical centers of the pair of recorded images; and
transforming the pixels of each of the recorded images via the stored spherical coordinate system to produce the transformed images, such that for each transformed image, each row of pixels represents a line of constant longitude angle beta and each column of pixels represents a line of constant latitude angle alpha.
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Abstract
Recorded images having an overlapping scene transformed into a Quantitative Cylispheric Stereo Pair (QCSP) of images. Pixels corresponding to a common scene object point are located in the same or nearly the same horizontal lines in the QCSP of images. The QCSP'"'"'s produced can take a number of different formats, including traditional stereo pairs, radial stereo pairs, and general case cylispheric stereo pairs. The QCSP'"'"'s can be used for various three-dimensional imaging processes, including passive volumetric surveying and the production of three-dimensional visualization models.
162 Citations
24 Claims
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1. A method of processing recorded images, the method comprising:
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selecting a pair of recorded images having pixels representing an overlapping scene, each recorded image having associated with it a camera optical center and a camera orientation; transforming the pair of recorded images into a pair of transformed images in which pixels corresponding to a common scene object point are located in corresponding horizontal lines in the pair of transformed images; and performing an image correlation using the pair of transformed images; wherein transforming the pair of recorded images comprises; establishing a shared spherical coordinate system having an orientation with a polar axis parallel to a line passing through the camera optical centers of the pair of recorded images; and transforming the pixels of each of the recorded images via the stored spherical coordinate system to produce the transformed images, such that for each transformed image, each row of pixels represents a line of constant longitude angle beta and each column of pixels represents a line of constant latitude angle alpha. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of processing image data, the method comprising:
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storing first image data and first camera location data; storing second image data and second camera location data; geometrically transforming the first image data and the second image data based upon the first camera location data and the second camera location data to produce first transformed image data and second transformed image data; and performing an image correlation using the first and second transformed image data; wherein geometrically transforming comprises; defining a polar axis of a shared spherical coordinate system based upon the first camera location and the second camera location; defining a rotation transformation matrix based upon the polar axis and the shared spherical coordinate system; generating first and second sets of rays which define pixels of the first and second transformed image data, respectively; transforming the first and second sets of rays into a coordinate system related to the first and second image data; and forming the first and second transformed image data based upon pixels in the first and second image data intersected by the first and second sets of rays. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method of processing recorded images, the method comprising:
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selecting first and second recorded images having an overlapping scene; defining a shared spherical coordinate system having a polar axis parallel to a line between first and second camera locations associated with the first and second recorded images; generating first and second sets of rays which originate from the first and second camera locations, respectively, each ray being defined by angles ∝ and
β
, where ∝
is a latitude angle of the ray with respect to the polar axis and where β
is a longitude angle of a plane defined by the ray and the polar axis with respect to a reference plane through the polar axis;defining a transformation between a global coordinate system related to the first and second recorded images and the shared spherical coordinate system; converting the first and second set of rays from the shared spherical coordinate system to individual camera coordinate systems; populating a first transformed image with pixels of the first recorded image intersected by the first set of rays; populating a second transformed image with pixels of the second recorded image intersected by the second set of rays; and wherein for each of the first and second transformed images, each row of pixels represents a line of constant longitude angle β and
each column of pixels represents a line of constant latitude angle ∝
. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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Specification