Method and apparatus for capturing, geolocating and measuring oblique images

• US 7,787,659 B2
• Filed: 08/06/2008
• Issued: 08/31/2010
• Est. Priority Date: 11/08/2002
• Status: Active Grant

• Current Assignee: Pictometry International Corporation (Eagleview Technologies, Inc. /Wa/)
• Original Assignee: Pictometry International Corporation (Eagleview Technologies, Inc. /Wa/)
• Inventors: Gray, Robert L., Giuffrida, Frank D., Schultz, Stephen L., Mondello, Charles
• Primary Examiner(s): Carter; Aaron W
• Application Number:
  US12/186,889
• Publication Number:
  US 20090096884A1
• Time in Patent Office: 755 Days
• Field of Search: 382/106, 382/154, 382/284, 382/294, 348113-118, 348143-148, 356 3- 309, 356601-613
• US Class Current: 382/106
• 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 11/04 Interpretation of pictures
• CPC Class Codes: G03B 15/006 Apparatus mounted on flying objects
• CPC Class Codes: G03B 37/02 with scanning movement of lens or cameras
• CPC Class Codes: G06T 11/203 Drawing of straight lines or curves
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes

Abstract

A computerized system for displaying, geolocating, and taking measurements from captured oblique images includes a data file accessible by the computer system. The data file includes a plurality of image files corresponding to a plurality of captured oblique images, and positional data corresponding to the images. Image display and analysis software is executed by the system for reading the data file and displaying at least a portion of the captured oblique images. The software retrieves the positional data for one or more user-selected points on the displayed image, and calculates a separation distance between any two or more selected points. The separation distance calculation is user-selectable to determine various parameters including linear distance between, area encompassed within, relative elevation of, and height difference between selected points.

Claims

1. A computerized system for displaying, geolocating, and making measurements based upon captured oblique images, comprising:

a computer system executing image display and analysis software reading;

a plurality of captured oblique images;

geo-location data corresponding to said plurality of captured oblique images; and

tessellated ground plane data that closely approximates at least a portion of the terrain depicted within said captured oblique images, said tessellated ground plane data being indicative of a plurality of interconnected facets with the size of the facets defined using a uniform number of pixels in the captured oblique images; and

wherein the image display and analysis software when executed by the computer system causes the computer system to display one of the captured and geo-located oblique images and calculate a geo-location of one or more selected points within said displayed image, said software causing the computer system to calculate a separation distance between any two or more selected points within said displayed image.

2. The system of claim 1, wherein each of said plurality of facets of the tessellated ground plane data has a respective pitch and slope.

3. The system of claim 2, wherein said tessellated ground plane data comprises a plurality of vertices, each of said plurality of vertices having respective elevations and defining corners of said plurality of interconnected facets, two of said plurality of vertices shared by each of said interconnected facets.

4. The system of claim 3, wherein said image display and analysis software, when executed by the computer system, causes the computer system to identify which of said plurality of facets corresponds to a selected point on said displayed image, and calculate an elevation of said selected point dependent at least in part upon the elevation of the vertices of the facet corresponding to the selected point, said image display and analysis software when executed by the computer system, causes the computer system to use said calculated elevation for calculating said separation distance between said selected point and one or more further selected points.

5. The system of claim 4, wherein said image display and analysis software when executed by the computer system, causes the computer system to calculate a height of an object within said displayed image by calculating the separation distance between two or more selected points.

6. The system of claim 1, wherein said tessellated ground plane data is one of superimposed upon and fit to said displayed image.

7. The system of claim 1, wherein said image display and analysis software when executed by the computer system, causes the computer system to provide user-selectable measuring modes accessible through at least one of pull-down menus, toolbars and keyboard commands.

8. The system of claim 1, wherein each of said images were captured by an image-capturing device, said geo-location data further comprises at least one of:

time data representing the time when an oblique image is captured;

location data representing the location of the image-capturing device when an oblique image is captured;

orientation data representing the orientation of the image-capturing device when an oblique image is captured;

correction data representing correction factors for the image-capturing device; and

elevation data representing an average elevation of the surface captured by the image-capturing device.

9. The system of claim 8, wherein said location data includes latitude, longitude, and altitude of the image-capturing apparatus when an oblique image is captured.

10. The system of claim 8, wherein said orientation data includes roll, pitch, yaw and heading of said image-capturing device when an oblique image is captured.

11. The system-of claim 8, wherein said image-capturing device is a camera and said correction data includes at least one of focal length, sensor size, aspect ratio, principle point offset, distortion, and pixel pitch.

12. The system of claim 1, further comprising:

an image-capturing device, said image-capturing device capturing oblique images and issuing image-data signals corresponding to captured images;

at least one geo-locating device, each said at least one geo-locating device issuing a corresponding at least one geo-locating signal, each said at least one geo-locating signal being indicative at least in part of a geo-location of said image-capturing device; and

wherein said computer system receives and stores said image-data signals and said at least one geo-locating signal; and

wherein said image display and analysis software when executed by the computer system, causes the computer system to read said image-data signals and said at least one geo-locating signal, and associate each said image-data signal with a corresponding said at least one geo-locating signal.

13. The system of claim 12, wherein said at least one geo-locating device and said at least one geo-locating signal respectively comprise at least one of:

a clock issuing to said image-capturing computer system time data signals;

a global-positioning system (GPS) receiver receiving GPS signals and issuing to said image-capturing computer system location data signals indicative of a longitude and latitude;

an inertial navigation unit (INU) issuing to said image-capturing computer system velocity data signals indicative of a velocity of said image-capturing device;

a gyroscope issuing to said image-capturing computer system a pitch signal, a roll signal, and a yaw signal respectively indicative of a pitch, roll and yaw of said image capturing device;

a compass issuing to said image-capturing computer system heading data signals indicative of a heading of said image-capturing device; and

an altimeter issuing to said image-capturing computer system altitude data signals indicative of an altitude of said image-capturing device.

14. The system of claim 12, further comprising correction data indicative of characteristics of said image-capturing device including focal length, sensor size, radial distortion, principal point offset and alignment, said image display and analysis software utilizing said correction data to correct captured images.

15. The system of claim 12, further comprising an output data file created by said computer system executing said image display and analysis software, said output data file including a plurality of image files and geo-location data corresponding to each of said plurality of image files.

16. The system of claim 12, further comprising a platform carrying said image-capturing device a predetermined distance above a surface of interest.

17. The system of claim 1, further comprising:

an input device for selecting a starting point and an end point on the displayed image; and

wherein said image display and analysis software when executed by the computer system, causes the computer system to;

retrieve from geo-location data corresponding to said starting point and said end point;

reference tessellated ground plane data corresponding to a tessellated ground plane having a plurality of facets, each of said facets having a respective pitch and slope, said tessellated ground plane closely matching a terrain of said displayed oblique image;

connect said starting and end points with line segments, said line segments conforming to said pitch and slope of said facets to thereby follow said terrain; and

calculate the linear distance along said line segments between said starting and end points thereby taking into account said pitch and slope of said facets.

18. The system of claim 17, wherein said image display and analysis software when executed by the computer system, causes the computer system to superimpose said tessellated ground plane data upon said displayed oblique image.

19. The system of claim 17, wherein:

said input device selects-one or more intermediate points on the displayed image;

said image display and analysis software when executed by the computer system, causes the computer system to;

retrieve geo-location data corresponding to said one or more intermediate points; and

connect adjacent intermediate points to each other, and connect said starting and end points to adjacent intermediate points, with line segments, said line segments conforming to said pitch and slope of said facets to thereby follow said terrain; and

calculate the distance along said line segments between said starting and end points.

20. The system of claim 17, wherein said plurality of facets each correspond to equal areas of said displayed oblique image.

21. The system of claim 17, wherein said plurality of facets each includes an equal number of pixels of said displayed oblique image.

22. The system of claim 17, wherein said input device selects one or more intermediate points on said displayed image, to cause the computer system executing the image display and analysis software to retrieve the geo-location data corresponding to said intermediate points.

23. The system of claim 17, wherein said separation distance comprises a distance between two or more selected points, a height difference between two or more selected points, difference in elevation of two or more selected points, and an area encompassed by at least three points.

24. The system of claim 12 wherein said image capturing device captures oblique images of an area of interest by:

guiding the platform, by the computer system, along a first path to thereby target one or more target sectors with the image-capturing device;

capturing with the image-capturing device one or more oblique images to thereby cover an entirety of each said target sector in oblique images captured from a first perspective;

guiding the platform, by the computer system, along a second path to thereby target said target sectors;

capturing with the image-capturing device one or more oblique images to thereby cover an entirety of each said target sector in oblique images captured from a second perspective generally opposite from the first perspective;

repeating said guiding and capturing steps along paths substantially parallel to and spaced apart from said first and second paths and capturing one or more oblique images to thereby cover an entirety of each of said plurality of sectors in oblique images captured from each of said first and second perspectives; and

recording positional data indicative of a geo-location of said image-capturing device.

25. The system of claim 24, wherein said second path is substantially parallel relative to and 180°

(one-hundred and eighty degrees) from said first path.

26. The system of claim 24, wherein said second path is also spaced apart from said first path.

27. The system of claim 24, wherein:

said platform is guided along a third path by the computer system to thereby target one or more target sectors with the image-capturing device, said third path being substantially perpendicular to said first and second paths;

said image capturing device captures one or more oblique images to thereby capture an entirety of each said target sector in oblique images captured from a third perspective substantially parallel to said first and second perspectives; and

repeating said guiding and capturing steps along paths substantially parallel to and spaced apart from said third path and capturing one or more oblique images to thereby cover an entirety of each of said plurality of sectors in oblique images captured from said third perspective.

28. The system of claim 27, wherein:

said platform is guided along a fourth path by the computer system to thereby target one or more target sectors with the image-capturing device, said fourth path being substantially parallel with said third path and 180°

(one-hundred and eighty degrees) from said third path;

said image capturing devices capturing with the image-capturing device one or more oblique images to thereby capture an entirety of each said target sector in oblique images captured from a fourth perspective generally opposite from the third perspective; and

repeating said guiding and capturing steps along paths substantially parallel to and spaced apart from said fourth path and capturing one or more oblique images to thereby cover an entirety of each of said plurality of sectors in oblique images captured from said fourth perspective.

29. The system of claim 28, wherein said fourth path is also spaced apart from said third path.