General orientation positioning system

• US 8,363,928 B1
• Filed: 12/24/2010
• Issued: 01/29/2013
• Est. Priority Date: 12/24/2010
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Sharp, Kevin Andrew Ian
• Primary Examiner(s): CHAWAN, SHEELA C
• Application Number:
  US12/978,428
• Time in Patent Office: 767 Days
• Field of Search: 382/154, 382/106, 382/100, 382/109, 382/293, 345/419, 345/418, 345/427, 345/423, 356/604, 356/601, 356/614, 356/4.03, 348/95, 348/E7.085, 348/137, 348/142, 348/143, 700/159, 700/259, 700/254
• US Class Current: 382/154
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A method for determining an absolute orientation in a global coordinate system is provided. In each grid position an image capturing device is directed to a selected object located in a scene. The method comprises: (A) reconstructing a scale model of the scene using point, line and/or region correspondences in multiple views of the scene obtained by the image capturing device placed in at least three grid positions; (B) obtaining location coordinates of at least three grid positions in the global coordinate system; and (C) determining a similarity transform from a photogrammetric coordinate system to the global coordinate system by determining rotation, translation and scale of the image capturing device for each grid position.

Claims

1. A method for determining an absolute orientation in a global coordinate system comprising:

(A) reconstructing a scale model of a scene including an image capturing device by using point, line and/or region correspondences in multiple views of said scene obtained by said image capturing device placed in at least three grid positions;

wherein said image capturing device in each said grid position is directed to a selected object located in said scene;

(B) obtaining location coordinates of said grid positions in said global coordinate system;

and

(C) determining a similarity transform from a photogrammetric coordinate system to said global coordinate system by determining rotation, translation and scale for each said grid position;

wherein orientation of said image capturing device in said global coordinate system in each said grid position is obtained.

2. The method of claim 1 further comprising:

(D) determining an orientation of an external vector in said global coordinate system in each said grid position;

wherein an orientation of said external vector in said photogrammetric coordinate system of said image capturing device in each said grid position is known.

3. The method of claim 1, wherein said step (A) further comprises:

(A2) obtaining at least three views of said scene by using said image capturing device selected from the group consisting of;

a digital camera;

a digital video camera;

a digital camcorder;

a stereo digital camera;

a stereo video camera;

a motion picture camera; and

a television camera.

4. The method of claim 1, wherein said step (B) further comprises:

(B1) determining location coordinates of each said grid position.

5. The method of claim 1, wherein said step (B) further comprises:

(B2) determining location coordinates of each said grid position by using a radio positioning system (RADPS) receiver selected from the group consisting of;

a GPS receiver;

a GLONASS receiver;

a combined GPS/GLONASS receiver;

a GALILEO receiver;

a COMPASS receiver;

a Global Navigational Satellite System (GNSS) receiver; and

a pseudolite receiver.

6. The method of claim 1, wherein said step (C) further comprises:

(C1) determining a rotation transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position of said image capturing device by using singular value decomposition (SVD) of said similarity transform.

7. The method of claim 1, wherein said step (C) further comprises:

(C2) determining a translation transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position of said image capturing device by subtracting a mean value in said similarity transform.

8. The method of claim 1, wherein said step (C) further comprises:

(C3) determining a scale transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position of said image capturing device by using a standard deviation in said similarity transform.

9. The method of claim 1 further comprising:

(D) substantially continuously obtaining orientation data for said image capturing device in said global coordinate system from an initial orientation of said image capturing device obtained in said global coordinate system by using a relative orientation system.

10. The method of claim 9, wherein said step (D) further comprises:

(D1) selecting said relative orientation system from the group consisting of;

a MEMS gyro;

an accelerometer; and

an inertial navigational system.

11. A method for determining an absolute orientation in a global coordinate system comprising:

(A) reconstructing a scale model of a scene using point, line and/or region correspondences in multiple views of said scene obtained by using a plurality of image capturing devices, each said image capturing device being placed in a grid position;

wherein each said image capturing device in each said grid position is directed to at least one selected object located in said scene;

(B) obtaining location coordinates of said grid positions in said global coordinate system;

and

(C) determining a similarity transform from each said photogrammetric coordinate system to said global coordinate system by determining rotation, translation and scale of each said image capturing device locate in one said grid position;

wherein orientation of each said image capturing device in said global coordinate system in each said grid position is obtained.

12. The method of claim 11 further comprising:

(D) transmitting a set of viewing data of said selected object obtained by each image capturing device between each said image capturing device.

13. The method of claim 11 further comprising:

(E) transmitting a set of viewing data of said selected object obtained by each said image capturing device to a database of viewing data of said selected object.

14. The method of claim 11 further comprising:

(F) determining an orientation of an external vector in said global coordinate system in each said grid position;

wherein an orientation of said external vector in said photogrammetric coordinate system in each said grid position is known.

15. The method of claim 11, wherein said step (A) further comprises:

(A1) obtaining at least three views of said scene by using at least three image capturing devices;

wherein at least one said image capturing device is selected from the group consisting of;

a digital camera;

a digital video camera;

a digital camcorder;

a stereo digital camera;

a stereo video camera;

a motion picture camera; and

a television camera.

16. The method of claim 11, wherein said step (A) further comprises:

(A2) obtaining a plurality of views of said scene by using a plurality of image capturing devices.

17. The method of claim 11, wherein said step (B) further comprises:

(B1) determining location coordinates of each said grid position.

18. The method of claim 11, wherein said step (B) further comprises:

(B2) determining location coordinates of each said grid position by using a radio positioning system (RADPS) receiver selected from the group consisting of;

a GPS receiver;

a GLONASS receiver;

a combined GPS/GLONASS receiver;

a GALILEO receiver;

a COMPASS receiver;

a Global Navigational Satellite System (GNSS) receiver; and

a pseudolite receiver.

19. The method of claim 11, wherein said step (C) further comprises:

(C1) using a set of viewing data of said selected object obtained by each said image capturing device to determine a rotation transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position by using singular value decomposition (SVD) of said similarity transform.

20. The method of claim 11, wherein said step (C) further comprises:

(C2) using a set of viewing data of said selected object obtained by each said image capturing device to determine a translation transformation from said local coordinate system to said global coordinate system for each said grid position by subtracting a mean value in said similarity transform.

21. The method of claim 11, wherein said step (C) further comprises:

(C3) using a set of viewing data of said selected object obtained by each said image capturing device to determine a scale transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position by using a standard deviation in said similarity transform.

22. A method for determining an absolute orientation in a global coordinate system comprising:

(A) reconstructing a scale model of a scene using point, line and/or region correspondences in multiple views of said scene obtained by using a plurality of initial image capturing devices, each said initial image capturing device being placed in a predetermined grid position;

wherein each said initial image capturing device in each said grid position is directed to at least one selected object located in said scene;

(B) determining a similarity transform from a photogrammetric coordinate system of an initial image capturing device to said global coordinate system by determining rotation, translation and scale of said initial image capturing device for each said grid position;

(C) building a database of orientations of said initial image capturing device in said global coordinate system for each said grid position;

and

(D) determining an orientation of a secondary image capturing device placed in at least one said predetermined grid position by directing said secondary image capturing device to said at least one selected object located in said scene and by accessing said database of orientations.

23. An apparatus for determining of an absolute orientation in a global coordinate system comprising:

(A) a means for reconstructing a scale model of a scene using point, line and/or region correspondences in multiple views of said scene by using at least one image capturing device placed in at least three grid positions;

wherein said image capturing device in each said grid position is directed to the same selected object located in said scene;

(B) a means for obtaining location coordinates of a plurality of grid positions of said image capturing device in said global coordinate system;

and

(C) a means determining a similarity transform from a photogrammetric coordinate system to said global coordinate system by determining rotation, translation and scale of said image capturing device for each said grid position;

wherein orientation of said image capturing device in said global coordinate system in each said grid position is obtained.

24. The apparatus of claim 23, wherein said means (A) further comprises:

(A1) an image capturing device selected from the group consisting of;

a digital camera;

a digital video camera;

a digital camcorder;

a stereo digital camera;

a stereo video camera;

a motion picture camera; and

a television camera.

25. The apparatus of claim 23, wherein said means (B) further comprises:

(B1) a radio positioning system (RADPS) receiver selected from the group consisting of;

a GPS receiver;

a GLONASS receiver;

a combined GPS/GLONASS receiver;

a GALILEO receiver;

a COMPASS receiver;

a Global Navigational Satellite System (GNSS) receiver; and

a pseudolite receiver.

26. The apparatus of claim 23, wherein said means (C) further comprises:

(C1) a processor configured to determine a rotation transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position of said image capturing device by using singular value decomposition (SVD) of said similarity transform.

27. The apparatus of claim 23, wherein said means (C) further comprises:

(C2) a processor configured to determine a translation transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position of said image capturing device by subtracting a mean value in said similarity transform.

28. The apparatus of claim 23, wherein said means (C) further comprises:

(C3) a processor configured to determine a scale transformation from said photogrammetric coordinate system to said global coordinate system for each said grid position of said image capturing device by using a standard deviation in said similarity transform.

29. The apparatus of claim 23 further comprising:

(D) a relative orientation system configured to substantially continuously obtain a relative orientation data of said image capturing device in said global coordinate system from said absolute orientation data of said image capturing device in said global coordinate system.

30. The apparatus of claim 29, wherein said means (D) further comprises:

(D1) a relative orientation system selected from the group consisting of;

a MEMS gyro;

an accelerometer; and

an inertial navigational system.

31. The apparatus of claim 23 further comprising:

(E) a transmitter configured to transmit to a database a set of viewing data of said selected object.

32. The apparatus of claim 23 further comprising:

(F) a receiver configured to receive a set of viewing data of said selected object from said database.