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Methods and apparatus for performing angular measurements

  • US 8,379,929 B2
  • Filed: 11/11/2009
  • Issued: 02/19/2013
  • Est. Priority Date: 01/08/2009
  • Status: Active Grant
First Claim
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1. A method of determining an azimuth and an elevation of a point visible in a first image, the azimuth and the elevation of the point determined in a real world coordinate system, the method comprising:

  • positioning an imaging device at a first position;

    acquiring the first image at the first position, the first image including the point;

    thereafterperforming a first rotation of the imaging device;

    acquiring a second image at the first position, the second image acquired after performing the first rotation, wherein a portion of the first image overlaps a portion of the second image;

    determining correspondences between features in overlapping portions of the first image and the second image;

    determining a first transformation between coordinates of the first image and coordinates of the second image based on the correspondences;

    determining a second transformation between the coordinates of the second image and the real world coordinate system; and

    computing the azimuth and the elevation of the point in the real world coordinate system based on the first transformation and the second transformation.

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