Method and system for measuring angles based on 360 degree images

• US 8,600,700 B2
• Filed: 09/10/2012
• Issued: 12/03/2013
• Est. Priority Date: 01/08/2009
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Vogel, Michael, Soubra, Omar, Muncy, Darin
• Primary Examiner(s): Le, John H
• Application Number:
  US13/609,209
• Publication Number:
  US 20130002807A1
• Time in Patent Office: 449 Days
• Field of Search: 702/42, 702/57, 702/82, 702/85, 702/150, 702/151, 702/158, 702/159, 702/167, 348/36, 348/37, 359/448
• US Class Current: 702/151
• CPC Class Codes: G01B 11/26 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G02B 13/06 Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A method of measuring an angle includes orienting a measurement device at a reference position characterized by a reference angle. A first panoramic image defined by a predetermined range of elevation angles is acquired where the first panoramic image includes an object. A first bearing of the object in relation to the reference angle is determined and the measurement device is rotated to a measurement position characterized by a measurement angle. A second panoramic image defined by the predetermined range of elevation angles is acquired where the second panoramic image includes the object. A second bearing of the object in relation to the reference angle is determined. The measurement angle is computed as a function of the first bearing and the second bearing.

Claims

1. A method of measuring an angle, the method comprising:

orienting a measurement device at a reference position characterized by a reference angle;

acquiring a first panoramic image defined by a predetermined range of elevation angles, wherein the first panoramic image includes an object;

determining a first bearing of the object in relation to the reference angle from the first panoramic image;

rotating the measurement device to a measurement position characterized by a measurement angle;

acquiring a second panoramic image defined by the predetermined range of elevation angles, wherein the second panoramic image includes the object;

determining a second bearing of the object in relation to the reference angle from the second panoramic image; and

computing the measurement angle as a function of the first bearing and the second bearing.

2. The method of claim 1 wherein the first panoramic image and the second panoramic image comprise 360°

panoramic images.

3. The method of claim 1 further comprising measuring a distance from the measurement device to the object.

4. The method of claim 3 wherein measuring the distance from the measurement device to the object comprises use of an electronic distance measurement unit.

5. The method of claim 1 wherein the measurement device comprises a housing and a GPS antenna mounted on the housing.

6. The method of claim 1 wherein the measurement device comprises an imaging device.

7. The method of claim 6 wherein the imaging device comprises at least one of a CCD array or a CMOS array.

8. A method of measuring an angle, the method comprising:

orienting an imaging device at a reference position characterized by a reference angle;

acquiring a first 360°

panoramic image defined by a predetermined range of elevation angles, wherein the first 360°

panoramic image includes an object;

determining a first bearing of the object in relation to the reference angle from the first 360°

panoramic image;

rotating the imaging device to a measurement position characterized by a measurement angle;

acquiring a second 360°

panoramic image defined by the predetermined range of elevation angles, wherein the second 360°

panoramic image includes the object;

determining a second bearing of the object in relation to the reference angle from the second 360°

panoramic image; and

computing the measurement angle as a function of the first bearing and the second bearing.

9. The method of claim 8 wherein the reference position is different from the measurement position, and rotating the imaging device to the measurement position includes repositioning the imaging device to the measurement position, and wherein the first 360°

panoramic image and the second 360°

panoramic image both include a plurality of object points, the method further comprising;

determining a location of the imaging device at the reference position;

determining a location of the imaging device at the measurement position; and

identifying the plurality of object points in the second 360°

panoramic image.

10. The method of claim 9 wherein acquiring the first 360°

panoramic image including the plurality of object points and determining the location of the imaging device at the reference position are performed concurrently.

11. The method of claim 9 wherein acquiring the first 360°

panoramic image including the plurality of object points and determining the location of the imaging device at the reference position are performed simultaneously.

12. The method of claim 9 wherein acquiring the second 360°

panoramic image including the plurality of object points and determining the location of the imaging device at the measurement position are performed concurrently.

13. The method of claim 9 wherein acquiring the second 360°

panoramic image including the plurality of object points and determining the location of the imaging device at the measurement position are performed simultaneously.

14. The method of claim 9 wherein identifying the plurality of object points comprises a photogrammetry process.

15. The method of claim 9 wherein further comprising estimating an azimuth associated with the imaging device oriented at the reference position.