Feature detection apparatus and method for measuring object distances

• US 8,633,983 B2
• Filed: 12/28/2009
• Issued: 01/21/2014
• Est. Priority Date: 07/02/2007
• Status: Active Grant

• Current Assignee: Trimble Jena GmbH (Trimble Inc.)
• Original Assignee: Trimble Jena GmbH (Trimble Inc.)
• Inventors: Kludas, Torsten, Mein, Nick, Swann, Brendon
• Primary Examiner(s): Dastouri, Mehrdad
• Assistant Examiner(s): DOBBS, KRISTIN SENSMEIER
• Application Number:
  US12/648,097
• Publication Number:
  US 20100165101A1
• Time in Patent Office: 1,485 Days
• Field of Search: 348/125, 348/135, 348/136, 382/321
• US Class Current: 348/135
• CPC Class Codes: G01C 3/04 Adaptation of rangefinders for combination with telescopes or binoculars
• CPC Class Codes: G06V 10/987 with the intervention of an operator

Abstract

A feature detection apparatus and method for obtaining in a defined area of interest a parametric shape based on a selected combination of parameter values, constituting an approximation to an object feature. The feature detection apparatus includes an input unit for receiving at least two area indicator lines for defining in a digital image an area of interest, a parameter range defining unit for defining ranges of at least two parameters of a parametric shape, for which the parametric shape intersects at least one of the area indicator lines; a parameter selection unit for selecting a combination of parameter values from the parameter ranges, for which the parametric shape constitutes an approximation to an object feature of the object in the area of interest; and an output unit for providing the parametric shape based on said combination of parameter values for a display in the digital image.

Claims

1. A feature detection apparatus comprising:

an input unit, wherein the input unit is capable of receiving (i) at least two unconnected area indicator lines for defining in a digital image an area of interest comprising an object feature, where every two adjacent area indicator lines bound at least a portion of the object feature and at least one of every two adjacent area indicator lines intersects the object feature, and (ii) information identifying a parametric shape that approximates a shape of the object feature in the area of interest;

a parameter range defining unit, wherein the parameter range defining unit is capable of defining ranges of parameter values, using a processor, for each of at least two parameters that define properties of the parametric shape, where the ranges of parameter values for each of the at least two parameters define the parametric shape so that the parametric shape intersects at least one of the area indicator lines;

a detection unit, wherein the detection unit is capable of detecting object feature pixels in the digital image corresponding to the object feature in the area of interest;

a parameter selection unit, wherein the parameter selection unit is capable of selecting a combination of values from the ranges of parameter values, using the processor, that provide an approximation of the parametric shape to the object feature in the area of interest, the combination of values selected by calculating a deviation between the parametric shape based on the combination of parameter values and the object feature pixels; and

an output unit, wherein the output unit is capable of providing the parametric shape based on said combination of values for display in the digital image approximately overlying the object feature.

2. The feature detection apparatus of claim 1 wherein the parameter range defining unit is capable of defining ranges of the parameter values for a plurality of different parametric shapes, for which each of the parametric shapes intersects at least one of the area indicator lines.

3. The feature detection apparatus of claim 1 wherein the parameter selection unit is capable of selecting the combination of values such that the parametric shape constitutes a best fit approximation to the object feature in the area of interest.

4. The feature detection apparatus of claim 1 wherein the parameter range defining unit is capable of defining sub ranges of the at least two parameters for which the parametric shape intersects the at least two area indicator lines.

5. The feature detection apparatus of claim 1 wherein the input unit is capable of receiving at least two indicator points that define end points of one of the at least two area indicator lines.

6. The feature detection apparatus of claim 1 wherein the at least two area indicator lines are based on two indicator points, each of the at least two area indicator lines extending through one of the two indicator points so that the area indicator lines define an essentially rectangular area of interest.

7. The feature detection apparatus claim 1 further comprising:

a filter unit, wherein the filter unit is capable of filtering out from said object feature pixels, using the processor, those object feature pixels exceeding a specific distance to said parametric shape;

a recalculation unit, wherein the recalculation unit is capable of recalculating the approximation to said object feature, using the processor, based on the object feature pixels not including those object feature pixels exceeding the specific distance.

8. The feature detection apparatus of claim 1 wherein the parametric shape based on said combination of values is superimposed on the object feature in the digital image on a display unit, using the processor.

9. The feature detection apparatus of claim 1 wherein the parameter selection unit is capable of selecting another combination of values from the ranges of parameter values, using the processor, for which a second parametric shape constitutes an approximation to a second object feature in the area of interest, and wherein a central line between the two parametric shapes is calculated.

10. An optical instrument comprising the feature detection apparatus according to claim 1.

11. The optical instrument according to claim 10 further comprising a first control element, wherein the first control element is capable of defining on the parametric shape a measurement pixel and converting the measurement pixel into an approximation of coordinates of a position assuming a default distance between the position and the optical instrument.

12. The optical instrument according to claim 11 further comprising:

a lens arrangement, wherein the lens arrangement is capable of sighting the object feature;

a positioning unit, wherein the positioning unit is capable of adjusting the optical axis of the lens arrangement relative to at least one reference axis; and

a second control element, wherein the second control element is capable of instructing the positioning unit, using the processor, to adjust the optical axis of the lens arrangement onto the position to be measured.

13. The optical instrument according to claim 12 further comprising:

a distance measuring unit, wherein the distance measuring unit is capable of measuring a distance to the object feature along a measurement axis of the distance measuring unit parallel to the optical axis of the lens arrangement, wherein

the second control element is capable of instructing the distance measuring unit, using the processor, to measure the distance to the position to be measured, and

the first control element is capable of recalculating the coordinates of the position based on the measured distance.

14. The optical instrument according to claim 12 further comprising a camera aligned with the optical axis of the lens arrangement, wherein the camera is capable of acquiring the digital image of the area of interest.

15. A method of feature detection, the method comprising:

receiving at least two unconnected area indicator lines for defining in a digital image an area of interest comprising an object feature, where every two adjacent area indicator lines bound at least a portion of the object feature and at least one of every two adjacent area indicator lines intersects the object feature;

receiving information identifying a parametric shape that approximates a shape of the object feature in the area of interest;

defining ranges of parameter values for each of at least two parameters that define properties of the parametric shape, where the ranges of parameter values for each for the at least two parameters define the parametric shape so that the parametric shape intersects at least one of the area indicator lines;

detecting object feature pixels in the digital image corresponding to the object feature in the area of interest;

selecting a combination of values from the ranges of parameter values that provide an approximation of the parametric shape to the object feature in the area of interest, the combination of values selected by calculating a deviation between the parametric shape based on the combination of parameter values and the object feature pixels; and

providing the parametric shape based on said combination of values for display in the digital image approximately overlying the object feature.

16. The method of claim 15 further comprising defining ranges of the parameter values for a plurality of different parametric shapes, for which each of the parametric shapes intersects at least one of the area indicator lines.

17. The method of claim 15 further comprising selecting the combination of values such that the parametric shape constitutes a best fit approximation to the object feature in the area of interest.

18. The method of claim 15 further comprising defining sub ranges of the at least two parameters for which the parametric shape intersects the at least two area indicator lines.

19. The method of claim 15 further comprising receiving at least two indicator points that define end points of one of the at least two area indicator lines.

20. The method of claim 15 wherein the at least two area indicator lines are based on two indicator points, each of the at least two area indicator lines extending through one of the two indicator points so that the area indicator lines define an essentially rectangular area of interest.

21. The method of claim 15 wherein the object feature pixels are detected by processing the area of interest using a detection algorithm or by an operator selecting the object feature pixels in the area of interest.

22. The method of claim 15 further comprising:

filtering out from said object feature pixels those object feature pixels exceeding a specific distance to said parametric shape; and

recalculating the approximation to said object feature based on the object feature pixels not including those object feature pixels exceeding the specific distance.

23. The method of claim 15 wherein the parametric shape based on said combination of values is superimposed on the object feature in the digital image on a display unit.

24. The method of claim 15 further comprising:

selecting another combination of values from the ranges of parameter values, for which a second parametric shape constitutes an approximation to a second object feature in the area of interest; and

calculating a central line between the two parametric shapes.

25. The method of claim 15 further comprising

defining on the parametric shape a measurement pixel;

and

converting the measurement pixel into an approximation of coordinates of a position assuming a default distance to the position.

26. The method of claim 25, further comprising:

sighting the object feature with a lens arrangement; and

adjusting the optical axis of the lens arrangement onto the position.

27. The method of claim 26 further comprising:

measuring a distance to the position along a measurement axis; and

recalculating the coordinates of the position based on the measured distance.

28. The method of claim 25 further comprising acquiring the digital image of the area of interest.

29. A non-transitory computer readable medium including instructions adapted to cause data processing means to carry out the method of claim 15.