Methods and apparatus for providing navigational information associated with locations of objects

• US 8,773,465 B2
• Filed: 09/11/2009
• Issued: 07/08/2014
• Est. Priority Date: 09/11/2009
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: France, Peter, Sharp, Kevin, Ralston, Stuart
• Primary Examiner(s): TISSOT, ADAM D
• Application Number:
  US12/558,080
• Publication Number:
  US 20110066375A1
• Time in Patent Office: 1,761 Days
• Field of Search: 701/213, 701/408, 701/538, 701/541, 701/487, 345/633, 345/629, 345/632
• US Class Current: 345/633
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence

Abstract

An apparatus for providing navigational information associated with locations of objects includes an imaging device configured to acquire image data, a visual display coupled to the imaging device and configured to display the image data, a position measuring device configured to determine position information associated with the imaging device, and an orientation device configured to determine orientation information associated with the imaging device. The apparatus may also include a rendering system coupled to the visual display, the position measuring device, and the orientation device. The rendering system may be configured to determine image coordinates associated with a location of an object and provide a navigational graphic on the visual display oriented relative to the image coordinates.

Claims

1. An apparatus for providing navigational information associated with locations of objects comprising:

an imaging device configured to acquire image data, the imaging device calibrated to enable transformation between three-dimensional coordinates of the objects in space and corresponding two-dimensional image coordinates of the image data in an image plane;

a visual display coupled to the imaging device and configured to display the image data;

a position measuring device disposed in a fixed position relative to the imaging device and configured to determine position information associated with the imaging device;

one or more tilt sensors configured to measure a pitch and a roll of the imaging device;

an orientation device configured to determine orientation information associated with the imaging device; and

a rendering system coupled to the visual display, the position measuring device, the one or more tilt sensors, and the orientation device, the rendering system configured to;

obtain three-dimensional coordinates of a location of an object;

using the three-dimensional coordinates, calibration of the imaging device, and one or more transformations, determine two-dimensional image coordinates of the image data in the image plane that are associated with the location of the object; and

provide a navigational graphic on the visual display oriented relative to the two-dimensional image coordinates of the image data in the image plane.

2. The apparatus of claim 1 wherein the processor is configured to obtain the three-dimensional coordinates of the location of the object from a memory.

3. The apparatus of claim 1 wherein the processor is configured to obtain the three-dimensional coordinates of the location of the object from a remote database.

4. The apparatus of claim 1 wherein the orientation information includes an orientation of the imaging device about a vertical axis.

5. The apparatus of claim 1 wherein the orientation information is determined using the position information provided by the position measuring device.

6. The apparatus of claim 1 wherein the orientation device is a compass configured to provide an orientation of the imaging device about a vertical axis.

7. The apparatus of claim 1 wherein the visual display is wirelessly coupled to the imaging device.

8. The apparatus of claim 1 wherein the position measuring device comprises a GNSS receiver.

9. The apparatus of claim 1 wherein the navigational graphic is in the form of an arrow extending toward the image coordinates associated with the location of the object.

10. The apparatus of claim 1 wherein the imaging device, the visual display, the position measuring device, the one or more tilt sensors, the orientation device, and the rendering system are integrated in a handheld unit.

11. An apparatus for providing navigational information associated with locations of objects comprising:

an imaging device configured to acquire image data, the imaging device calibrated to enable transformation between three-dimensional coordinates of the objects in space and corresponding two-dimensional image coordinates of the image data in an image plane;

a visual display coupled to the imaging device and configured to display the image data;

a position measuring device disposed in a fixed position relative to the imaging device and configured to determine a position of the imaging device;

an orientation device configured to determine an orientation of the imaging device about a vertical axis;

a rotation sensor configured to determine rotation of the imaging device about a horizontal axis; and

one or more processors coupled to the visual display, the position measuring device, the orientation device, and the rotation sensor, the one or more processor configured to;

obtain three-dimensional coordinates of a location of an object;

using the three-dimensional coordinates, calibration of the imaging device, and one or more transformations, determine two-dimensional image coordinates of the image data in the image plane that are associated with the location of the object; and

provide a navigational graphic on the visual display oriented relative to the two-dimensional image coordinates of the image data in the image plane.

12. The apparatus of claim 11 wherein the rotation of the imaging device about the horizontal axis includes pitch and roll.

13. The apparatus of claim 11 wherein the imaging device, the visual display, the position measuring device, the orientation device, the rotation sensor, and the one or more processors are integrated in a handheld unit.

14. A method of providing navigational information associated with a location of at least one object, the method comprising:

acquiring image data using an imaging device, the imaging device calibrated to enable transformation between three-dimensional coordinates of an object in space and corresponding two-dimensional image coordinates of the image data in an image plane;

determining position information associated with a position of the imaging device;

obtaining rotation information associated with a rotation of the imaging device about a horizontal axis;

determining orientation information associated with an orientation of the imaging device;

obtaining three-dimensional coordinates of the location of the object;

using the three-dimensional coordinates, calibration of the imaging device, and one or more transformations, determining two-dimensional image coordinates on an image plane that are associated with the location of the object; and

providing a navigational graphic on a visual display oriented relative to the two-dimensional image coordinates of the image data in the image plane.

15. The method of claim 14 wherein the orientation of the imaging device is about a vertical axis.

16. The method of claim 14 wherein the navigational graphic is superimposed on the image data.

17. The method of claim 14 wherein the navigational graphic is in the form of an arrow.

18. The method of claim 14 wherein the position information is determined using a GNSS antenna and receiver.

19. The method of claim 14 wherein the two-dimensional image coordinates are on a portion of the image plane that is outside a field of view of the imaging device.

20. The method of claim 14 wherein the image coordinates correspond to a portion of the image data.