System and method for cost-effective, high-fidelity 3D-modeling of large-scale urban environments
First Claim
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1. A method for three-dimensional (3D) modeling of an urban environment, said method comprising the steps of:
- a) acquiring 3D aerial imagery of said urban environment;
b) acquiring 3D street-level imagery of said urban environment;
c) identifying pixels representing ground control-points and tie-points in every instance of said imagery, in which said ground control points and tie-points have been captured; and
d) co-registering said instances of said 3D aerial imagery and said 3D street-level imagery using at least one of ground control-points and tie-points;
wherein said co-registered imagery enables extraction of ground coordinates for each pixel located in overlapping segments of aerial imagery and said street-level imagery representing a 3D-point within said urban environment and the ability to switch between over lapping segments.
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Abstract
A method, a system, and a program for high-fidelity three-dimensional modeling of a large-scale urban environment, performing the following steps:
- acquiring imagery of the urban environment, containing vertical aerial stereo-pairs, oblique aerial images; street-level imagery; and terrestrial laser scans,
- acquiring metadata pertaining to performance, spatial location and orientation of imaging sensors providing the imagery;
- identifying pixels representing ground control-points and tie-points in every instance of the imagery where the ground control-points and tie-points have been captured;
- co-registering the instances of the imagery using the ground control-points, the tie-points and the metadata, and
- referencing the co-registered imagery to a common, standard coordinate system.
The referenced co-registration obtained enables:
- extraction of ground coordinates for each pixel located in overlapping segments of the imagery, representing a 3D-point within the urban environment; and
- applying data pre-processing and 3D modeling procedures;
- to create the high-fidelity 3D model of a large-scale urban environment.
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Citations
13 Claims
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1. A method for three-dimensional (3D) modeling of an urban environment, said method comprising the steps of:
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a) acquiring 3D aerial imagery of said urban environment; b) acquiring 3D street-level imagery of said urban environment; c) identifying pixels representing ground control-points and tie-points in every instance of said imagery, in which said ground control points and tie-points have been captured; and d) co-registering said instances of said 3D aerial imagery and said 3D street-level imagery using at least one of ground control-points and tie-points; wherein said co-registered imagery enables extraction of ground coordinates for each pixel located in overlapping segments of aerial imagery and said street-level imagery representing a 3D-point within said urban environment and the ability to switch between over lapping segments. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A computer program product, stored on one or more non-transitory computer-readable media, comprising instructions operative to cause a programmable processor to:
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a) acquire imagery of said urban environment comprising; 1) 3D aerial imagery comprising at least one of; i) stereo-pair of vertical aerial images; and
ii) oblique aerial images taken in four main directions; and2) 3D street-level imagery comprising; i) a plurality of terrestrial photographs; and ii) a plurality of terrestrial laser scans; b) acquire metadata comprising information pertaining to;
performance, spatial location and orientation of imaging sensors providing said aerial imagery and street-level imagery;c) identify pixels representing ground control-points and tie-points in every instance of said imagery, in which said ground control-points and tie-points have been captured; d) co-register said instances of said imagery using said ground control points, said tie-points and said metadata; and e) reference said co-registration of said imagery to a common, standard coordinate system, enabling thereby extraction of ground coordinates for each pixel located in overlapping segments of said imagery, representing a 3D-point within said urban environment. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification