System and method for determining geo-location(s) in images

• US 9,083,859 B2
• Filed: 01/08/2015
• Issued: 07/14/2015
• Est. Priority Date: 12/07/2009
• Status: Active Grant

• Current Assignee: Cognitech, Inc.
• Original Assignee: Cognitech, Inc.
• Inventors: Rudin, Leonid I., Yu, Ping
• Primary Examiner(s): Perungavoor, Sath V
• Assistant Examiner(s): WILLIAMS, JEFFERY A
• Application Number:
  US14/592,824
• Publication Number:
  US 20150125044A1
• Time in Patent Office: 187 Days
• US Class Current: 1/1
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 7/30 Determination of transform parameters for the alignment of images, i.e. image registration
• CPC Class Codes: G06T 7/50 Depth or shape recovery
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

Determining GPS coordinates of some image point(s) positions in at least two images using a processor configured by program instructions. Receiving position information of some of the positions where an image capture device captured an image. Determining geometry by triangulating various registration objects in the images. Determining GPS coordinates of the image point(s) positions in at least one of the images. Saving GPS coordinates to memory. This system and method may be used to determine GPS coordinates of objects in an image.

Claims

1. A method of determining Global Position System (GPS) coordinates of some image point(s) positions in at least two images using a processor configured by program instructions comprising:

receiving GPS and Inertial Measurement Unit (IMU) coordinates of some of the positions where an image capture device captured an image;

determining boresight rotation and translation between a GPS/IMU device coordinate system and a camera coordinate system;

determining geometry between camera positions and orientations by triangulating various registration objects that appear in each image;

determining north, east, down, (NED) coordinates of image point(s) in at least one of the images;

determining GPS coordinates of the image point(s) positions in the at least one of the images;

saving the GPS coordinates to memory.