Determining tilt angle and tilt direction using image processing
First Claim
1. A survey instrument, comprising:
- a support pole having a first end and a second end;
a global navigation satellite system (GNSS) receiver coupled to the first end of the support pole and having a known spatial relationship with the second end of the support pole, the GNSS receiver configured to determine a location of an antenna phase center of the GNSS receiver in a reference frame;
an imaging device coupled to the support pole, the imaging device configured to obtain image information;
a processor in electrical communication with the GNSS receiver and the imaging device, the processor configured to;
receive the location of the antenna phase center from the GNSS receiver;
receive the image information from the imaging device;
determine a pose of the imaging device using the image information;
determine a tilt angle of the support pole and a tilt direction of the support pole in the reference frame, the tilt angle and the tilt direction of the support pole determined using the pose of the imaging device; and
determine a location of the second end of the support pole in the reference frame, the location determined using the location of the antenna phase center of the GNSS receiver and the tilt angle and the tilt direction of the support pole.
3 Assignments
0 Petitions
Accused Products
Abstract
A survey instrument includes a surveying device configured to perform survey measurements and an imaging device coupled to the surveying device and having a known spatial relationship with the surveying device. The imaging device may be configured to obtain image information. The survey instrument also includes a processor in electrical communication with the imaging device. The processor may be configured to receive the image information from the imaging device, process the image information to determine a pose of the imaging device, and determine a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame. Tilt angle and the tilt direction of the survey instrument may be determined using the pose of the imaging device.
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Citations
37 Claims
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1. A survey instrument, comprising:
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a support pole having a first end and a second end; a global navigation satellite system (GNSS) receiver coupled to the first end of the support pole and having a known spatial relationship with the second end of the support pole, the GNSS receiver configured to determine a location of an antenna phase center of the GNSS receiver in a reference frame; an imaging device coupled to the support pole, the imaging device configured to obtain image information; a processor in electrical communication with the GNSS receiver and the imaging device, the processor configured to; receive the location of the antenna phase center from the GNSS receiver; receive the image information from the imaging device; determine a pose of the imaging device using the image information; determine a tilt angle of the support pole and a tilt direction of the support pole in the reference frame, the tilt angle and the tilt direction of the support pole determined using the pose of the imaging device; and determine a location of the second end of the support pole in the reference frame, the location determined using the location of the antenna phase center of the GNSS receiver and the tilt angle and the tilt direction of the support pole. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A survey instrument, comprising:
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a surveying device configured to perform survey measurements; an imaging device coupled to the surveying device and having a known spatial relationship with the surveying device, the imaging device configured to obtain image information; a processor in electrical communication with the imaging device, the processor configured to; receive location information from at least one of the surveying device or the imaging device; receive the image information from the imaging device; process the image information to determine a pose of the imaging device; determine a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame, the tilt angle and the tilt direction of the survey instrument determined using the pose of the imaging device; and determine a location of a point of interest in the reference frame, the location determined using the location information and the tilt angle and the tilt direction of the survey instrument. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A method of determining a location of a point of interest using a survey instrument, the method comprising:
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receiving a location of an antenna phase center from a global navigation satellite system (GNSS) receiver; receiving image information from an imaging device; determining a pose of the imaging device using the image information; determining a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame, the tilt angle and the tilt direction of the survey instrument determined using the pose of the imaging device; and determining the location of the point of interest using the location of the antenna phase center and the tilt angle and the tilt direction of the survey instrument. - View Dependent Claims (28, 29, 30, 31, 32)
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33. A method of determining a tilt angle and a tilt direction of a survey instrument, the method comprising:
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aligning the survey instrument with a local gravity vector at a first station; acquiring a first image at the first station using an imaging device, the first image capturing a plurality of features; positioning the survey instrument at a second station different from the first station; acquiring a second image at the second station using the imaging device, the second image capturing at least a portion of the plurality of features captured in the first image; processing the first image and the second image to determine a pose of the imaging device at the second station; and determining the tilt angle and the tilt direction of the survey instrument at the second station, the tilt angle and the tilt direction determined using the pose of the imaging device. - View Dependent Claims (34, 35, 36, 37)
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Specification