Feature reduction based on local densities for bundle adjustment of images
First Claim
1. A computer-implemented method for determining three-dimensional locations of features, comprising:
- receiving, by one or more computing devices, data associated with a plurality of images, wherein each of the plurality of images covers at least a portion of a geographic area;
detecting, by the one or more computing devices, features contained within the plurality of images;
determining, by the one or more computing devices, a plurality of matched features based on a comparison of the detected features contained within the plurality of images;
selecting, by the one or more computing devices, a subset of the plurality of matched features, wherein each respective matched feature of the subset is selected based at least in part on a quantity of other matched features in proximity to the respective matched feature;
determining, by the one or more computing device, three-dimensional positions associated with one or more of the matched features included within the selected subset; and
in response to a request for the three-dimensional positions, providing, by the one or more computing devices, bundle adjusted information associated with the three-dimensional positions.
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Accused Products
Abstract
Methods, systems, and computer program products are provided for determining camera parameters and three dimensional locations of features from a plurality of images of a geographic area. These include, detecting features in the plurality of images where each of the images cover at least a portion of the geographic area, comparing the detected features between respective ones of the images to determine a plurality of matched features, selecting a subset of the plurality of matched features and determining the camera parameters and the three dimensional positions of one or more of the detected features using the selected subset. The respective matched features are selected depending on a quantity of other matched features in proximity to the respective matched features.
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Citations
20 Claims
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1. A computer-implemented method for determining three-dimensional locations of features, comprising:
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receiving, by one or more computing devices, data associated with a plurality of images, wherein each of the plurality of images covers at least a portion of a geographic area; detecting, by the one or more computing devices, features contained within the plurality of images; determining, by the one or more computing devices, a plurality of matched features based on a comparison of the detected features contained within the plurality of images; selecting, by the one or more computing devices, a subset of the plurality of matched features, wherein each respective matched feature of the subset is selected based at least in part on a quantity of other matched features in proximity to the respective matched feature; determining, by the one or more computing device, three-dimensional positions associated with one or more of the matched features included within the selected subset; and in response to a request for the three-dimensional positions, providing, by the one or more computing devices, bundle adjusted information associated with the three-dimensional positions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for determining camera parameters, the system comprising:
one or more computing devices including one or more processors and associated memory, the memory storing instructions that, when implemented by the one or more processors, configure the one or more computing devices to; receive data associated with a plurality of images, wherein each of the plurality of images covers at least a portion of a geographic area; detect features contained within the plurality of images; determine a plurality of matched features based on a comparison of the detected features contained within the plurality of images; select a subset of the plurality of matched features, wherein each respective matched feature of the subset is selected depending on a quantity of other matched features in proximity to the respective matched feature; determine camera parameters associated with one or more of the matched features included within the selected subset; and in response to a request for the camera parameters, provide bundle adjusted information associated with the camera parameters. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A tangible, non-transitory computer readable medium storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform operations, comprising:
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receiving data associated with a plurality of images, wherein each of the plurality of images covers at least a portion of a geographic area; detecting features contained within the plurality of images; determining a plurality of matched features based on a comparison of the detected features contained within the plurality of images; selecting a subset of the plurality of matched features, wherein each respective matched feature of the subset is selected based at least in part on a quantity of other matched features in proximity to the respective matched feature; determining at least one of three-dimensional positions or camera parameters associated with one or more of the matched features included within the selected subset; and in response to a request, providing bundle adjusted information associated with the at least one of the three-dimensional positions or the camera parameters. - View Dependent Claims (19, 20)
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Specification