Method and system for measuring angles based on 360 degree images

• US 9,175,955 B2
• Filed: 10/30/2013
• Issued: 11/03/2015
• Est. Priority Date: 01/08/2009
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Vogel, Michael, Soubra, Omar, Muncy, Darin
• Primary Examiner(s): Le, John H
• Application Number:
  US14/067,608
• Publication Number:
  US 20140104602A1
• Time in Patent Office: 734 Days
• Field of Search: 702/42, 702/57, 702/82, 702/85, 702/150, 702/151, 702/158, 702/159, 702/167, 348/36, 348/37, 359/448
• US Class Current: 1/1
• CPC Class Codes: G01B 11/26 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G02B 13/06 Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A method of measuring an angle includes orienting a measurement device at a reference position characterized by a reference angle. A first panoramic image defined by a predetermined range of elevation angles is acquired where the first panoramic image includes an object. A first bearing of the object in relation to the reference angle is determined and the measurement device is rotated to a measurement position characterized by a measurement angle. A second panoramic image defined by the predetermined range of elevation angles is acquired where the second panoramic image includes the object. A second bearing of the object in relation to the reference angle is determined. The measurement angle is computed as a function of the first bearing and the second bearing.

Claims

1. A method of determining an orientation of a measurement device, the method comprising:

orienting the measurement device at a first position;

acquiring a first panoramic image from the first position using an imaging device, the first panoramic image including a plurality of object points;

determining three-dimensional coordinates of the measurement device at the first position using a location measurement device;

repositioning the measurement device to a second position different from the first position;

acquiring a second panoramic image from the second position using the imaging device, the second panoramic image including the plurality of object points;

determining three-dimensional coordinates of the measurement device at the second position using the location measurement device;

identifying the plurality of object points in the first panoramic image and in the second panoramic image using a processor; and

determining the orientation of the measurement device at the second position using the processor, the orientation determined based on the three-dimensional coordinates of the measurement device at the first position and the three-dimensional coordinates of the measurement device at the second position.

2. The method of claim 1 wherein the first panoramic image and the second panoramic image comprise 360°

panoramic images.

3. The method of claim 1 wherein acquiring the first panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the first position are performed concurrently.

4. The method of claim 1 wherein acquiring the first panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the first position are performed simultaneously.

5. The method of claim 1 wherein acquiring the second panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the second position are performed concurrently.

6. The method of claim 1 wherein acquiring the second panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the second position are performed simultaneously.

7. The method of claim 1 wherein identifying the plurality of object points comprises a photogrammetry process.

8. The method of claim 1 further comprising estimating an azimuth associated with the measurement device oriented at the first position.

9. The method of claim 1 wherein the location measurement device comprises a global positioning system (GPS) unit.

10. The method of claim 1 wherein the plurality of object points are identified in the first panoramic image and in the second panoramic image using an image correlation process running on the processor.

11. The method of claim 1 further comprising determining bearing angles of the plurality of object points in the first panoramic image and in the second panoramic image.

12. A method of determining an orientation of a measurement device, the method comprising:

orienting the measurement device at a first position;

acquiring a first 360°

panoramic image from the first position using an imaging device, the first 360°

panoramic image including a plurality of object points;

estimating an azimuth associated with the measurement device at the first position;

determining three-dimensional coordinates of the measurement device at the first position using a location measurement device;

repositioning the measurement device to a second position different from the first position;

acquiring a second 360°

panoramic image from the second position using the measurement device, the second 360°

panoramic image including the plurality of object points;

determining three-dimensional coordinates of the measurement device at the second position using the measurement device;

identifying the plurality of object points in the first 360°

panoramic image and in the second 360°

panoramic image using a processor; and

determining the orientation of the measurement device at the second position using the processor, the orientation determined based on the three-dimensional coordinates of the measurement device at the first position and the three-dimensional coordinates of the measurement device at the second position.

13. The method of claim 12 wherein acquiring the first 360°

panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the first position are performed concurrently.

14. The method of claim 12 wherein acquiring the first 360°

panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the first position are performed simultaneously.

15. The method of claim 12 wherein acquiring the second 360°

panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the second position are performed concurrently.

16. The method of claim 12 wherein acquiring the second 360°

panoramic image including the plurality of object points and determining the three-dimensional coordinates of the measurement device at the second position are performed simultaneously.

17. The method of claim 12 wherein identifying the plurality of object points comprises a photogrammetry process.

18. The method of claim 12 wherein the location measurement device comprises a global positioning system (GPS) unit.

19. The method of claim 12 wherein the plurality of object points are identified in the first panoramic image and in the second panoramic image using an image correlation process running on the processor.

20. The method of claim 12 further comprising determining bearing angles of the plurality of object points in the first panoramic image and in the second panoramic image.