Determining coordinates of a target in relation to a survey instrument having at least two cameras
First Claim
1. A method for determining three-dimensional coordinates of a target that is located remote from a surveying instrument, the three-dimensional coordinates determined in relation to the surveying instrument, the surveying instrument comprising a first camera in a first camera position and orientation, and a second camera in a second camera position and orientation, the first camera being eccentric to a rotation center of the surveying instrument, and the second camera position being spaced from the first camera position by a distance, the method comprising:
- capturing a first image using the first camera, the first image including the target;
selecting the target by identifying at least one object point in the first image;
measuring first image coordinates of the at least one object point in the first image;
capturing a second image using the second camera, the second image including the target;
identifying, in the second image, the at least one object point identified in the first image, wherein the identifying, in the second image, includes,selecting a minimum distance and a maximum distance from the first camera position along an imaging ray associated with the at least one object point, the imaging ray extending outward from the first camera position toward the target, between which minimum distance and maximum distance the target is located on the imaging ray,determining a section of an epipolar line in the second image on which the at least one object point is located and that corresponds to the imaging ray, the section of the epipolar line determined based on the maximum distance, the minimum distance, the first camera position and orientation, the second camera position and orientation, the first image coordinates, and first and second camera calibration data, andidentifying, along the section of the epipolar line in the second image, the at least one object point identified in the first image;
measuring second image coordinates of the at least one object point in the second image; and
determining the three-dimensional coordinates of the target in relation to the rotation center of the surveying instrument based on the first camera position and orientation, the first image coordinates, the second camera position and orientation, the second image coordinates, and the first and second camera calibration data.
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Accused Products
Abstract
A method is disclosed for determining coordinates of a target in relation to a surveying instrument wherein a first image is captured using a first camera in a first camera position and orientation, a target is selected by identifying at least one object point in the first image, and first image coordinates of the object point in the first image are measured. In at least one embodiment, a second image is captured using a second camera in a second camera position and orientation, the object point identified in the first image is identified in the second image, and second image coordinates of the object point in the second image are measured. Target coordinates of the target in relation to the rotation center of the surveying instrument are then determined based on the first camera position and orientation, the first image coordinates, the second camera position and orientation, the second image coordinates, and first and second camera calibration data. Furthermore, a surveying instrument for performing the method is disclosed.
70 Citations
27 Claims
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1. A method for determining three-dimensional coordinates of a target that is located remote from a surveying instrument, the three-dimensional coordinates determined in relation to the surveying instrument, the surveying instrument comprising a first camera in a first camera position and orientation, and a second camera in a second camera position and orientation, the first camera being eccentric to a rotation center of the surveying instrument, and the second camera position being spaced from the first camera position by a distance, the method comprising:
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capturing a first image using the first camera, the first image including the target; selecting the target by identifying at least one object point in the first image; measuring first image coordinates of the at least one object point in the first image; capturing a second image using the second camera, the second image including the target; identifying, in the second image, the at least one object point identified in the first image, wherein the identifying, in the second image, includes, selecting a minimum distance and a maximum distance from the first camera position along an imaging ray associated with the at least one object point, the imaging ray extending outward from the first camera position toward the target, between which minimum distance and maximum distance the target is located on the imaging ray, determining a section of an epipolar line in the second image on which the at least one object point is located and that corresponds to the imaging ray, the section of the epipolar line determined based on the maximum distance, the minimum distance, the first camera position and orientation, the second camera position and orientation, the first image coordinates, and first and second camera calibration data, and identifying, along the section of the epipolar line in the second image, the at least one object point identified in the first image; measuring second image coordinates of the at least one object point in the second image; and determining the three-dimensional coordinates of the target in relation to the rotation center of the surveying instrument based on the first camera position and orientation, the first image coordinates, the second camera position and orientation, the second image coordinates, and the first and second camera calibration data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A surveying instrument for determining three-dimensional coordinates of a target in relation to the surveying instrument, comprising:
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a first camera configured to capture images from a first position and orientation, the first camera being eccentric to a rotation center of the surveying instrument; a second camera configured to capture images from a second position and orientation, the second camera position being spaced from the first camera position by a distance; a display configured to display images captured by the first camera and the second camera; at least one device configured to identify at least one object point corresponding to target in the displayed images; at least one device configured to measure first image coordinates of the at least one object point in a first image captured by the first camera; at least one device configured to measure second image coordinates of the at least one object point in a second image captured by the second camera, wherein the at least one device configured to identify the at least one object point is configured to, select a minimum distance and a maximum distance from the first camera position along an imaging ray associated with the at least one object point, the imaging ray extending outward from the first camera position toward the target, between which minimum distance and maximum distance the selected target is located on the imaging ray, determine a section of an epipolar line in the second image on which the at least one object point is located and that corresponds to the imaging ray, the section of the epipolar line determined based on the maximum distance, the minimum distance, the first camera position and orientation, the second camera position and orientation, the first image coordinates, and first and second camera calibration data, and identify, along the section of the epipolar line in the second image, the at least one object point identified in the first image; at least one device configured to determine the three-dimensional coordinates of the target in relation to the rotation center of the surveying instrument based on the first camera position and orientation, the first image coordinates, the second camera position and orientation, the second image coordinates, and the first and second camera calibration data. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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Specification