Integrated aerial photogrammetry surveys

• US 9,235,763 B2
• Filed: 11/26/2012
• Issued: 01/12/2016
• Est. Priority Date: 11/26/2012
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Joyce, Kenneth R., Brown, Troy L.
• Primary Examiner(s): Kostak, Victor
• Application Number:
  US13/685,375
• Publication Number:
  US 20140146173A1
• Time in Patent Office: 1,142 Days
• US Class Current: 1/1
• CPC Class Codes: G01C 11/04 Interpretation of pictures
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

Novel tools and techniques for generating survey data about a survey site. Aerial photography of at least part of the survey site can be analyzed using photogrammetric techniques. In some cases, an unmanned aerial system can be used to collect site imagery. The use of a UAS can reduce the fiscal and chronological cost of a survey, compared to the use of other types aerial imagery and/or conventional terrestrial surveying techniques used alone.

Claims

1. A method, comprising:

operating an unmanned aerial system;

collecting, with the unmanned aerial system, aerial imagery of a subject area; and

receiving, at a computer, the aerial imagery collected by the unmanned aerial system;

producing, at the computer, a first feature data set by analyzing the aerial imagery photogrammetrically;

combining the first feature data set with a second feature data set to produce a combined feature data set, the second feature data set comprising data collected by one or more terrestrial survey instruments; and

generating, at the computer, a land survey of at least a portion of the subject areas, based at least in part on the combined feature data set.

2. The method of claim 1, wherein combining the first feature data set with a second feature data set comprises:

identifying one or more tie points in the second feature data set, each of the one or more tie points having a known position in a reference coordinate system;

identifying a pixel coordinate, in the aerial imagery, of each of the one or more tie points;

correlating each pixel coordinate of one of the tie points in the aerial imagery with a corresponding known position on the reference coordinate system; and

orienting the aerial imagery based on the correlated pixel coordinate of each of the one or more tie points.

3. The method of claim 1, wherein the one or more terrestrial survey instruments comprises a panoramic imagery system, and wherein the method further comprises:

collecting panoramic imagery with the panoramic imagery system; and

generating the second feature data set by analyzing the panoramic imagery photogrammetrically.

4. The method of claim 3, further comprising:

generating an aerial ortho-image mosaic from the aerial imagery; and

correlating one or more panoramic images with the aerial ortho-image mosaic.

5. The method of claim 4, further comprising:

presenting, in a user interface, the aerial imagery using a plan view;

receiving user input to zoom into an area of focus on the plan view; and

presenting, in the user interface, one or more panoramic images as three dimensional panorama bubbles corresponding to the area of focus.

6. The method of claim 4, further comprising:

presenting, in a user interface, the aerial imagery and the panoramic imagery integrated in a three-dimensional perspective.

7. The method of claim 1, wherein collecting aerial imagery comprises collecting aerial imagery from an altitude of between 100 feet and 800 feet above ground level.

8. The method of claim 1, wherein collecting aerial imagery comprises collecting aerial imagery from an altitude of between 300 feet and 600 feet above ground level.

9. The method of claim 1, wherein collecting aerial imagery comprises capturing digital stereo imagery with the unmanned aerial system.

10. The method of claim 1, further comprising:

planning, with a computer, a flight path for the unmanned aerial system; and

directing, with the computer, placement of ground control targets corresponding to the flight path.

11. The method of claim 1, wherein producing the first feature data set comprises generating a first point cloud from the aerial imagery, producing the second feature data set comprises generating a second point cloud from the data collected by one or more terrestrial survey instruments, and the combined data set comprises an integrated point cloud generated from the first point cloud and the second point cloud.

12. The method of claim 1, further comprising:

tracking historical features of the subject area, based on a plurality of land surveys generated at different times.

13. The method of claim 1, wherein the second feature data set comprises feature data about a portion of the subject area obscured from the unmanned aerial system and un-captured in the aerial imagery.

14. The method of claim 1, further comprising:

generating, with the computer, a terrain map from the land survey.

15. A system, comprising:

an unmanned aerial system comprising an imaging system configured to capture aerial imagery of a subject area; and

a computer comprising a processor and non-transitory computer readable medium having encoded thereon a set of instructions executable by the processor to;

receive the aerial imagery from the unmanned aerial system;

produce a first feature data set by analyzing the aerial imagery photogrammetrically;

combine the first feature data set with a second feature data set to produce a combined feature data set, the second feature data set comprising data collected by one or more terrestrial survey instruments; and

generate a land survey of at least a portion of the subject areas, based at least in part on the combined feature data set.

16. The system of claim 15, wherein the imaging system comprises a plurality of imaging devices configured to capture digital stereo imagery of the subject area.

17. The system of claim 15, further comprising:

a terrestrial survey instrument configured to collect the data to produce the second feature data set.

18. The system of claim 17, wherein the terrestrial survey instrument comprises a total station.

19. The system of claim 17, wherein the terrestrial survey instrument comprises a panoramic camera.

20. The system of claim 17, wherein the terrestrial survey instrument comprises a laser scanning system.

21. The system of claim 17, wherein the terrestrial survey instrument comprises a global navigation satellite system (“

GNSS”

) receiver.

22. An apparatus, comprising:

a computer readable medium having encoded thereon a set of instructions executable by one or more computers to;

receive aerial imagery collected by an unmanned aerial system;

produce a first feature data set by analyzing the aerial imagery photogrammetrically;

combine the first feature data set with a second feature data set to produce a combined feature data set, the second feature data set comprising data collected by one or more terrestrial survey instruments; and

generate a land survey of at least a portion of the subject areas, based at least in part on the combined feature data set.

23. A computer system, comprising:

one or more processors; and

a computer readable medium in communication with the one or more processors, the computer readable medium having encoded thereon a set of instructions executable by the computer system to;

receive aerial imagery collected by an unmanned aerial system;

produce a first feature data set by analyzing the aerial imagery photogrammetrically;

combine the first feature data set with a second feature data set to produce a combined feature data set, the second feature data set comprising data collected by one or more terrestrial survey instruments; and

generate a land survey of at least a portion of the subject areas, based at least in part on the combined feature data set.