Stereo photogrammetry from a single station using a surveying instrument with an eccentric camera

• US 9,322,652 B2
• Filed: 10/24/2014
• Issued: 04/26/2016
• Est. Priority Date: 02/29/2008
• Status: Active Grant

• Current Assignee: Trimble AB (Trimble Inc.)
• Original Assignee: Trimble AB (Trimble Inc.)
• Inventors: Mein, Nick, Svanholm, Set, Graesser, Christian, Vogel, Michael
• Primary Examiner(s): Yentrapati, Avinash
• Application Number:
  US14/523,677
• Publication Number:
  US 20150062309A1
• Time in Patent Office: 550 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01C 1/04 combined with cameras
• CPC Class Codes: G01C 11/025 by scanning the object
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30181 Earth observation
• CPC Class Codes: G06T 7/593 from stereo images

Abstract

A method for determining, in relation to a surveying instrument, target coordinates of a point of interest, or target, identified in two images captured by a camera in the surveying instrument. The method comprises determining coordinates of the surveying instrument, capturing a first image using the camera in the first camera position; identifying, in the first image, an object point associated with the target; measuring first image coordinates of the object point in the first image; rotating the surveying instrument around the horizontal axis and the vertical axis in order to position the camera in a second camera position; capturing a second image using the camera in the second camera position; identifying, in the second image, the object point identified in the first image; measuring second image coordinates of the object point in the second image; and determining the coordinates of the target in relation to the surveying instrument.

Claims

1. An apparatus for determining coordinates of a target, the apparatus comprising:

a surveying instrument having a first horizontal axis extending along a line of sight that is perpendicular to both a second horizontal axis and a vertical axis, the first horizontal axis, the second horizontal axis, and the vertical axis intersecting at a rotation center of the surveying instrument;

a camera coupled to the surveying instrument and configured to capture images, the camera having a line of sight that is substantially parallel to the line of site of the surveying instrument and having a projection center located eccentric to the rotation center of the surveying instrument;

a display device coupled to the apparatus, the display device configured to display the images;

an input device coupled to the apparatus, the input device configured to receive information identifying object points in the images that are associated with the target;

a memory device communicatively coupled to at least the camera and the display device, the memory device configured to store the images; and

a processor coupled to at least the camera, the display device, the input device, and the memory device, the processor configured to;

direct the camera to capture a first image in a first camera position and orientation;

determine image coordinates of a first object point in the first image, the first object point associated with the target;

move the camera to a second position and orientation by rotating the camera by about 180°

around the vertical axis and by about 180°

around the second horizontal axis, wherein the rotation center of the surveying instrument is at substantially the same location at both the first camera position and orientation and the second camera position and orientation, and an optical axis of the camera at the first camera position and orientation is substantially parallel to an optical axis of the camera at the second camera position and orientation;

direct the camera to capture a second image in the second camera position and orientation;

determine image coordinates of a second object point in the second image, the second object point associated with the target; and

determine coordinates of the target relative 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 camera calibration data.

2. The apparatus of claim 1 wherein the processor is located internal to the apparatus.

3. The apparatus of claim 1 wherein the memory device is located internal to the apparatus.

4. The apparatus of claim 1 wherein between the first camera position and orientation and the second camera position and orientation the camera is rotated by 180°

around the vertical axis and 180°

around the second horizontal axis.

5. The apparatus of claim 1 wherein the surveying instrument includes a telescope aligned with the line of sight of the surveying instrument.

6. The apparatus of claim 1 wherein the line of sight of the camera is parallel to the line of site of the surveying instrument.

7. The apparatus of claim 1 wherein the image coordinates of the first object point are determined in response to information received at the input device identifying the first object point in the first image.

8. The apparatus of claim 1 wherein the processor is further configured to identify the second object point in the second image using a pattern identified in the first image.

9. The apparatus of claim 1 further comprising a global navigation satellite system (GNSS) module coupled to the apparatus, the GNSS module configured to receive one or more GNSS signals for determining coordinates of the apparatus.

10. The apparatus of claim 9 wherein the processor is further configured to determine coordinates of the target using the coordinates of the apparatus.

11. An apparatus for determining coordinates of a target, the apparatus comprising:

a surveying instrument having a first horizontal axis extending along a line of sight that is perpendicular to both a second horizontal axis and a vertical axis, the first horizontal axis, the second horizontal axis, and the vertical axis intersecting at a rotation center of the surveying instrument;

a camera coupled to the surveying instrument and configured to capture images, the camera having a line of sight that is substantially parallel to the line of site of the surveying instrument and having a projection center located eccentric to the rotation center of the surveying instrument;

a display device coupled to the apparatus, the display device configured to display the images;

an input device coupled to the apparatus, the input device configured to receive information identifying object points in the images that are associated with the target;

a memory device communicatively coupled to at least the camera and the display device, the memory device configured to store the images; and

a processor coupled to at least the camera, the display device, the input device, and the memory device, the processor configured to;

determine image coordinates of a first object point in a first image captured by the camera at a first camera position and orientation, the first object point associated with the target;

move the camera to a second camera position and orientation by rotating the camera by about 180°

around the vertical axis and by about 180°

around the second horizontal axis, wherein the rotation center of the surveying instrument is at substantially the same location at both the first camera position and orientation and the second camera position and orientation, and an optical axis of the camera at the first camera position and orientation is substantially parallel to an optical axis of the camera at the second camera position and orientation;

determine image coordinates of a second object point in a second image captured by the camera at the second camera position and orientation, the second object point associated with the target; and

determine coordinates of the target relative to the rotation center of the surveying instrument.

12. The apparatus of claim 11 wherein the coordinates of the target are determined based on the first camera position and orientation, the first image coordinates, the second camera position and orientation, the second image coordinates, and camera calibration data.

13. The apparatus of claim 11 wherein the processor is located internal to the apparatus.

14. The apparatus of claim 11 wherein the processor is located external to the apparatus.

15. The apparatus of claim 11 wherein the memory device is located internal to the apparatus.

16. The apparatus of claim 11 wherein the memory device is located external to the apparatus.

17. The apparatus of claim 11 wherein between the first camera position and orientation and the second camera position and orientation the camera is rotated by 180°

around the vertical axis and 180°

around the second horizontal axis.

18. The apparatus of claim 11 wherein the line of sight of the camera is parallel to the line of site of the surveying instrument.

19. The apparatus of claim 11 further comprising a global navigation satellite system (GNSS) module coupled to the apparatus, the GNSS module configured to receive one or more GNSS signals for determining coordinates of the apparatus.

20. The apparatus of claim 19 wherein the processor is further configured to determine coordinates of the target using the coordinates of the apparatus.