Self-calibrated, remote imaging and data processing system
DCFirst Claim
1. A system for generating a map of a target area, comprising:
- a global positioning receiver;
an elevation measurement unit, adaptably mountable to a vehicle;
a global positioning antenna, adaptably mountable to the vehicle;
an attitude measurement unit, adaptably mountable to the vehicle;
an imaging sensor system, adaptably mountable to the vehicle having a view of the target area, comprising;
a rigid mount unit having at least two imaging sensors disposed within the mount unit, wherein a first imaging sensor and a second imaging sensor each has a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, wherein the first sensors image data bisects the second sensors image data in the first image overlap area; and
a computer in communication with the elevation measurement unit, the global positioning antenna, the attitude measurement unit, the first imaging sensor, and the second imaging sensor;
correlating at least a portion of the image areas from the first imaging sensor and the second imaging sensor to a portion of the target area based on input from one or more of;
the elevation measurement unit, the global positioning antenna and the attitude measurement unit.
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Abstract
An imaging sensor system, adaptably mountable to a vehicle having a view of a target area comprising: a rigid mount unit having at least two imaging sensors disposed within the mount unit, wherein a first imaging and a second imaging sensor each has a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, wherein the first sensors image data bisects the second sensors image data in the first image overlap area.
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Citations
44 Claims
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1. A system for generating a map of a target area, comprising:
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a global positioning receiver; an elevation measurement unit, adaptably mountable to a vehicle; a global positioning antenna, adaptably mountable to the vehicle; an attitude measurement unit, adaptably mountable to the vehicle; an imaging sensor system, adaptably mountable to the vehicle having a view of the target area, comprising; a rigid mount unit having at least two imaging sensors disposed within the mount unit, wherein a first imaging sensor and a second imaging sensor each has a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, wherein the first sensors image data bisects the second sensors image data in the first image overlap area; and a computer in communication with the elevation measurement unit, the global positioning antenna, the attitude measurement unit, the first imaging sensor, and the second imaging sensor;
correlating at least a portion of the image areas from the first imaging sensor and the second imaging sensor to a portion of the target area based on input from one or more of;
the elevation measurement unit, the global positioning antenna and the attitude measurement unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An imaging sensor system comprising:
a mount unit adaptably mountable to a vehicle in alignment with a target area, having at least two imaging sensors disposed within the mount unit, wherein a first imaging sensor and a second imaging sensor each has a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging array generates a second image area comprising a second data array of pixels, wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, wherein the first sensors image data bisects the second sensors image data in the first image overlap area. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A method of calibrating imaging sensors comprising the steps of:
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performing an initial calibration of the imaging sensors comprising; determining the position of an AMU; determining the position of a first imaging sensor within a rigid mount unit relative to the AMU; determining the position of a second imaging sensor within the rigid mount unit relative to the AMU; calibrating the first imaging sensor against a target area and determining a boresight angle of the first imaging sensor; and calculating the position of one or more subsequent imaging sensors within the rigid mount unit relative to the first imaging sensor; and calibrating the one or more subsequent imaging sensors using the boresight angle of the first imaging sensor; and using oversampling techniques to update at least one initial calibration parameter of the first imaging sensor against a target area and the boresight angle of the first imaging sensor; using oversampling techniques to update the position of one or more subsequent imaging sensors within the rigid mount unit relative to the first imaging sensor; and updating at least one calibration parameter of one or more subsequent imaging sensors within the rigid mount using the updated boresight angle of the first imaging sensor. - View Dependent Claims (32, 33, 34, 35)
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36. A system for generating a map of a surface, comprising:
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a global position receiver; an elevation measurement unit, adaptably mountable to a vehicle; a global positioning antenna, adaptably mountable to the vehicle; an attitude measurement unit, adaptably mountable to the vehicle; an imaging array, having a view of the surface, comprising; a mount unit, adaptably mountable to the vehicle; an aperture, formed in the mount unit; a first imaging sensor, coupled to the mount unit, having a first focal axis passing through the aperture, wherein the first image sensor generates a first image area of the surface comprising a first data array of pixels, wherein the first data array of pixels is at least two dimensional; and a second imaging sensor, coupled to the mount unit and offset from the first imaging sensor, having a second focal axis passing through the aperture and intersecting the first focal axis, wherein the second imaging sensor generates a second image area of the surface comprising a second data array of pixels, wherein the second data array of pixels is at least two dimensional; and a computer, connected to the elevation measurement unit, the global positioning antenna, the attitude measurement unit and first and second imaging sensors;
correlating at least a portion of the image area from the first and second imaging sensors to a portion of the surface based on input from one or more of;
the elevation measurement unit, the global positioning antenna and the attitude measurement unit. - View Dependent Claims (37, 38, 39)
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40. A system for generating a map of a surface, comprising:
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a global position receiver; an elevation measurement unit, adaptably mountable to a vehicle; a global positioning antenna, adaptably mountable to the vehicle; an attitude measurement unit, adaptably mountable to the vehicle; a first imaging sensor, adaptably mountable to the vehicle, having a view of the surface, having a focal axis disposed in the direction of the surface, wherein the first imaging sensor generates an image area comprising a first data array of pixels, wherein the first data array of pixels is at least two dimensional; and a computer, connected to the elevation measurement unit, the global positioning antenna, the attitude measurement unit and the first imaging sensor;
generating a calculated longitude and calculated latitude value for a coordinate corresponding to at least one pixel in the array based on input from one or more of;
the elevation measurement unit, the global positioning antenna and the attitude measurement unit.
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41. A system for generating a map of a target area, comprising:
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a global position receiver; an elevation measurement unit, adaptably mountable to the vehicle; a global positioning antenna, adaptably mountable to the vehicle; an attitude measurement unit, adaptably mountable to the vehicle; an imaging sensor system, having a view of the target area, comprising; a mount unit, adaptably mountable to the vehicle, having a first and second imaging sensor disposed within the mount unit, wherein the first and second imaging sensors each have a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second data array of pixels is at least two dimensional; and a computer in communication with the elevation measurement unit, the global positioning antenna, the attitude measurement unit, the first imaging sensor, and the second imaging sensor; correlating at least a portion of the image area from the first imaging sensor and the second imaging sensor to a portion of the target area based on input from one or more of;
the elevation measurement unit, the global positioning antenna and the attitude measurement unit. - View Dependent Claims (42)
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43. An imaging sensor system comprising:
a mount unit, adaptably mountable to a vehicle, having a first and second imaging sensors disposed within the mount unit, wherein the first imaging and second imaging sensors each have a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second data array of pixels is at least two dimensional. - View Dependent Claims (44)
Specification