System and method for visualizing multiple-sensor subsurface imaging data

• US 9,646,415 B2
• Filed: 05/16/2007
• Issued: 05/09/2017
• Est. Priority Date: 05/16/2006
• Status: Active Grant

• Current Assignee: Underground Imaging Technologies, Inc. (Caterpillar Incorporated)
• Original Assignee: Underground Imaging Technologies, Inc. (Caterpillar Incorporated)
• Inventors: Hanson, David, Sjostrom, Keith Jerome, Jones, Ross Peter, Kelly, Peter John
• Primary Examiner(s): Du, Haixia
• Application Number:
  US11/804,310
• Publication Number:
  US 20080079723A1
• Time in Patent Office: 3,646 Days
• Field of Search: 345420, 345427, 345629, 345630, 702 16, 702156, 382109
• CPC Class Codes: G06F 18/40 Software arrangements specially adapted for pattern recognition, e.g. user interfaces or toolboxes therefor
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06V 10/945 User interactive design; Environments; Toolboxes
• CPC Class Codes: G06V 20/13 Satellite images

Abstract

A user interface includes a display for displaying of a plurality of sensor data sets representative of signals associated with a plurality of sensors configured for sensing of a subsurface. At least some of the sensors are configured for subsurface sensing in a manner differing from other sensors of the plurality of sensors. Each of the sensor data sets comprises sensor data samples each associated with geographic position data. The sensor data sets are shown overlaid within a volume depicted on the display. The graphical representations of the sensor data sets are individually viewable within the volume and displayed in geographical alignment relative to one another within the volume in accordance with the geographic position data of the sensor data samples of each of the sensor data sets.

Claims

1. A method for use with a user interface comprising a display, the method comprising:

providing a plurality of sensor data sets acquired during movement of a plurality of disparate types of sensors configured for sensing of a subsurface along a path via a movable platform, each of the sensor data sets comprising sensor data samples each associated with geographic position data acquired by a positioning sensor situated on the moveable platform;

providing positional offset data defining a positional offset of each sensor relative to the positioning sensor;

correcting for curvilinear dynamic motion of the movable platform using the positional offset data to produce corrected sensor data sets;

associating the geographic position data with the sensor data samples of each of the corrected sensor data sets relative to a reference frame; and

displaying a graphical representation of each of the corrected sensor data sets overlaid within a volume depicted on the display.

2. The method of claim 1, wherein the geographic position data of the sensor data samples comprises x and y geographic locations for each of the sensor data samples.

3. The method of claim 2, wherein geographic position data of the sensor data samples for at least one of the sensor data sets further comprises a depth value for each of the sensor data samples.

4. The method of claim 1, wherein the graphical representations are displayed within the volume relative to a fixed geographic reference.

5. The method of claim 1, wherein the geographic position data is associated with x and y locations of a global reference frame, a local reference frame, or a predefined reference frame.

6. The method of claim 1, wherein displaying the graphical representations comprises aligning sensor data samples of each of the corrected sensor data sets by their respective x and y geographic locations.

7. The method of claim 1, comprising:

receiving position sensor data comprising the geographic position data for a plurality of discrete geographic locations subject to subsurface sensing; and

assigning the geographic position data to the sensor data samples of each of the sensor data sets.

8. The method of claim 1, further comprising:

algorithmically identifying one or more features in the geographically aligned sensor data sets;

performing a data fusion function on the one or more features; and

producing a graphical indication of the one or more features.

9. The method of claim 8, wherein algorithmically identifying the one or more features comprises comparing the one or more features to a library of feature templates, the feature templates comprising response characteristics for a plurality of known features.

10. The method of claim 1, wherein the graphical representations of the corrected sensor data sets are selectably individually viewable within the volume and displayed in geographical alignment relative to one another within the volume in accordance with the geographic position data of the sensor data samples of each of the corrected sensor data sets.

11. The method of claim 1, wherein:

the geographic position data is acquired relative to a location on the platform other than at a location defined by a plane passing through an axle oriented generally transverse to a longitudinal axis of the platform or relative to a location at the geometric center of the platform; and

the plurality of sensor data sets is obtained at the platform as the platform traverses the path.

12. The method of claim 1, further comprising:

providing field note data representative of one or more known or manually observed features within the subsurface; and

displaying a graphical or textual representation of the field note data within the volume.

13. The method of claim 12, wherein the field note data comprises associated x and y geographic location data, and the graphical or textual representation of the field note data are displayed within the volume at one or more locations corresponding to the associated x and y geographic location data.

14. The method of claim 1, further comprising:

providing feature data representative of the one or more features within the subsurface; and

displaying a graphical or textual representation of the feature data within the volume.

15. The method of claim 1, further comprising:

providing point marker data representative of one or more points manually picked from images of data developed using one or more of the subsurface sensors; and

displaying a graphical or textual representation of the point marker data within the volume.

16. The method of claim 1, wherein the volume depicted on the display is defined by a length, a width, and a depth, the length and width respectively representative of a length and a width of each of a plurality of scan regions of earth subjected to sensing by use of the plurality of sensor.

17. The method of claim 1, further comprising selecting one or more of the graphical representations for viewing or hiding within the volume depicted on the display.

18. The method of claim 1, further comprising:

selecting one of the graphical representations; and

altering the selected graphical representation in a manner that enhances visual perception of the selected graphical representation relative to non-selected graphical representations within the volume.

19. The method of claim 18, wherein altering the selected graphical representation comprises adding or altering one or more of a color, grey scale, line style, shading, hatching, or marker of the selected graphical representation.

20. The method of claim 1, further comprising:

providing user developed indicia data, the indicia data comprising one or more of annotations, axis labels, legends, and textual information, and

adding the indicia data to the display comprising the graphical representations.

21. The method of claim 1, further comprising:

selecting a volume location; and

generating a two-dimensional view of the graphical representations at the selected volume location.

22. The method of claim 21, wherein the volume has a longitudinal axis, and the two-dimensional view is generated along a plane transverse to the longitudinal axis.

23. The method of claim 21, further comprising selecting one or more of the graphical representations to generate the two-dimensional view.

24. The method of claim 1, wherein the plurality of sensor data sets comprises one or more ground penetrating radar data sets and one or more electromagnetic sensor data sets.

25. The method of claim 1, wherein the plurality of sensor data sets comprises one or more ground penetrating radar data sets and one or more seismic sensor data sets.

26. The method of claim 25, wherein the plurality of sensor data sets comprises one or more electromagnetic sensor data sets.

27. The method of claim 1, wherein correcting for curvilinear dynamic motion of the moveable platform accounts for velocity and orientation of the movable platform.

28. An apparatus, comprising:

an input configured to receive signals representative of a plurality of sensor data sets acquired during movement of a plurality of disparate types of sensors configured for sensing of a subsurface along a path via a movable platform, each of the sensor data sets comprising sensor data samples each associated with geographic position data acquired by a positioning sensor situated on the moveable platform, the input further configured to receive signals representative of positional offset data defining a positional offset of each sensor relative to the positioning sensor;

a display; and

a processor coupled to the input and the display, the processor configured to correct for curvilinear dynamic motion of the movable platform using the positional offset data to produce corrected sensor data sets and associate the geographic position data with the sensor data samples of each of the corrected sensor data sets relative to a reference frame, the processor cooperating with the display to present a graphical representation of each of the corrected sensor data sets overlaid within a volume depicted on the display.

29. The apparatus of claim 28, wherein the processor is configured to algorithmically identify one or more features in the geographically aligned sensor data sets, to perform a data fusion function on the one or more features, and to produce a graphical indication of the one or more features.

30. The apparatus of claim 28, wherein the processor is configured to receive position sensor data comprising the geographic position data for a plurality of discrete geographic locations subject to subsurface sensing, and to assign the geographic position data to the sensor data samples of each of the sensor data sets.

31. The apparatus of claim 28, wherein the processor is configured to cooperate with the display to present graphical representations of the corrected sensor data sets selectably individually within the volume and in geographical alignment relative to one another within the volume in accordance with the geographic position data of the sensor data samples of each of the corrected sensor data sets.

32. The apparatus of claim 28, wherein the geographic position data is acquired relative to a location on the platform other than at a location defined by a plane passing through an axle oriented generally transverse to a longitudinal axis of the platform or relative to a location at the geometric center of the platform, and the plurality of sensor data sets is obtained at the platform as the platform traverses the path.

33. The apparatus of claim 28, wherein the input receives field note data representative of one or more known or manually observed features within the subsurface, and the processor cooperates with the display to present a graphical or textual representation of the field note data within the volume.

34. The apparatus of claim 33, wherein the field note data comprises associated x and y geographic location data, and the graphical or textual representation of the field note data are displayed within the volume at one or more locations corresponding to the associated x and y geographic location data.

35. The apparatus of claim 28, wherein the input receives one or both of feature data representative of one or more features within the subsurface and point marker data representative of one or more points manually picked from images of data developed using one or more of the subsurface sensors, and the processor cooperates with the display to present one or both of a graphical or textual representation of the feature data within the volume and a graphical or textual representation of the point marker data within the volume.

36. The apparatus of claim 28, wherein the plurality of sensor data sets comprises at least two of ground penetrating radar data sets, electromagnetic sensor data sets, and seismic sensor data sets.

37. The apparatus of claim 28, wherein correcting for curvilinear dynamic motion of the movable platform by the processor accounts for velocity and orientation of the movable platform.

38. The apparatus of claim 28, wherein the processor is configured to:

algorithmically identify one or more features in the geographically aligned sensor data sets and compare the one or more features to a library of feature templates, the feature templates comprising response characteristics for a plurality of known features;

perform a data fusion function on the one or more features; and

cooperate with the display to produce a graphical indication of the one or more features.

39. The apparatus of claim 28, further comprising:

a second movable platform mechanically coupled to the movable platform; and

a second sensor arrangement supported by the second movable platform and configured to provide second sensor data samples as the second movable platform moves along the path;

wherein the processor is configured to associate the geographic position data with the sensor data samples and the second sensor data samples relative to the reference frame and in a manner that accounts for curvilinear dynamic motion of the respective platforms.

40. The apparatus of claim 28, further comprising:

a second movable platform mechanically coupled to the movable platform; and

a second sensor arrangement supported by the second movable platform and configured to provide second sensor data samples as the second movable platform moves along the path;

wherein the processor is configured to associate the geographic position data with the sensor data samples and the second sensor data samples relative to the reference frame using positioning sensor affixed only to one of the respective platforms and a fixed location of a coupler that mechanically couples the respective platforms.