Virtual perspective center aligned with measurement center
First Claim
Patent Images
1. An apparatus for acquiring image and location information comprising:
- a global navigation satellite system (GNSS) device configured to measure a position of the apparatus in a real world coordinate frame, the GNSS device including an antenna comprising an element configured to receive signals for determining the position of the apparatus, the element forming a measurement center of the GNSS device;
an imaging device coupled to the GNSS device and configured to acquire the image information from light rays entering the imaging device, the imaging device having a perspective center located at a no-parallax point of the imaging device;
a lens coupled to the imaging device and configured to receive the light rays; and
an optical element coupled to the imaging device in a fixed position and arranged to alter a path of the light rays by reflecting the light rays so that the perspective center of the imaging device is located separate from a virtual perspective center of the imaging device, the virtual perspective center being a single point located where the no-parallax point of the imaging device would be located if the light rays were not reflected by the optical element, the perspective center and the virtual perspective center being real points, a location of the perspective center being based on an arrangement of the optical element, and a location of the virtual perspective center being fixed relative to the imaging device, wherein the optical element is arranged so that the perspective center is spaced from the virtual perspective center, and the GNSS device is arranged so that a location of the virtual perspective center of the imaging device is coincident with and overlaps the element of the antenna so that an origin of a coordinate frame of the imaging device overlies the measurement center of the GNSS device.
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Abstract
An apparatus for acquiring image and location information includes an antenna comprising an element configured to receive signals for determining the location information, and an imaging device coupled to the antenna and configured to acquire the image information. A virtual perspective center of the imaging device is coincident with the element of the antenna.
19 Citations
12 Claims
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1. An apparatus for acquiring image and location information comprising:
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a global navigation satellite system (GNSS) device configured to measure a position of the apparatus in a real world coordinate frame, the GNSS device including an antenna comprising an element configured to receive signals for determining the position of the apparatus, the element forming a measurement center of the GNSS device; an imaging device coupled to the GNSS device and configured to acquire the image information from light rays entering the imaging device, the imaging device having a perspective center located at a no-parallax point of the imaging device; a lens coupled to the imaging device and configured to receive the light rays; and an optical element coupled to the imaging device in a fixed position and arranged to alter a path of the light rays by reflecting the light rays so that the perspective center of the imaging device is located separate from a virtual perspective center of the imaging device, the virtual perspective center being a single point located where the no-parallax point of the imaging device would be located if the light rays were not reflected by the optical element, the perspective center and the virtual perspective center being real points, a location of the perspective center being based on an arrangement of the optical element, and a location of the virtual perspective center being fixed relative to the imaging device, wherein the optical element is arranged so that the perspective center is spaced from the virtual perspective center, and the GNSS device is arranged so that a location of the virtual perspective center of the imaging device is coincident with and overlaps the element of the antenna so that an origin of a coordinate frame of the imaging device overlies the measurement center of the GNSS device. - View Dependent Claims (2)
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3. An apparatus for acquiring image and location information comprising:
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a global navigation satellite system (GNSS) device configured to measure a position of the apparatus in a real world coordinate frame, the GNSS device including an antenna comprising an element configured to receive signals for determining the position of the apparatus, the element forming a measurement center of the GNSS device; an imaging device coupled to the GNSS device and configured to acquire the image information from light rays entering the imaging device, the imaging device having a perspective center located at a no-parallax point of the imaging device; a lens coupled to the imaging device and configured to receive the light rays; and an optical element coupled to the imaging device in a fixed position and arranged to alter a path of the light rays by reflecting the light rays so that the perspective center of the imaging device is located separate from a virtual perspective center of the imaging device, the virtual perspective center being a single point where the no-parallax point of the imaging device would be located if the light rays were not reflected by the optical element, the perspective center and the virtual perspective center being real points, and a location of the perspective center being based on an arrangement of the optical element, wherein the optical element is arranged so that the perspective center is spaced from the virtual perspective center, and the GNSS device is arranged so that a location of the virtual perspective center of the imaging device is coincident with and overlaps the element of the antenna so that an origin of a coordinate frame of the imaging device overlies the measurement center of the GNSS device.
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4. An apparatus for acquiring image and location information, comprising:
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a position measurement device configured to acquire the location information, the position measurement device including either a global navigation satellite system (GNSS) device or an inertial measurement unit, the position measurement device having a measurement center; an imaging device coupled to the position measurement device and configured to acquire the image information from light rays entering the imaging device, the imaging device including a perspective center located at a no-parallax point of the imaging device; and an optical element coupled to the imaging device in a fixed position and arranged to alter a path of the light rays by reflecting the light rays so that the perspective center of the imaging device is located separate from a virtual perspective center of the imaging device, the virtual perspective center being a point where the no-parallax point of the imaging device would be located if the light rays were not reflected by the optical element, wherein a location of the perspective center is based on an arrangement of the optical element, and a location of the virtual perspective center is fixed relative to the imaging device, the GNSS device being arranged relative to the optical element so that a location of the virtual perspective center is coincident with and overlaps the measurement center so that an origin of a coordinate frame of the imaging device overlies the measurement center of the position measurement device. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12)
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Specification