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Virtual perspective center aligned with measurement center

  • US 9,879,992 B2
  • Filed: 03/03/2010
  • Issued: 01/30/2018
  • Est. Priority Date: 12/29/2009
  • Status: Active Grant
First Claim
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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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