Enhanced bundle adjustment techniques

• US 9,879,993 B2
• Filed: 09/30/2013
• Issued: 01/30/2018
• Est. Priority Date: 12/23/2010
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: McFadden, Chad, Joshi, Amit, Grsser, Christian, Brown, Troy L., He, Shaojun
• Primary Examiner(s): Bui, Bryan
• Application Number:
  US14/433,347
• Publication Number:
  US 20150268043A1
• Time in Patent Office: 1,583 Days
• CPC Class Codes: G01C 1/02 Theodolites
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G01C 11/02 Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
• CPC Class Codes: G01C 11/04 Interpretation of pictures
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers

Abstract

Novel tools and techniques that can be used to enhance the effectiveness of photogrammetric tools, such as bundle adjustment. One set of techniques can include a photo-observable backsight operation, in which a position of target point can be observed non-photographically, and this observed position can be used to constrain a pixel coordinate location of the same target point in a bundle adjustment operation. Using another technique, a photo-observable check shot operation, the observed position of another target point can be used to verify the validity of a bundle adjustment calculation. Such techniques can be used together or separately.

Claims

1. A method, comprising:

observing, with a position measurement device, a position of a first target point non-photographically, with respect to a local or global coordinate system;

observing, with the position measurement device, a position of a second target point non-photographically, with respect to the local or global coordinate system;

capturing, with an imaging device, the first and second target points in one or more images observed from one or more stations;

correlating, with a computer, the observed position of the first target point with a pixel coordinate location of the first target point in each of the one or more images;

correlating, with the computer, the observed position of the second target point with a pixel coordinate location of the second target point in each of the one or more images;

performing, with the computer, a bundle adjustment calculation to orient a mosaic of images comprising the one or more images, wherein performing the bundle adjustment calculation comprises performing a photo-observable backsight by constraining the pixel coordinate location of the first target point in the oriented mosaic of images to the observed position of the first target point with respect to the local or global coordinate system to within a specified precision; and

performing, with the computer, a photo-observable check shot by comparing a location of the second target point in the oriented mosaic of images with the observed position of the second target point with respect to the local or global coordinate system, to ensure that the oriented mosaic of images corresponds to the local or global coordinate system to within a specified precision.

2. A system, comprising:

a computer comprising a processor and a non-transitory computer readable medium having stored thereon a set of instructions executable by the processor to perform one or more operations, the set of instructions comprising;

instructions to receive data indicating an observed position of a target point, with respect to a local or global coordinate system;

instructions to receive a plurality of images comprising one or more images that include the target point;

instructions to correlate the observed position of the target point with a location of the target point in each of the one or more images; and

instructions to use a correlation of the observed position of the target point with the location of the target point in each of the one or more images to perform a bundle adjustment calculation that orients a mosaic of images comprising the plurality of images, wherein using a correlation of the observed position of the target point with the location of the target point in each of the one or more images comprises performing a photo-observable backsight by constraining the location of the target point in the oriented mosaic of images to the observed position of the target point with respect to the local or global coordinate system to within a specified precision.

3. The system of claim 2, wherein using a correlation of the observed position of the target point with the location of the target point in each of the one or more images comprises performing a photo-observable check shot by comparing a location of the target point in the oriented mosaic of images with the observed position of the target point with respect to the local or global coordinate system, to ensure that the oriented mosaic of images corresponds to the local or global coordinate system to within a specified precision.

4. The system of claim 2, wherein:

the instructions to receive data indicating the observed position of the target point comprise instructions the receive data indicating observed positions of a plurality of target points;

the instructions to correlate the observed position of the target point with a location of the target point in each of the one or more images comprise instructions to correlate the observed position of each of the target points with respective locations of each of the target points in one or more of the images; and

the instructions to use a correlation of the observed position of the target point with the location of the target point in each of the one or more images to perform a bundle adjustment calculation comprise instructions to use correlations of the observed positions of each of the target points in one or more of the images to perform the bundle adjustment calculation.

5. The system of claim 4, wherein the instructions to use correlations of the observed positions of each of the target points in one or more of the images to perform the bundle adjustment calculation comprise instructions to use a first target point to perform a photo-observable backsight and instructions to use a second target point to perform a photo-observable check shot.

6. The system of claim 5, wherein the instructions to use correlations of the observed positions of each of the target points in one or more of the images to perform the bundle adjustment calculation comprise instructions to use a third target point to perform a second photo-observable backsight.

7. The system of claim 5, wherein the instructions to use correlations of the observed positions of each of the target points in one or more of the images to perform the bundle adjustment calculation comprise instructions to use a third target point to perform a second photo-observable check shot.

8. The system of claim 2, further comprising:

a position measurement device that observes the position of the target point, with respect to the global or local coordinate system; and

an imaging device that captures the target point in the one or more images observed from one or more stations.

9. The system of claim 8, wherein the position measurement system observes the position of the target point non-photographically.

10. The system of claim 8, wherein the position measurement device observes the position of the target point using a total station.

11. The system of claim 8, wherein the position measurement device observes the position of the target point using a laser range finding device.

12. The system of claim 8, wherein the position measurement device observes the position of the target point using a GNSS receiver.

13. The system of claim 8, wherein the position measurement device and the imaging device are incorporated within a position measurement system.

14. The system of claim 13, wherein the position measurement system further comprises:

a rod having a base, the rod being configured to be disposed with the base substantially in contact with a ground surface and a longitudinal axis in a substantially vertical position;

a tilt sensor;

a second processor in communication with the position measurement device and the tilt sensor; and

a second non-transitory computer readable medium having encoded thereon a second set of instructions executable by the second processor to cause the position measurement system to perform one or more operations, the second set of instructions comprising;

instructions to receive tilt data from the tilt sensor, the tilt data indicating a tilt angle of the rod;

instructions to determine, based on the tilt data, that a tilt of the rod is within a specified tolerance from the vertical position; and

instructions to capture position data to observe the position of the target point, using the position measurement device, about a position of the position measurement system, when the tilt of the rod is determined to be within the specified tolerance from the vertical position.

15. The system of claim 2, wherein the target point is an optical target.

16. The system of claim 15, wherein the optical target is affixed to a case of a position measurement device.

17. The system of claim 2, wherein the target point is a natural or manmade geographic feature.

18. The system of claim 2, wherein the location of the target point in each of the one or more images is a pixel coordinate location of the target point in each of the one or more images.

19. An apparatus, comprising:

a non-transitory computer readable medium having encoded thereon a set of instructions executable by one or more computers to perform one or more operations, the set of instructions comprising;

instructions to receive, from a position measurement device, data indicating an observed position of a target point;

instructions to receive a plurality of images comprising one or more images that include a photographic observation of the target point;

instructions to correlate the observed position of the target point with a location of the target point in each of the one or more images; and

instructions to use a correlation of the observed position of the target point with the location of the target point in each of the one or more images to perform a bundle adjustment calculation that orients a mosaic of images comprising the plurality of images, wherein using a correlation of the observed position of the target point with the location of the target point in each of the one or more images comprises performing a photo-observable backsight by constraining a pixel coordinate location of the target point in the oriented mosaic of images to the observed position of the target point with respect to the local or global coordinate system to within a specified precision.