Photogrammetric methods and devices related thereto

• US 9,886,774 B2
• Filed: 08/26/2016
• Issued: 02/06/2018
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: Pointivo, Inc.
• Original Assignee: Pointivo, Inc.
• Inventors: Fathi, Habib, Ciprari, Daniel L.
• Primary Examiner(s): Gilliard, Delomia L
• Application Number:
  US15/248,206
• Publication Number:
  US 20160364885A1
• Time in Patent Office: 529 Days
• Field of Search: None
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 7/571 from focus
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes

Abstract

The inventions herein relate generally to improvements in photogrammetry and devices suitable for obtaining such improvements. Some embodiments use only a single passive image-capture device to obtain overlapping 2D images, where such images at least partially overlap with regard to at least one object of interest in a scene. Such images can be processed using methods incorporating structure from motion algorithms. Accurate 3D digital representations of the at least one object of interest can be obtained. Substantially accurate measurements and other useful information regarding the at least one object of interest are obtainable from the methodology herein.

Claims

1. A computerized method of obtaining at least one measurement of an object of interest comprising:

receiving, by a computer, a plurality of 2D images of a scene, comprising digital images or video frames from a single passive image-capture device, wherein the plurality of 2D images includes image data of at least one object of interest, and at least a portion of the plurality of 2D images are at least partially overlapping with regard to the at least one object of interest, thereby providing a plurality of overlapping 2D images that includes the at least one object of interest;

generating, by the computer, a 3D point cloud of the at least one object of interest from the image data;

generating, by the computer, information about spatial distances between point pairs in the 3D point cloud, thereby providing primitive geometry information comprising information about edge/boundary points, straight lines, curved boundaries, planar surfaces or curved surfaces for the at least one object of interest; and

converting, by the computer, the generated information into 3D coordinates for the at least one object of interest.

2. The method of claim 1, wherein dimensions and measurement data for the at least one object of interest are extractable from the 3D coordinates for the at least one object of interest.

3. The method of claim 2, wherein an accuracy of each extracted measurement value obtained from the dimensions and measurement data, independently, is represented in pixels according to formula:

((distance of object of interest from image-capture device)*(image-capture device sensor size))/((image-capture device resolution*image-capture device focal length)).

4. The method of claim 3, wherein a pixel accuracy of each extracted measurement value is about one pixel.

5. The method of claim 1, wherein the plurality of 2D images are video images.

6. The method of claim 1, further comprising generating boundary information for the at least one object of interest.

7. The method of claim 1, wherein the information about spatial distances between point pairs in the 3D point cloud includes their spatial connectivity/relationship with each other.

8. The method of claim 1, wherein the spatial distances between each point pair in the 3D point cloud comprises distances between corresponding physical points in the at least one object of interest.

9. The method of claim 2, wherein the at least one object of interest has actual measurement values and wherein each value of extracted measurement data is, independently, within 5% of a corresponding one of the actual measurement values.

10. The method of claim 7, wherein the spatial connectivity/relationship comprises relative rotation between each other.

11. A computerized method of obtaining at least one measurement of an object of interest comprising:

receiving, by a computer, a plurality of 2D images of a scene, comprising digital images or video frames from a single passive image-capture device, wherein the plurality of 2D images includes image data of at least one object of interest, and at least a portion of the plurality of 2D images are at least partially overlapping with regard to the at least one object of interest, thereby providing a plurality of overlapping 2D images that includes the at least one object of interest;

generating, by the computer, a 3D point cloud of the at least one object of interest from the image data;

generating, by the computer, information about spatial distances between point pairs in the 3D point cloud, thereby providing primitive geometry information comprising information about edge/boundary points, straight lines, curved boundaries, planar surfaces or curved surfaces for the at least one object of interest; and

converting, by the computer, the generated information into 3D coordinates for the at least one object of interest, where measurement data extracted from the 3D coordinates for the at least one object of interest is, independently, within 5% of corresponding actual measurement values for the at least one object of interest.

12. The method of claim 11, wherein an accuracy of each extracted measurement value obtained from the measurement data, independently, is represented in pixels according to formula:

((distance of object of interest from image-capture device)*(image-capture device sensor size))/((image-capture device resolution*image-capture device focal length)).

13. The method of claim 12, wherein a pixel accuracy of each extracted measurement value is about one pixel.

14. The method of claim 11, wherein the information about spatial distances between point pairs in the 3D point cloud includes their spatial connectivity/relationship with each other.