Surveying system
First Claim
1. A surveying subsystem comprising a camera module and a control and evaluation unit, wherein the surveying subsystem is adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource, particularly wherein the surveying system further comprising a hand-carried surveying pole and the position measuring resource being mounted on the hand-carried surveying pole:
- the camera module being designed to be attached to the surveying pole and comprising at least one camera for capturing images,the control and evaluation unit having stored a program with program code so as to control and execute a spatial representation generation functionality in which—
when moving along a path through a surrounding—
a first series of images of the surrounding is captured with the at least one camera, the first series comprising an amount of images captured with different poses of the at least one camera, the poses representing respective positions and orientations of the at least one camera,an initial set of image points is identified based on the first series of images, the initial image points representing reference points of a reference point field, wherein each reference point appears in at least two images of the series of images,the poses for the images are determined based on resection using the initial image points, wherein,a second series of images of the surrounding is captured with the at least one camera,reference points of the reference point field appearing in at least one of the images of the second series of images are identified,a further set of image points is identified in the images of the second series of images corresponding to the identified reference points of the second series of images andthe poses for the images of the second series of images are determined based on resection using the initial set and the further set of image points.
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Accused Products
Abstract
A system is disclosed that comprises a camera module and a control and evaluation unit. The camera module is designed to be attached to the surveying pole and comprises at least one camera for capturing images. The control and evaluation unit has stored a program with program code so as to control and execute a functionality in which a series of images of the surrounding is captured with the at least one camera; a SLAM-evaluation with a defined algorithm using the series of images is performed, wherein a reference point field is built up and poses for the captured images are determined; and, based on the determined poses, a point cloud comprising 3D-positions of points of the surrounding can be computed by forward intersection using the series of images, particularly by using dense matching algorithm.
16 Citations
10 Claims
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1. A surveying subsystem comprising a camera module and a control and evaluation unit, wherein the surveying subsystem is adapted to be used as part of a surveying system that is adapted to determine positions of a position measuring resource, particularly wherein the surveying system further comprising a hand-carried surveying pole and the position measuring resource being mounted on the hand-carried surveying pole:
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the camera module being designed to be attached to the surveying pole and comprising at least one camera for capturing images, the control and evaluation unit having stored a program with program code so as to control and execute a spatial representation generation functionality in which—
when moving along a path through a surrounding—a first series of images of the surrounding is captured with the at least one camera, the first series comprising an amount of images captured with different poses of the at least one camera, the poses representing respective positions and orientations of the at least one camera, an initial set of image points is identified based on the first series of images, the initial image points representing reference points of a reference point field, wherein each reference point appears in at least two images of the series of images, the poses for the images are determined based on resection using the initial image points, wherein, a second series of images of the surrounding is captured with the at least one camera, reference points of the reference point field appearing in at least one of the images of the second series of images are identified, a further set of image points is identified in the images of the second series of images corresponding to the identified reference points of the second series of images and the poses for the images of the second series of images are determined based on resection using the initial set and the further set of image points. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification