Method and apparatus for collecting and processing visual and spatial position information from a moving platform

• US 5,633,946 A
• Filed: 11/03/1995
• Issued: 05/27/1997
• Est. Priority Date: 05/19/1994
• Status: Expired due to Term

• Current Assignee: Paul A. Toretta
• Original Assignee: Geospan Corporation
• Inventors: Setterholm, Jeffrey M., Lachinski, Theodore M., Boggs, Stephen, Longfellow, John W., Ptacek, Louis S., Blais, Paul M.
• Primary Examiner(s): Mancuso, Joseph
• Assistant Examiner(s): Patel, Jayanti K.
• Application Number:
  US08/550,553
• Time in Patent Office: 571 Days
• Field of Search: 382/103, 382/104, 382/106, 382/154, 364/443, 364/450, 364/462, 364/449, 364/447, 364/460, 348/116, 348/119, 348/144, 348/169, 901/46, 901/47
• US Class Current: 382/103
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/3848 Data obtained from both position sensors and additional sensors
• CPC Class Codes: G06T 7/66 of image moments or centre of gravity
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 10/44 Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components

Abstract

Visual and spatial position information is collected and processed for the formation of a geographic information database. In addition, the information collected and processed can be used to update the United States Census Bureau TIGER/Line files to improve the accuracy of the files. Information collected and processed can also be used to accurately determine the spatial position of an object seen in the collected visual information. The method includes the high speed collection and correlation of video images and spatial position information.

Claims

1. A method for collection of visual and spatial position information from a moving platform, the method comprising:

obtaining spatial position data relating to spatial position and orientation of the moving platform;

obtaining video images from a plurality of video cameras carried by the moving platform at known positions and orientations with respect to the moving platform;

recording non-coplanar video images obtained at different times from the video cameras;

associating with each recorded video image an instantaneous spatial position and orientation of the video camera which produced the video image at the time that the video image was obtained, based upon the spatial position and orientation of the moving platform and the known position and orientation of the video camera with respect to the moving platform; and

determining location of an object shown in at least two of the recorded non-coplanar video images obtained at different times based upon a location of the object in each of those recorded images and the associated spatial positions and orientations of the video cameras which produced those video images.

2. The method of claim 1 wherein the video images are recorded in a sequential cycle.

3. The method of claim 1 wherein the spatial position data includes data obtained from a receiver located on the moving platform and capable of receiving data from Global Positioning System satellite.

4. The method of claim 3 wherein the spatial position data further includes relative spatial position data obtained from an inertial navigation system located on the moving platform.

5. The method of claim 1 wherein operation of the video cameras is synchronized.

6. The method of claim 1 and further comprising:

associating with each recorded video image the time at which that video image was obtained.

7. The method of claim 1 wherein the plurality of video cameras are positioned and oriented to capture video images in front, behind, and on each side of the moving platform.

8. The method of claim 1 and further comprising:

replacing selected data in a geographic information system database, based upon the recorded video images and associated spatial position and orientation of the video cameras which produced the video images.

9. The method of claim 8 wherein the database includes data relating to spatial positions of a plurality of street segments.

10. The method of claim 9 wherein replacing selected data includes replacing data relating to a beginning and an end of a selected street segment.

11. The method of claim 1 wherein the moving platform is moved along streets, and wherein the method further comprises:

matching street segments to at least one video image based upon the spatial position and orientation of the video camera associated with that video image.

12. An apparatus for collection of visual and spatial position information, the apparatus comprising:

a moving platform;

means located on the moving platform for obtaining spatial position data relating to spatial position and orientation of the moving platform;

a plurality of video cameras located on the moving platform, the video cameras being positioned at known locations and orientations with respect to the moving platform and being oriented to capture images of fields of view in front, behind, on a left side and on a right side of the moving platform;

means for recording non-coplanar video images obtained at different times from the video cameras;

means for associating each recorded video image with an instantaneous spatial position and orientation of the video camera which produced the recorded video image at the time that the video image was obtained, based upon the spatial position data relating to the spatial position and orientation of the moving platform and the known position and orientation of the video cameras with respect to the moving platform; and

means for deriving spatial position information relating to an object appearing in at least two of the recorded images obtained at different times from the video cameras from (a) a location of the object in each of the recorded images, and (b) the instantaneous spatial position and orientation of the video camera which produced each recorded video image at the time that video image was obtained.

13. The apparatus of 12 wherein the means for obtaining spatial position data includes a receiver capable of receiving data from global positioning system satellites.

14. The apparatus of 13 wherein the means for obtaining spatial position data further includes an inertial navigation system.

15. The apparatus of 14 and further comprising:

synchronizing means for synchronizing operation of the video cameras.

16. A method for collection of visual and spatial position information from a moving platform, the method comprising

obtaining spatial position data relating to spatial position and orientation of the moving platform;

obtaining video images from a first video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a first field of view in front of the moving platform;

obtaining video images from a second video camera carried by the moving platform at a second known position and orientation with respect to the moving platform to capture images of a second field of view behind the moving platform;

obtaining video images from a third video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a third field of view on a left side of the moving platform;

obtaining video images from a fourth video camera carried by the moving platform at a known position and orientation with respect to the moving platform to capture images of a fourth field of view on a right side of the moving platform;

recording a sequence of non-coplanar video images obtained at different times from the first, second, third, and fourth video cameras;

associating with each recorded video image an instantaneous spatial position and orientation of the video camera which produced that video image at the time that the video image was obtained, based upon the spatial position and orientation of the moving platform and the known position and orientation of that video camera with respect to the moving platform; and

determining location of an object shown in at least two of the recorded non-coplanar video images obtained from different ones of the first, second, third, and fourth video cameras.