Determining tilt angle and tilt direction using image processing

• US 9,109,889 B2
• Filed: 02/15/2012
• Issued: 08/18/2015
• Est. Priority Date: 06/24/2011
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Soubra, Omar Pierre, Holgren, Martin, Janky, James M
• Primary Examiner(s): Desta, Elias
• Application Number:
  US13/397,445
• Publication Number:
  US 20120330601A1
• Time in Patent Office: 1,280 Days
• US Class Current: 1/1
• 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
• CPC Class Codes: G01S 1/725 Marker, boundary, call-sign or like beacons transmitting signals not carrying directional information
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59

Abstract

A survey instrument includes a surveying device configured to perform survey measurements and an imaging device coupled to the surveying device and having a known spatial relationship with the surveying device. The imaging device may be configured to obtain image information. The survey instrument also includes a processor in electrical communication with the imaging device. The processor may be configured to receive the image information from the imaging device, process the image information to determine a pose of the imaging device, and determine a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame. Tilt angle and the tilt direction of the survey instrument may be determined using the pose of the imaging device.

Claims

1. A survey instrument, comprising:

a support pole having a first end and a second end;

a global navigation satellite system (GNSS) receiver coupled to the first end of the support pole and having a known spatial relationship with the second end of the support pole, the GNSS receiver configured to determine a location of an antenna phase center of the GNSS receiver in a reference frame;

an imaging device coupled to the support pole, the imaging device configured to obtain image information;

a processor in electrical communication with the GNSS receiver and the imaging device, the processor configured to;

receive the location of the antenna phase center from the GNSS receiver;

receive the image information from the imaging device;

determine a pose of the imaging device using the image information;

determine a tilt angle of the support pole and a tilt direction of the support pole in the reference frame, the tilt angle and the tilt direction of the support pole determined using the pose of the imaging device; and

determine a location of the second end of the support pole in the reference frame, the location determined using the location of the antenna phase center of the GNSS receiver and the tilt angle and the tilt direction of the support pole.

2. The survey instrument of claim 1 wherein the image information includes a first image captured at a first location with the support pole substantially parallel to a local gravity vector, and a second image captured at a second location, and wherein the pose of the imaging device is determined based on features in the first image compared to the features in the second image.

3. The survey instrument of claim 1 wherein the tilt angle of the support pole is determined with reference to a local gravity vector.

4. The survey instrument of claim 1 wherein the image information includes a plurality of images each capturing features that are common with another one of the plurality of images and at least one of the plurality of images is captured while the support pole is substantially parallel to a local gravity vector, and wherein the processor is configured to process the image information using correspondences between the plurality of images.

5. The survey instrument of claim 1 wherein the processor is configured to process the image information using a feature-identification process, and the image information includes at least one image capturing features having known locations in the reference frame.

6. The survey instrument of claim 1 wherein the imaging device and the antenna phase center of the GNSS receiver are arranged in a known spatial relationship.

7. The survey instrument of claim 1 wherein an entrance pupil of the imaging device is substantially coaxial with the antenna phase center of the GNSS receiver and the second end of the support pole.

8. A survey instrument, comprising:

a surveying device configured to perform survey measurements;

an imaging device coupled to the surveying device and having a known spatial relationship with the surveying device, the imaging device configured to obtain image information;

a processor in electrical communication with the imaging device, the processor configured to;

receive location information from at least one of the surveying device or the imaging device;

receive the image information from the imaging device;

process the image information to determine a pose of the imaging device;

determine a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame, the tilt angle and the tilt direction of the survey instrument determined using the pose of the imaging device; and

determine a location of a point of interest in the reference frame, the location determined using the location information and the tilt angle and the tilt direction of the survey instrument.

9. The survey instrument of claim 8 wherein the image information includes a first image captured at a first location with a vertical axis of the imaging device substantially parallel to a local gravity vector, and a second image captured at a second location, and wherein the pose of the imaging device is determined based on features in the first image compared to the features in the second image.

10. The survey instrument of claim 8 wherein the image information includes at least one image, and the pose of the imaging device is determined based on features in the image having known locations in the reference frame.

11. The survey instrument of claim 8 wherein the image information includes a plurality of images each capturing features that are common with another one of the plurality of images and at least one of the plurality of images is captured while the imaging device is substantially parallel to a local gravity vector, and the processor is configured to process the image information using correspondences between the plurality of images.

12. The survey instrument of claim 8 wherein the processor is configured to process the image information using a feature-identification process, and the image information includes at least one image capturing features having known locations in the reference frame.

13. The survey instrument of claim 8 wherein the processor is disposed within a handheld device that is separate from the surveying device and the imaging device, and the image information is received from the imaging device using a wireless communications link.

14. The survey instrument of claim 8 wherein the surveying device comprises a global navigation satellite system (GNSS) receiver configured to determine the location information.

15. The survey instrument of claim 8 further comprising a support pole, a first end of the support pole coupled to the surveying device and a second end of the support pole configured to be placed at the point of interest.

16. The survey instrument of claim 8 further comprising a support pole, the imaging device coupled to the support pole and having a known spatial relationship with a tip of the support pole that is configured to be placed at the point of interest, wherein the processor is further configured to process the image information to determine the location information, and configured to determine a location of the tip of the support pole in the reference frame using the location information, the tilt angle and the tilt direction of the survey instrument, and the known spatial relationship between the imaging device and the tip of the support pole.

17. The survey instrument of claim 8 further comprising a support pole, the surveying device coupled to a first end of the support pole and comprising a global navigation satellite system (GNSS) receiver configured to determine the location information, the GNSS receiver having a known spatial relationship with a second end of the support pole, wherein the processor is further configured to determine a location of the second end of the support pole using the location information from the GNSS receiver, the tilt angle and the tilt direction of the survey instrument, and the known spatial relationship between the GNSS receiver and the second end of the support pole.

18. The survey instrument of claim 8 wherein the imaging device and the surveying device are arranged in a known spatial relationship.

19. The survey instrument of claim 8 wherein the survey measurements performed by the surveying device include location measurements corresponding to a measurement center of the surveying device, and an entrance pupil of the imaging device is substantially coaxial with the measurement center of the surveying device and first and second ends of the support pole.

20. The survey instrument of claim 8 wherein the surveying device comprises an optical survey instrument configured to perform optical survey measurements and a distance measuring device configured to determine a distance to the point of interest, the survey instrument further comprising a tripod support coupled to the surveying device and the imaging device.

21. The survey instrument of claim 20 wherein the surveying device comprises a global navigation satellite system (GNSS) receiver configured to determine the location information, and the processor is further configured to determine the location of the point of interest using the location information, the optical survey measurements, the distance, and the tilt angle and the tilt direction of the survey instrument.

22. The survey instrument of claim 8 wherein the surveying device and the imaging device are integrated within a handheld device.

23. The survey instrument of claim 8 wherein the surveying device and the imaging device are integrated within a handheld device, the handheld device comprising a laser pointer for aligning the handheld device with the point of interest and a distance measurement device for determining a distance to the point of interest, wherein the survey measurements performed by the surveying device include determining the location information, and the processor is further configured to determine the location of the point of interest using the location information, the tilt angle and the tilt direction of the survey instrument, and the distance to the point of interest.

24. The survey instrument of claim 23 wherein the distance measurement device determines the distance to the point of interest using sonic measurements.

25. The survey instrument of claim 23 wherein the distance measurement device is an electronic distance measurement (EDM) device.

26. The survey instrument of claim 23 wherein the distance measurement device uses the laser to determine the distance to the point of interest.

27. A method of determining a location of a point of interest using a survey instrument, the method comprising:

receiving a location of an antenna phase center from a global navigation satellite system (GNSS) receiver;

receiving image information from an imaging device;

determining a pose of the imaging device using the image information;

determining a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame, the tilt angle and the tilt direction of the survey instrument determined using the pose of the imaging device; and

determining the location of the point of interest using the location of the antenna phase center and the tilt angle and the tilt direction of the survey instrument.

28. The method of claim 27 wherein the image information includes a plurality of images each capturing features that are common with another one of the plurality of images and at least one of the plurality of images is captured while the imaging device is substantially parallel to a local gravity vector, and wherein determining the pose of the imaging device comprises processing the image information using correspondences between the plurality of images.

29. The method of claim 27 wherein determining the pose of the imaging device comprises processing the image information using a feature-identification process, and the image information includes at least one image capturing features having known locations in the reference frame.

30. The method of claim 27 wherein the imaging device and an antenna phase center of the GNSS receiver are arranged in a known spatial relationship.

31. The method of claim 27 wherein the survey instrument comprises a support pole having a first end coupled to the GNSS receiver and a second end configured to be placed at the point of interest, and wherein an entrance pupil of the imaging device is substantially coaxial with an antenna phase center of the GNSS receiver and the second end of the support pole.

32. The method of claim 27 further comprising:

providing a user indication to obtain additional image information, the user indication activated based on at least one of (1) a distance from a reference measurement station, (2) a number of correspondences between images compared to a threshold, or (3) an error in the pose of the imaging device compared to a threshold.

33. A method of determining a tilt angle and a tilt direction of a survey instrument, the method comprising:

aligning the survey instrument with a local gravity vector at a first station;

acquiring a first image at the first station using an imaging device, the first image capturing a plurality of features;

positioning the survey instrument at a second station different from the first station;

acquiring a second image at the second station using the imaging device, the second image capturing at least a portion of the plurality of features captured in the first image;

processing the first image and the second image to determine a pose of the imaging device at the second station; and

determining the tilt angle and the tilt direction of the survey instrument at the second station, the tilt angle and the tilt direction determined using the pose of the imaging device.

34. The method of claim 33 further comprising:

at the second station, determining a location of the survey instrument in the reference frame; and

determining a location of a point of interest using the tilt angle and the tilt direction of the survey instrument at the second station and the location of the survey instrument at the second station.

35. The method of claim 33 wherein the survey instrument comprises a support pole and a global navigation satellite system (GNSS) receiver, and the GNSS receiver is coupled to a first end of the support pole and the imaging device is positioned substantially coaxial between an antenna phase center of the GNSS receiver and a second end of the support pole.

36. The method of claim 33 wherein the survey instrument is a handheld device that includes the imaging device and a surveying device configured to perform location measurements.

37. The method of claim 33 further comprising:

providing a user indication that the tilt angle at the second station is greater than a threshold tilt angle.