Mosaic oblique images and methods of making and using same

• US 9,959,653 B2
• Filed: 10/30/2017
• Issued: 05/01/2018
• Est. Priority Date: 08/30/2006
• Status: Active Grant

• Current Assignee: Pictometry International Corporation (Eagleview Technologies, Inc. /Wa/)
• Original Assignee: Pictometry International Corporation (Eagleview Technologies, Inc. /Wa/)
• Inventors: Schultz, Stephen, Giuffrida, Frank, Gray, Robert
• Primary Examiner(s): Rush, Eric
• Application Number:
  US15/797,679
• Publication Number:
  US 20180047197A1
• Time in Patent Office: 183 Days
• Field of Search: 382100, 382154, 382284, 382285, 382294, 345629, 345646, 348144, 348147
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06T 2207/30176 Document
• CPC Class Codes: G06T 3/06 Topological mapping of higher dimensional structures onto lower dimensional surfaces
• CPC Class Codes: G06T 3/18 Image warping, e.g. rearranging pixels individually
• CPC Class Codes: G06T 3/4038 Image mosaicing, e.g. composing plane images from plane sub-images
• CPC Class Codes: G06T 7/50 Depth or shape recovery
• CPC Class Codes: G06T 7/97 Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85

Abstract

A computer system running image processing software receives an identification of a desired scene of a geographical area for which an oblique-mosaic image is desired including one or more geometry parameters of a virtual camera; creates a mathematical model of the virtual camera having mathematical values that define the camera geometry parameters that configure the model to capture the geographical area, and looking down at an oblique angle; creates a ground elevation model of the ground and vertical structures within the oblique-mosaic pixel map, wherein source images were captured at an oblique angle and compass direction similar to the oblique angle and compass direction of the virtual camera; and reprojects, with the mathematical model, source oblique image pixels of the overlapping source images for pixels included in the oblique-mosaic pixel map using the ground elevation model to thereby create the oblique-mosaic image of the geographical area.

Claims

1. A system, comprising:

a computer system running image processing software that when executed by the computer system causes the computer system to;

receive an identification of a desired scene of a geographical area for which an oblique-mosaic image is desired including one or more camera geometry parameters of a virtual camera;

create a mathematical model of the virtual camera having mathematical values that define the camera geometry parameters that configure the mathematical model to capture the geographical area looking down at an oblique angle, the mathematical model having an oblique-mosaic pixel map of the geographical area encompassing multiple source images;

create a ground elevation model of the ground and vertical structures within the oblique-mosaic pixel map using overlapping source images of the geographical area, wherein the source images were captured at an oblique angle and compass direction similar to the oblique angle and compass direction of the virtual camera; and

reproject, with the mathematical model, source oblique image pixels of the overlapping source images for pixels included in the oblique-mosaic pixel map using the ground elevation model to thereby create the oblique-mosaic image of the geographical area.

2. The system of claim 1, wherein the mathematical values that define the camera geometry parameters include one or more of mathematical values that define one or more of:

number of rows and columns of a sensor plane;

size of a sensor plane in millimeters;

focal length;

height above ground;

yaw of an optical axis;

pitch of an optical axis; and

roll of an optical axis.

3. The system of claim 1, wherein the virtual camera has a perspective, and wherein the image processing software further causes the computer system to project each source image pixel through the perspective of the virtual camera to determine a corresponding surface location for each pixel in the oblique-mosaic pixel map.

4. The system of claim 1, wherein multiple source oblique images represent a same surface location.

5. The system of claim 4, wherein the image processing software further causes the computer system to compare the pixels of each source oblique image that represent the same surface location to determine which source pixel is most representative of the same surface location, the more representative pixel to be included in the oblique-mosaic image.

6. The system of claim 1, wherein each pixel included in the oblique-mosaic pixel map is reprojected to match a size and shape of a represented surface location as taken from the elevation, compass direction, and oblique angle of the virtual camera.

7. The system of claim 1, wherein the image processing software further causes the computer system to remove effects of elevation from the source oblique images prior to reprojection and then to add the effects of elevation to the oblique-mosaic image after reprojection.

8. The system of claim 1, wherein metadata is stored with the oblique-mosaic image.

9. A method, comprising:

receiving, with a computer system, an identification of a desired scene of a geographical area for which an oblique-mosaic image is desired including one or more camera geometry parameters of a virtual camera;

creating, with the computer system, a mathematical model of the virtual camera having mathematical values that define the camera geometry parameters that configure the mathematical model to capture the geographical area looking down at an oblique angle, the mathematical model having an oblique-mosaic pixel map of the geographical area encompassing multiple source images;

creating, with the computer system, a ground elevation model of the ground and vertical structures within the oblique-mosaic pixel map using overlapping source images of the geographical area, wherein the source images were captured at an oblique angle and compass direction similar to the oblique angle and compass direction of the virtual camera; and

reprojecting, with the mathematical model, source oblique image pixels of the overlapping source images for pixels included in the oblique-mosaic pixel map using the ground elevation model to thereby create the oblique-mosaic image of the geographical area.

10. The method of claim 9, wherein the mathematical values that define the camera geometry parameters include one or more of mathematical values that define one or more of:

number of rows and columns of a sensor plane;

size of a sensor plane in millimeters;

focal length;

height above ground;

yaw of an optical axis;

pitch of an optical axis; and

roll of an optical axis.

11. The method of claim 9, wherein the virtual camera has a perspective, and further comprising projecting each source image pixel through the perspective of the virtual camera to determine a corresponding surface location for each pixel in the oblique-mosaic pixel map.

12. The method of claim 9, wherein multiple source oblique images represent a same surface location.

13. The method of claim 12, further comprising comparing, with the computer system, the pixels of each source oblique image that represent the same surface location to determine which source pixel is most representative of the same surface location, the more representative pixel to be included in the oblique-mosaic image.

14. The method of claim 9, wherein each pixel included in the oblique-mosaic pixel map is reprojected to match a size and shape of a represented surface location as taken from the elevation, compass direction, and oblique angle of the virtual camera.

15. The method of claim 9, further comprising removing, with the computer system, effects of elevation from the source oblique images prior to reprojection and then to add the effects of elevation to the oblique-mosaic image after reprojection.

16. The method of claim 9, wherein metadata is stored with the oblique-mosaic image.