EP0498542A2
Expired / Lapsed
EP
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Automated video imagery database generation using photogrammetry
Assignee: Raytheon Co
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Filing: 1992-01-22
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Granted: —
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Expires: 2012-01-22
Abstract
Abstract A method for converting forward looking video or motion picture imagery into a downlooking database suitable for use in an image generation system to generate realtime perspective images for simulation purposes. A digital video camera photographs a sequence of forward looking frames along a course including several known ground control points. Digital data from the digital video camera is read into a computer. The initial position and the position of ground control points is read into the computer. A Kalman filter technique provides continuous estimates of exact camera location in x, y, z coordinates, and in roll, pitch and yaw orientation. A correlation filter determines corresponding pixels in adjacent frames. Range from the camera to the pixel surfaces is calculated to determine the x, y and z position thereof. A modified mathematical stereophotogrammetry technique is used. Radiometric data and elevation data is extracted from the lower portion of the frame for each pixel. After the radiometric and elevation data have been established for each pixel in each frame, the imagery is warped onto the elevation data to generate a top down view. The database is then ready for use in an image generation system.
Inventors
- 👤 Gerald W. Plunk
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-09 13:35
CPC Classifications
G; G09; G09B; G09B29/00; G09B29/003; G01; G01C; G01C11/00; G01C11/02; G06; G06T; G06T15/00; G06T15/10; G09B9/00; G09B9/02; G09B9/08; G09B9/30; G09B9/301; H; H04; H04N; H04N13/00; H04N13/20; H04N13/261; H04N2013/0074; H04N2013/0081
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
150 words
A method for generating a downlooking database from oblique sequential imagery comprising the following steps: acquiring oblique forward looking sequential imagery data with respect to a vehicle moving over a terrain of interest; calculating the position and attitude of the vehicle in x, y, z and roll, pitch and yaw at the time each frame was made; estimating the exact position of the vehicle at the time each frame was made in x, y, z and roll, pitch and yaw; determining corresponding pixels in adjacent frames; calculating range to corresponding pixels in each frame; determining an x, y, z position for each pixel in each frame; and processing elevation data and radiometric data for each pixel in each frame using only radiometric data extracted from the lower portion of each frame to generate a top down view thus providing a downlooking database suitable for use in an image generation system.
Claim 2
Dependent Claim
47 words
The method of Claim 1 wherein the step of acquiring oblique forward looking sequential imagery frames comprises the step of: acquiring oblique forward looking sequential imagery data with respect to a vehicle moving over a terrain of interest; and digitizing the oblique forward looking sequential imagery frames.
Claim 3
Dependent Claim
37 words
The method of Claim 1 wherein the step of acquiring oblique forward looking sequential imagery frames comprises the step of: digitally recording oblique forward looking sequential imagery frames from a vehicle moving over the terrain of interest.
Claim 4
Dependent Claim
31 words
The method of Claim 1 wherein the step of determining corresponding pixels in adjacent frames comprises the step of: determining corresponding pixels in adjacent frames by use of a correlation filter.
Claim 5
Dependent Claim
47 words
The method of Claim 1 wherein the step of acquiring oblique forward looking sequential imagery frames comprises the step of: estimating the exact position of the vehicle at the time each frame was made in x, y, z and roll, pitch and yaw using Kalman filter processing.
Claim 6
Dependent Claim
46 words
The method of Claim 1 wherein the step of processing elevation data and radiometric data for each pixel in each rame comprises the step of: recording oblique forward looking sequential imagery frames from a vehicle moving over the terrain of interest using a single recording camera.
Claim 7
Dependent Claim
71 words
The method of Claim 1 wherein the step of acquiring oblique forward looking sequential imagery frames comprises the steps of: establishing elevation data and radiometric data for each pixel in each frame using only radiometric data extracted from the lower portion of each frame; and warping the imagery onto the elevation data to generate a top down view thus providing a downlooking database suitable for use in an image generation system.
Claim 8
Independent Claim
167 words
A method for generating a downlooking database from oblique sequential imagery comprising the following steps: acquiring oblique forward looking sequential imagery data with respect to a vehicle moving over a terrain of interest using a single recording camera; digitizing the oblique forward looking sequential imagery frames; calculating the position and attitude of the vehicle in x, y, z and roll, pitch and yaw at the time each frame was made; estimating the exact position of the vehicle at the time each frame was made in x, y, z and roll, pitch and yaw; determining corresponding pixels in adjacent frames using a correlations filter; calculating range to corresponding pixels in each frame; determining an x, y, z position for each pixel in each frame; and processing elevation data and radiometric data for each pixel in each frame using only radiometric data extracted from the lower portion of each frame to generate a top down view thus providing a downlooking database suitable for use in an image generation system.
Claim 9
Dependent Claim
47 words
The method of Claim 8 wherein the step of acquiring oblique forward looking sequential imagery frames comprises the step of: estimating the exact position of the vehicle at the time each frame was made in x, y, z and roll, pitch and yaw using Kalman filter processing.
Claim 10
Dependent Claim
46 words
The method of Claim 8 wherein the step of processing elevation data and radiometric data for each pixel in each frame comprises the step of: recording oblique forward looking sequential imagery frames from a vehicle moving over the terrain of interest using a single recording camera.
Claim 11
Dependent Claim
71 words
The method of Claim 9 wherein the step of acquiring oblique forward looking sequential imagery frames comprises the steps of: establishing elevation data and radiometric data for each pixel in each frame using only radiometric data extracted from the lower portion of each frame; and warping the imagery onto the elevation data to generate a top down view thus providing a downlooking database suitable for use in an image generation system.
Claim 12
Independent Claim
202 words
A method for generating a downlooking database from oblique sequential imagery comprising the following steps: making oblique forward looking sequential imagery frames from a vehicle moving over a terrain of interest; digitizing the oblique forward looking sequential imagery frames; loading the digitized oblique forward looking sequential imagery frames into a computer; calculating the position of the vehicle in x, y, z and roll, pitch and yaw from known ground control positions at the time each frame was made; estimating the exact position of the vehicle in x, y, z and roll, pitch and yaw using extended Kalman filtering techniques as the time each frame was made; determining corresponding pixels in adjacent frames by use of a correlation filter; calculating range to corresponding pixels in each using a modified version of conventional mathematics used to solve the problem of stereo pairs; determining x, y, z position for each pixel in each frame; establishing elevation data and radiometric data for each pixel in each frame using only radiometric data extracted from the lower portion of each frame; and warping the imagery onto the elevation data to generate a top down view thus providing a downlooking database suitable for use in an image generation system.
References Cited (Backward Citations)
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