Mosaic oblique images and systems and methods of making and using same

Patent metadata

Field	Value
Publication number	US-11080911-B2
Application number	US-201916694370-A
Country	US
Kind code	B2
Filing date	Nov 25, 2019
Priority date	Aug 30, 2006
Publication date	Aug 3, 2021
Grant date	Aug 3, 2021

Abstract

Systems and methods for creating oblique-mosaic image(s) for geographical area(s) are disclosed, including a computer system running software that when executed causes the system to create a mathematical model of a sensor of a virtual camera having an elevation greater than an elevation of a desired geographical area to be imaged, the mathematical model having an oblique-mosaic pixel map; determine surface locations for pixels included in the oblique-mosaic pixel map; select source oblique images of the surface locations of the pixels captured at an oblique angle and compass direction similar to an oblique angle and compass direction of the virtual camera; and reproject source oblique image pixels for pixels included in the oblique-mosaic pixel map such that reprojected pixels have differing sizes determined by matching projections from the virtual camera so as to present an oblique appearance, and thereby create the oblique-mosaic image of the desired geographical area.

First claim

What is claimed is:

1. A system for creating one or more oblique-mosaic images, comprising:
a computer system running image processing software that when executed by the computer system causes the computer system to:
create a mathematical model of a sensor of a virtual camera, where the virtual camera has an elevation greater than an elevation of a desired geographical area to be imaged, the mathematical model having an oblique-mosaic pixel map for the sensor of the desired geographical area;
determine surface locations for pixels included in the oblique-mosaic pixel map, wherein the surface locations for the pixels include first surface locations of the ground and second surface locations of objects above the ground;
for the pixels included in the oblique-mosaic pixel map, select source oblique images of the surface locations of the pixels captured at an oblique angle and compass direction similar to an oblique angle and compass direction of the virtual camera; and
reproject source oblique image pixels of the desired geographical area to be imaged for the pixels included in the oblique-mosaic pixel map such that reprojected pixels have differing sizes determined by matching projections from the virtual camera so as to present an oblique appearance, and thereby create an oblique-mosaic image of the desired geographical area.

2. The system of claim 1 , wherein the determining the surface locations for the pixels included in the oblique-mosaic pixel map further comprises projecting the pixels in the oblique mosaic pixel map through a perspective of the virtual camera to determine a corresponding surface location for the pixels in the oblique-mosaic pixel map.

3. The system of claim 1 , wherein the selecting the source oblique images comprises selecting from multiple ones of the source oblique images representing a same surface location.

4. The system of claim 3 , wherein the pixels of each source oblique image that represent the same surface location are compared 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.

5. The system of claim 1 , wherein the reprojecting the source oblique image pixels further comprises reprojecting the source oblique image pixels 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.

6. The system of claim 1 , wherein the reprojecting the source oblique image pixels further comprises removing effects of elevation from the source oblique images prior to reprojection and then adding the effects of elevation to the oblique-mosaic image after reprojection.

7. The system of claim 1 , wherein the image processing software further causes the computer system to minimize lean of vertical structures within the oblique-mosaic image.

8. The system of claim 7 , wherein the minimizing lean of the vertical structures within the oblique-mosaic image further comprises creating an elevation model from the source oblique images taking into account the vertical structures, and reprojecting at least one source oblique image pixel of the desired geographical area to be imaged.

9. The system of claim 7 , wherein the minimizing lean of the vertical structures within the oblique-mosaic image further comprises matching vertical structures in multiple ones of the source oblique images and shifting pixels apparent location in at least one of the source oblique images by a relative height above a ground model.

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

11. The system of claim 1 , wherein the oblique-mosaic image is geo-referenced.

12. The system of claim 1 , wherein the selecting the source oblique images comprises selecting from multiple ones of the source oblique images representing a same surface location and having meta-data indicative of a location of a camera used to capture the source oblique images and orientation of the camera.

13. The system of claim 1 , wherein the oblique-mosaic image is an aerial oblique-mosaic image.

14. A method for creating an oblique-mosaic image from a plurality of source oblique images, comprising the steps of:
creating a mathematical model of a sensor of a virtual camera, where the virtual camera has an elevation greater than an elevation of a desired geographical area to be imaged, the mathematical model having an oblique-mosaic pixel map for the sensor of the desired geographical area;
determining surface locations for pixels included in the oblique-mosaic pixel map, wherein the surface locations for the pixels include first surface locations of the ground and second surface locations of objects above the ground;
for the pixels included in the oblique-mosaic pixel map, selecting source oblique images of the surface locations of the pixels captured at an oblique angle and compass direction similar to an oblique angle and compass direction of the virtual camera; and
reprojecting source oblique image pixels of the desired geographical area to be imaged for the pixels included in the oblique-mosaic pixel map such that reprojected pixels have differing sizes determined by matching projections from the virtual camera so as to present an oblique appearance, and thereby create the oblique-mosaic image of the desired geographical area.

15. The method of claim 14 , wherein the step of determining is further defined by projecting the pixels in the oblique mosaic pixel map through a perspective of the virtual camera to determine a corresponding surface location for the pixels in the oblique-mosaic pixel map.

16. The method of claim 14 , wherein the step of selecting is selecting from multiple source oblique images representing a same surface location.

17. The method of claim 16 , wherein the pixels of each source oblique image that represent the same surface location are compared 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.

18. The method of claim 14 , wherein the step of reprojecting is further defined by reprojecting the source oblique image pixels 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.

19. The method of claim 14 , wherein the step of reprojecting is further defined by removing effects of elevation from the selected source oblique images prior to reprojection and then adding the effects of elevation to the oblique-mosaic image after reprojection.

20. The method of claim 14 , further comprising the step of minimizing lean of vertical structures within the oblique-mosaic image.

21. The method of claim 20 , wherein the step of determining comprises:
creating a mathematical model of the first surface locations of the ground and of the second surface locations of objects above the ground in the desired geographical area, based on two or more separately captured oblique images having an overlapping image area depicting the ground and the objects above the ground in the desired geographical area, by using aero-triangulation, comprising:
for each point of a plurality of points in the overlapping image area:
comparing a first location of the point in a first one of the oblique images with a second location of the point in a second one of the oblique images; and
triangulating a real-world location and elevation of the poin

Assignees

• Pictometry Int Corp

Inventors

• Schultz Stephen
• Giuffrida Frank
• Gray Robert

Classifications

• G06T3/4038 Primary

  Image mosaicing, e.g. composing plane images from plane sub-images · CPC title

• G06T7/97

  Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85) · CPC title

• G06T11/60 Primary

  Creating or editing images; Combining images with text · CPC title

• G06T7/50

  Depth or shape recovery · CPC title

• G06T2207/30176

  Document · CPC title