Method and geodetic device for surveying at least one target

Patent metadata

Field	Value
Publication number	US-9933512-B2
Application number	US-201213692862-A
Country	US
Kind code	B2
Filing date	Dec 3, 2012
Priority date	Jan 14, 2005
Publication date	Apr 3, 2018
Grant date	Apr 3, 2018

Abstract

The invention relates to a method for surveying at least one target using a geodetic device. According to said method, a camera of the device captures a visual image and surveys an angle and/or a distance to the target with geodetic precision, the angle and/or distance surveillance being supported or controlled by the visual image. At the same time of capture of the visual image at least two distance points of a distance image are captured as the spatial distribution of discrete distance points in the area of detection. When the visual image and the distance image are correlated with each other, the target is recognized or the measuring process is controlled.

First claim

What is claimed is:

1. A method for surveying at least one target by a geodetic device, comprising:
capturing a visual image of an area of capture by a camera of the device, the camera obtaining a multiplicity of image points;
simultaneously recording, by a range imaging module (RIM) sensor array of the geodetic device, distance values of a multitude of discrete distance points for the provision of a distance image as a spatial distribution of discrete distance points in the area of capture, wherein the number of distance points is smaller than the number of image points, and
superposing the distance image and the visual image by coordinating at least one of the multitude of discrete distance points with at least one of the multiplicity of image points; and
identifying the at least one target within the visual image based on the at least one of the multitude of discrete distance points coordinated to the at least one of the multiplicity of image points.

2. The geodetic device for carrying out the method according to claim 1 , comprising at least:
the camera for capturing the visual image of the area of capture, the camera obtaining the multiplicity of image points;
the RIM-sensor array for simultaneously recording the distance values of the multitude of discrete distance points for the provision of the distance image as the spatial distribution of discrete distance points in the area of capture, wherein the number of distance points is smaller than the number of image points;
an angle- and/or distance-measuring component;
a control unit for controlling the angle and/or distance-measuring component, and for coordinating the distance points with the image points, and for superposing the distance image and the visual image.

3. The geodetic device according to claim 2 , further comprising a focusing member in a beam path to the camera, wherein the RIM sensors array is arranged after the focusing member in the beam path.

4. The geodetic device according to claim 2 , wherein the RIM sensor array and the camera are configured in a way that the number of distance points recorded by the RIM sensor array for recording a distance image is smaller than the number of image points captured by the camera for creating the visual image, and the device is configured in a way that the at least one distance point is coordinated with the at least one image point.

5. The geodetic device according to claim 2 , further comprising means which can be introduced into the beam path, in particular in conjunction with a rotatable or displaceable support element, for orientation of the distance values in the area of capture, in particular having microlenses or holographic elements.

6. The geodetic device according to claim 2 , wherein the geodetic device is a tachometer, the camera is a CCD or CMOS camera and the control unit controls the angle and/or distance-measuring component by means of the visual image.

7. The method according to claim 1 , wherein identifying the at least one target within the visual image is based on coordinating each distance point with at least one image point; and
identifying the at least one target within the visual image based on the distance values coordinated to the image points.

8. The method according to claim 1 , wherein capturing the visual image of the area of capture by the camera is obtained simultaneously with the recording of the multitude of discrete distance points for the distance image.

9. The method according to claim 1 , wherein the distance values in the area of capture takes place according to a stochastic pattern.

10. The method according to claim 1 , wherein the distance values in the area of capture takes place according to a regular pattern.

11. A method according to claim 1 , wherein cohesive regions of distance points are identified in the distance image.

12. A method according to claim 1 , wherein, in the visual image, objects are identified on the basis of a correlation of cohesive regions and features of the visual image.

13. A method according to claim 1 , wherein a spatial position of an object in the area of capture is derived from the distance image.

14. A method according to claim 1 , wherein a spatial position of a plurality of objects in the area of capture is derived from the distance image.

15. A method according to claim 1 , wherein after identifying the at least one identified target, a region of the at least one identified target is precisely measured by an angle- and/or distance-measuring component of the device.

16. A non-transitory computer program product having computer executable instructions stored on a non-transitory machine-readable medium that when executed perform the method steps according to claim 1 .

Assignees

• Leica Geosystems Ag

Inventors

• Braunecker Bernhard
• Rohner Marcel

Classifications

• G01C1/04 Primary

  combined with cameras · CPC title

• G06K9/00208

  Physics · mapped topic

• G01S7/4816 Primary

  of receivers alone · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01C15/002

  Active optical surveying means (optical plumbing G01C15/105) · CPC title