Methods, systems and apparatus, including computer programs encoded on computer storage media for determining a center location of a ground control point used in aerial surveys. Machine learning models are used to identify in digital images pixel coordinates of the ground control point identified in the digital images. These image pixel coordinates are used in photogrammetric processing and software.

A surveying instrument for executing a relocation functionality, which determines first coordinates of a stationary target point associated with the start signal, in response to a start signal, a first actuator and a second actuator are controlled such that the stationary target point remains within a detection area of a tracking unit of the surveying instrument, determines second coordinates of the stationary target point, receives an end signal, wherein the second coordinates of the stationary target point are associated with the end signal, and based at least in part on the first and second coordinates of the stationary target point, and determines a relative pose of the surveying instrument with respect to a first setup location and a second setup location, wherein the first setup location is associated with the first coordinates and the second setup location is associated with the second coordinate.

A surveying instrument for executing a relocation functionality, which determines first coordinates of a stationary target point associated with the start signal, in response to a start signal, a first actuator and a second actuator are controlled such that the stationary target point remains within a detection area of a tracking unit of the surveying instrument, determines second coordinates of the stationary target point, receives an end signal, wherein the second coordinates of the stationary target point are associated with the end signal, and based at least in part on the first and second coordinates of the stationary target point, and determines a relative pose of the surveying instrument with respect to a first setup location and a second setup location, wherein the first setup location is associated with the first coordinates and the second setup location is associated with the second coordinate.

In some examples, a system includes a memory configured to store a first image and a second image captured by one or more cameras mounted on one or more vehicles and store locations and orientations of the one or more cameras at times when the first and second images were captured. The system also includes processing circuitry configured to identify an existing landmark in the first and second images. The processing circuitry is also configured to determine a latitude, a longitude, and an altitude of the existing landmark based on the locations and orientations of the one or more cameras at the times when the images were captured. The processing circuitry is configured to create a file including the location of the existing landmark and pixel coordinates of the existing landmark in the first and second images.

A method for generating a photogrammetric corridor map from a set of input images by recovering a respective pose of each image, wherein a pose includes a position and an orientation information of the underlying camera, including steps of: a) receiving a set of input images, b) defining a working set, c) initializing an image cluster, d) further growing the image cluster: d1) selecting one image from the working set that features overlap with at least one image already in the cluster, e) continuing with step b) if there remain images in the working set; if not, f) generating and providing as output the corridor map using the recovered camera poses.

A method is provided for locating an image recording of an object such as a celestial body, recorded by at least one imaging recording device from a distance. The method includes acquiring image data which represent the image recording and its point in time of recording; acquiring measurement data which represent, for the point in time of recording, a respective measurement signal of at least one sensor device which is arranged in a surface portion of the object; and matching the image data and the measurement data. The method also includes locating the image recording with respect to the object by a determination of a position in the image recording which corresponds to the location of the sensor device on the basis of the matching, and an associating of the location information with this position.

A method, device, apparatus and a computer-readable storage medium for detecting a height of an obstacle are provided. The method can include: acquiring observation data of a plurality of reference obstacles from a frame; according to the observation data of each of the reference obstacles, fitting a function F: Z=F(ymax), wherein the observation data of a reference obstacle comprises a longitudinal coordinate of a bottom of the reference obstacle in the frame, and a distance between the reference obstacle and a camera capturing the frame; and determining a distance between the obstacle to be detected and the camera, according to the longitudinal coordinate of the bottom of the obstacle in the frame and the function F; and determining an evaluation value of the height of the obstacle to be detected according to the distance between the obstacle to be detected and the camera.

Aspects described herein provide a computer implemented radio frequency propagation simulation tool to allow the simulation of radio frequency propagation across a topographic area which has been very finely mapped in three dimensions to include possible obstructions to high frequency radio waves. A computer implemented RF propagation simulation tool may identify any possible obstructions one edge of which may lie in a simulated RF propagation path between two points, and apply an edge based RF diffraction model (a so-called “knife edge diffraction” model) thereto to simulate the RF propagation around the obstruction. In some aspects, a computer implemented RF propagation simulation tool may identify possible obstructions which in their entirety lie within the width of a simulated RF propagation path, and apply a further diffraction model (a so-called “shield diffraction” model) thereto to simulate the RF propagation around the obstruction. The results of the simulations of RF propagation can be graphically overlaid onto a map or other topographic image for display to a user.

Aspects described herein provide a computer implemented radio frequency propagation simulation tool to allow the simulation of radio frequency propagation across a topographic area which has been very finely mapped in three dimensions to include possible obstructions to high frequency radio waves. A computer implemented RF propagation simulation tool may identify any possible obstructions one edge of which may lie in a simulated RF propagation path between two points, and apply an edge based RF diffraction model (a so-called “knife edge diffraction” model) thereto to simulate the RF propagation around the obstruction. In some aspects, a computer implemented RF propagation simulation tool may identify possible obstructions which in their entirety lie within the width of a simulated RF propagation path, and apply a further diffraction model (a so-called “shield diffraction” model) thereto to simulate the RF propagation around the obstruction. The results of the simulations of RF propagation can be graphically overlaid onto a map or other topographic image for display to a user.

Systems and methods to localize objects for mapping applications may comprise a vehicle having an imaging device, a location sensor, and an edge processor. Using imaging data from the imaging device, location data from the location sensor, and bounding box data associated with objects, three-dimensional models of environments may be reconstructed using structure from motion algorithms and/or direct triangulation algorithms. After aligning the reconstructions to real-world environments based on the location data, objects may be accurately localized relative to real-world environments.