A technique is provided to enable reduction in cost relating to installation of orientation targets in aerial photogrammetry. A survey data processing device includes a positioning data receiving unit, a relative orientation unit, an absolute orientation unit, and an adjustment calculation executing unit. The positioning data receiving unit receives positioning data obtained by tracking and positioning a reflective prism of an aerial vehicle by a total station. The aerial vehicle also has a camera. The relative orientation unit calculates relative exterior orientation parameters of the camera by relative orientation using photographed images taken by the camera. The absolute orientation unit provides a true scale to the relative exterior orientation parameters by absolute orientation using the positioning data and the relative exterior orientation parameters. The adjustment calculation executing unit corrects the relative exterior orientation parameters having the true scale, by using a positional relationship between the camera and the reflective prism.

In one embodiment, an aerial collection system includes an image collection field vehicle that travels at street level and an image collection aerial vehicle that travels in the air above the street. The aerial vehicle collects image data including at least a portion of the field vehicle. The field vehicle includes a marker, which is identified from the collected image data. The marker is analyzed to determine an operating characteristic of the aerial vehicle. In one example, the operating characteristic in the marker includes information for a flight instruction for the aerial vehicle. In another example, the operating characteristic in the marker includes information for the three dimensional relationship between the vehicles. The three dimensional relationship is used to combine images collected from the air and images collected from the street level.

In one embodiment, an aerial collection system includes an image collection field vehicle that travels at street level and an image collection aerial vehicle that travels in the air above the street. The aerial vehicle collects image data including at least a portion of the field vehicle. The field vehicle includes a marker, which is identified from the collected image data. The marker is analyzed to determine an operating characteristic of the aerial vehicle. In one example, the operating characteristic in the marker includes information for a flight instruction for the aerial vehicle. In another example, the operating characteristic in the marker includes information for the three dimensional relationship between the vehicles. The three dimensional relationship is used to combine images collected from the air and images collected from the street level.

A laser projection system for projecting an image on a workpiece includes a photogrammetry assembly and a laser projector, each communicating with a computer. The photogrammetry assembly includes a first camera for scanning the workpiece, and the laser projector projects a laser image to arbitrary locations. Light is conveyed from the direction of the workpiece to the photogrammetry assembly. The photogrammetry assembly signals the coordinates light conveyed toward the photogrammetry assembly to the computer with the computer being programmable for determining a geometric location of the laser image. The computer establishes a geometric correlation between the photogrammetry assembly, the laser projector, and the workpiece for realigning the laser image to a corrected geometric location relative to the workpiece.

A laser projection system for projecting an image on a workpiece includes a photogrammetry assembly and a laser projector, each communicating with a computer. The photogrammetry assembly includes a first camera for scanning the workpiece, and the laser projector projects a laser image to arbitrary locations. Light is conveyed from the direction of the workpiece to the photogrammetry assembly. The photogrammetry assembly signals the coordinates light conveyed toward the photogrammetry assembly to the computer with the computer being programmable for determining a geometric location of the laser image. The computer establishes a geometric correlation between the photogrammetry assembly, the laser projector, and the workpiece for realigning the laser image to a corrected geometric location relative to the workpiece.

A method for producing a depth map from a detection region of the Earth's surface, a detection region being arranged in an underground pipeline, wherein the method includes recording at least one image sequence via at least one camera, determining the position and orientation of the camera corresponding to each individual recording, determining a spatial position and orientation of the underground pipeline arranged in the detection region, producing the depth map of the detection region via a plane sweep method based on the individual recordings and the associated camera positions, where the maximum depth region of the plane sweep method is subdivided into a total of N sections in an adaptive manner, i.e., in accordance with a predetermined minimum layer thickness for the ground covering the underground pipeline, via a predetermined number of planes spaced differently from one another and extending parallel with respect to one another.

A distance measuring apparatus includes: an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light including a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not including a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

A distance measuring apparatus includes: an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light including a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not including a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

Features of the surface of an object of interest captured in a two-dimensional (2D) image are identified and marked for use in point matching to align multiple 2D images and generating a point cloud representative of the surface of the object in a photogrammetry process. The features which represent actual surface features of the object may have their local contrast enhanced to facilitate their identification. Reflections on the surface of the object are suppressed by correlating such reflections with, e.g., light sources, not associated with the object of interest so that during photogrammetry, such reflections can be ignored, resulting in the creation of a 3D model that is an accurate representation of the object of interest. Prior to local contrast enhancement and the suppression of reflection information, identification and isolation of the object of interest can be improved through one or more filtering processes.

A method of balancing colors of three-dimensional (3D) points measured by a scanner from a first location and a second location. The scanner measures 3D coordinates and colors of first object points from a first location and second object points from a second location. The scene is divided into local neighborhoods, each containing at least a first object point and a second object point. An adapted second color is determined for each second object point based at least in part on the colors of first object points in the local neighborhood.