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US 11,536,857 B2Granted
Surface tracking on a survey pole
AssigneeTrimble Inc.
InventorsGregory C. Best, Shawn Weisenburger
Life of this patent
Estimating the term…
Abstract
A surveying pole is part of a primary surveying system (e.g., a Global Navigation Satellite System (GNSS) or a total station). Cameras are mounted to the surveying pole and used for ground tracking as the survey pole is moved from a place where the primary surveying system is unimpeded to an environment where the primary surveying system is impaired (e.g., to a GNSS-impaired environment or to a position that is blocked from view of the total station). Using ground tracking and/or other sensors, surveying can be continued even though the primary surveying system is impaired.
Claims20
An apparatus for determining position in an environment where surveying is impaired, the apparatus comprising:
- a pole having a first end and a second end;
- at least a portion of a surveying system integrated with the pole;
- a first camera and a second camera integrated with the pole, wherein:
- the first camera is closer to the first end than the second camera;
- and
- both the first camera and the second camera have an angle of orientation of less than 90 degrees in relation to the pole, measured from the first end of the pole, wherein the first camera and the second camera are configured to face downward, toward the ground, as the pole is moved from a first position to a second position;
- and
- one or more processors configured to:
- determine the first position of the pole using the surveying system, wherein the first position is determined in three dimensions of a coordinate system;
- determine a first orientation of the pole while the pole is at the first position, wherein:
- the first orientation includes a heading and two degrees of freedom of tilt;
- and
- a combination of the first position of the pole and the first orientation of the pole provides a first pose of the pole;
- acquire a plurality of images using the first camera and the second camera, wherein the plurality of images are acquired as the pole is moved from the first position to the second position;
- process the plurality of images to calculate a change in pose from the first position to the second position;
- and
- calculate a second pose of the pole at the second position based on the first pose and the change in pose.
14 more elements
A method for determining pose in an environment where surveying is impaired, the method comprising:
- determining a first position of a pole using a surveying system, wherein:
- at least a portion of the surveying system is integrated with the pole;
- the pole has a first end and a second end;
- and
- the first position is determined in three dimensions of a coordinate system;
- determining a first orientation of the pole while the pole is at the first position, wherein:
- the first orientation includes a heading and two degrees of freedom of tilt;
- and
- a combination of the first position of the pole and the first orientation of the pole provides a first pose of the pole;
- acquiring a plurality of images using a first camera and a second camera, wherein:
- the first camera and the second camera are coupled with the pole;
- the first camera is closer to the first end than the second camera;
- and
- both the first camera and the second camera have an angle of orientation of less than 90 degrees in relation to the pole, measured from the first end of the pole, wherein the first camera and the second camera are configured to face downward, toward the ground, as the pole is moved from the first position to a second position;
- and
- the plurality of images are acquired as the pole is moved from the first position to the second position;
- processing the plurality of images to calculate a change in pose from the first position to the second position;
- and
- calculating a second pose of the pole at the second position based on the first pose and the change in pose.
16 more elements
A memory device comprising instructions that, when executed, cause one or more processors to perform the following steps for determining pose in an environment where surveying is impaired:
- determining a first position of a pole using a surveying system, wherein:
- at least a portion of the surveying system is integrated with the pole;
- the pole has a first end and a second end;
- and
- the first position is determined in three dimensions of a coordinate system;
- determining a first orientation of the pole while the pole is at the first position, wherein:
- the first orientation includes a heading and two degrees of freedom of tilt;
- and
- a combination of the first position of the pole and the first orientation of the pole provides a first pose of the pole;
- acquiring a plurality of images using a first camera and a second camera, wherein:
- the first camera and the second camera are coupled with the pole;
- the first camera is closer to the first end than the second camera;
- and
- both the first camera and the second camera have an angle of orientation of less than 90 degrees in relation to the pole, measured from the first end of the pole, wherein the first camera and the second camera are configured to face downward, toward the ground, as the pole is moved from the first position to a second position;
- and
- the plurality of images are acquired as the pole is moved from the first position to the second position;
- processing the plurality of images to calculate a change in pose from the first position to the second position;
- and
- calculating a second pose of the pole at the second position based on the first pose and the change in pose.
16 more elements
Dependencies are inferred from the claim text.