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US 11,769,296 B2Granted
Forest surveying
AssigneeKatam Technologies AB
InventorsKrister Tham, Linus Mårtensson, Sebastian Haner, Johannes Ulén
Life of this patent
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Abstract
A surveying apparatus comprising a controller (CPU), the controller (CPU) being configured to: receive an image stream representing a video sequence; determine a camera pose for a second image in the image stream relative a first image in the image stream; match the first image with the second image, based on the cam-era pose; and generate a three dimensional model based on the image match.
Claims18
A forestry surveying apparatus comprising a camera, at least one sensor and a controller (CPU), the controller (CPU) being configured to:
- receive an image stream representing a video sequence from said camera;
- determine a camera pose for a second image in the image stream relative a first image in the image stream by utilizing Simultaneous Localization And Mapping (SLAM);
- match the first image with the second image, based on the camera pose;
- and
- generate a three dimensional model based on the image match;
- wherein the video sequence and the three dimensional model represent forestry related objects, wherein the controller is further configured to:
- receive sensor data from said at least one sensor and
- determine the camera pose and/or generating the three dimensional model based on the received sensor data, wherein the sensor data relates to one or more of positional information, comprising Global Navigation Satellite System (GNSS) data, or motion data comprising accelerometer or gyro data, wherein the controller is further configured to detect at least one tree stem in said three dimensional model by:
- generating a point cloud;
- determining a base plane in said point cloud;
- generate a height map in said point cloud;
- and
- filter points in height map in said point cloud;
- and thereby
- detect clusters of points in remaining points in said point cloud as being tree,
- wherein the forestry surveying apparatus is a forestry surveying system further comprising an unmanned aerial vehicle, wherein said unmanned aerial vehicle comprises said camera and said at least one sensor.
13 more elements
A method for forestry surveying using a forestry surveying apparatus comprising a camera and at least one sensor, the method comprising:
- receiving an image stream representing a video sequence from said camera;
- determining a camera pose for a second image in the image stream relative a first image in the image stream by utilizing Simultaneous Localization And Mapping (SLAM);
- matching the first image with the second image, based on the camera pose;
- and
- generating a three dimensional model based on the image match;
- wherein the video sequence and the three dimensional model represent forestry related objects, wherein the method further comprises:
- receiving sensor data from said at least one sensor and
- determining the camera pose and/or generating the three dimensional model based on the received sensor data, wherein the sensor data relates to one or more of positional information, comprising Global Navigation Satellite System (GNSS) data, or motion data comprising accelerometer or gyro data, wherein the method further comprises detecting at least one tree stem in said three dimensional model by:
- generating a point cloud;
- determining a base plane in said point cloud;
- generate a height map in said point cloud;
- and
- filter points in height map in said point cloud;
- and thereby
- detect clusters of points in remaining points in said point cloud as being tree.
12 more elements
A forestry surveying apparatus comprising a camera, at least one sensor and a controller (CPU), the controller (CPU) being configured to:
- receive an image stream representing a video sequence from said camera;
- determine a camera pose for a second image in the image stream relative a first image in the image stream by utilizing Simultaneous Localization And Mapping (SLAM);
- match the first image with the second image, based on the camera pose;
- and
- generate a three dimensional model based on the image match;
- wherein the video sequence and the three dimensional model represent forestry related objects, wherein the controller is further configured to:
- receive sensor data from said at least one sensor and
- determine the camera pose and/or generating the three dimensional model based on the received sensor data, wherein the sensor data relates to one or more of positional information, comprising Global Navigation Satellite System (GNSS) data, or motion data comprising accelerometer or gyro data, wherein the controller is further configured to detect at least one tree stem in said three dimensional model by:
- generating a point cloud;
- determining a base plane in said point cloud;
- generate a height map in said point cloud;
- and
- filter points in height map in said point cloud;
- and thereby
- detect clusters of points in remaining points in said point cloud as being tree.
12 more elements
Dependencies are inferred from the claim text.