Determining tilt angle and tilt direction using image processing

A method of determining a tilt angle and a tilt direction of a survey instrument that includes an imaging device, the method comprising:

• at a first location, obtaining reference information using the imaging device, the reference information including a first panoramic image that includes first features from the environment around the survey instrument;
• moving the survey instrument from the first location to a second location;
• at the second location, obtaining image information using the imaging device, the image information including a second panoramic image that includes a portion of the first features;
• processing the reference information and the image information to determine a pose of the imaging device at the second location, the pose determined using observed changes in location of the portion of the first features between the first panoramic image and the second panoramic image;
• and
• determining the tilt angle and the tilt direction of the survey instrument at the second location using the pose of the imaging device.

A method of determining a tilt angle and a tilt direction of a survey instrument that includes an imaging device, the method comprising:

• at a first location, obtaining reference information using the imaging device, the imaging device including a plurality of cameras arranged to capture images that include features from an environment around the survey instrument, the reference information including first images that include first features;
• moving the survey instrument from the first location to a second location;
• at the second location, obtaining image information using the imaging device, the image information including second images that include a portion of the first features;
• processing the reference information and the image information to determine a pose of the imaging device at the second location, wherein determining the pose of the imaging device includes determining poses of the imaging device based on each of the second images and corresponding ones of the first images and averaging the poses;
• and
• determining the tilt angle and the tilt direction of the survey instrument at the second location using the pose of the imaging device.

A method of determining a tilt angle and a tilt direction of a survey instrument, the method comprising:

• at a first location, capturing first images that include features from an environment around the survey instrument;
• at a second location, capturing second images that include a portion of the first features;
• determine a pose of the imaging device at the second location using observed changes in location of the portion of the first features between the first images and the second images, wherein determining the pose includes assigning a weighting factor to each of the second images, the weighting factor associated with a relative contribution of each of the second images in determining the pose of the imaging device;
• and
• determining the tilt angle and the tilt direction of the survey instrument at the second location using the pose of the imaging device.

A method of determining a tilt angle and a tilt direction of a survey instrument, the method comprising:

• at a first location, capturing a first panoramic image that includes first features from the environment around the survey instrument;
• at a second location, capturing a second panoramic image that includes a portion of the first features;
• determining a pose of the imaging device at the second location using observed changes in location of the portion of the first features between the first panoramic image and the second panoramic image;
• and
• determining the tilt angle and the tilt direction of the survey instrument at the second location using the pose of the imaging device.