# US 9,437,029 B2 · Mosaic oblique images and methods of making and using same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,437,029 B2 - Document ID: US9437029B2 - Status: Granted - Kind: B2 - Application number: 14/152,366 - Filed: 2014-01-10 - Published: 2014-05-08 - Granted: 2016-09-06 - Earliest claimed: 2006-08-30 - Assignees: Pictometry International Corp. - Applicants: Pictometry International Corp. - Inventors: Stephen Schultz; Frank Giuffrida; Robert Gray - Web page: https://patentgrep.com/patent/US9437029B2 ## CPC - G06T 3/4038: Image mosaicing, e.g. composing plane images from plane sub-images - G06T 3/06: Topological mapping of higher dimensional structures onto lower dimensional surfaces - G06T 3/18: Image warping, e.g. rearranging pixels individually - G06T 7/50: Depth or shape recovery - G06T 7/97: {Determining parameters from multiple pictures (depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85)} - G06T 11/65: on geographic maps - G06T 2207/30176: Document - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A computer system running image processing software receives an identification of a desired geographical area to be imaged and collected into an oblique-mosaic image; creates a mathematical model of a virtual camera looking down at an oblique angle, the mathematical model having an oblique-mosaic pixel map of the desired area encompassing multiple source images; assigns surface locations to pixels included in the oblique-mosaic pixel map; creates a ground elevation model of the ground and vertical structures within the oblique-mosaic pixel map using overlapping source images of the desired geographical area, wherein the source oblique images were captured at an oblique angle and compass direction similar to that of the virtual camera; and reprojects, with the mathematical model, source oblique image pixels of the overlapping source images for pixels included in the oblique-mosaic pixel map using the ground elevation model to thereby create an oblique-mosaic image of the desired area. ## Claims ### Claim 1 A system comprising: a computer system running image processing software that when executed by the computer system causes the computer system to: receive an identification of a desired geographical area to be imaged and collected into an oblique-mosaic image; assign surface locations to pixels included in an oblique-mosaic pixel map of the desired geographical area encompassing multiple source images, the oblique-mosaic pixel map being part of a mathematical model of a virtual camera looking down at an oblique angle onto the desired geographical area; create a ground elevation model of the ground and vertical structures within the oblique-mosaic pixel map using overlapping source images of the desired geographical area, wherein the source images were captured at an oblique angle and compass direction similar to the oblique angle and compass direction of the virtual camera; and reproject, with the mathematical model, source oblique image pixels of the overlapping source images for pixels included in the oblique-mosaic pixel map using the ground elevation model to thereby create an oblique-mosaic image of the desired area. ### Claim 2 (depends on 1) The system of claim 1, wherein the virtual camera has a perspective, and wherein the image processing software further causes the computer system to project each pixel through the perspective of the virtual camera to determine a corresponding surface location for each pixel in the oblique-mosaic pixel map. ### Claim 3 (depends on 1) The system of claim 1, wherein multiple source oblique images represent a same surface location. ### Claim 4 (depends on 3) The system of claim 3, wherein the image processing software further causes the computer system to compare the pixels of each source oblique image that represent the same surface location to determine which source pixel is most representative of the surface location, the more representative pixel to be included in the oblique-mosaic image. ### Claim 5 (depends on 1) The system of claim 1, wherein each pixel included in the oblique-mosaic pixel map is reprojected to match a size and shape of a represented surface location as taken from the elevation, compass direction, and oblique angle of the virtual camera. ### Claim 6 (depends on 1) The system of claim 1, wherein the image processing software further causes the computer system to remove effects of elevation from the source oblique images prior to reprojection and then to add the effects of elevation to the oblique-mosaic image after reprojection. ### Claim 7 (depends on 1) The system of claim 1, wherein lean of vertical structures within the oblique-mosaic image is minimized. ### Claim 8 (depends on 7) The system of claim 7, wherein minimizing lean of vertical structures is defined further as matching vertical structures in multiple source oblique images and shifting pixels apparent location in at least one of the source oblique images by a relative height above a ground model. ### Claim 9 (depends on 1) The system of claim 1, wherein metadata is stored with the oblique-mosaic image. ### Claim 10 A system comprising: a computer system running image processing software that when executed by the computer system causes the computer system to: receive an identification of a desired geographical area to be imaged and collected into an oblique-mosaic image; determine geographic coordinates for pixels included in an oblique-mosaic pixel map of the desired geographical area encompassing multiple source images, the oblique-mosaic pixel map being part of a mathematical model of a virtual camera looking down at an oblique angle onto the desired geographical area; create a ground elevation model of the ground and vertical structures within the oblique-mosaic pixel map using overlapping source images of the desired geographical area, wherein the source images were captured at an oblique angle and compass direction similar to the oblique angle and compass direction of the virtual camera; and reproject, with the mathematical model, using the ground elevation model to define a ground surface and surfaces of vertical structures within the desired geographical area, at least one source oblique image pixel of the overlapping source images from a vantage point of the virtual camera for pixels included in the oblique-mosaic pixel map to thereby create a geo-referenced oblique-mosaic image of the desired geographical area. ### Claim 11 (depends on 10) The system of claim 10, wherein the virtual camera has a perspective, and wherein the image processing software further causes the computer system to project each pixel through the perspective of the virtual camera to determine a corresponding surface location for each pixel in the oblique-mosaic pixel map. ### Claim 12 (depends on 10) The system of claim 10, wherein multiple source oblique images represent a same surface location. ### Claim 13 (depends on 12) The system of claim 12, wherein the image processing software further causes the computer system to compare the pixels of each source oblique image that represent a same surface location to determine which source pixel is most representative of the surface location, the more representative pixel to be included in the oblique-mosaic image. ### Claim 14 (depends on 10) The system of claim 10, wherein the pixel is reprojected to match a size and shape of the represented surface location as taken from the elevation, compass direction, and oblique angle of the virtual camera. ### Claim 15 (depends on 10) The system of claim 10, wherein the image processing software further causes the computer system to remove effects of elevation from the source oblique images prior to reprojection and then to add the effects of elevation to the oblique-mosaic image after reprojection. ### Claim 16 (depends on 10) The system of claim 10, wherein lean of vertical structures within the oblique mosaic image is minimized. ### Claim 17 (depends on 16) The system of claim 16, wherein minimizing lean of vertical structures is defined further as matching vertical structures in multiple source oblique images and shifting pixels apparent location in at least one of the source oblique images by a relative height above a ground model. ### Claim 18 (depends on 10) The system of claim 10, wherein metadata is stored with the oblique-mosaic image.