PANORAMIC IMAGES TO IMPROVE THE COMMISSIONING, INTERPRETATION AND REMOTE OPERATION OF METHANE CAMERAS

Abstract

Examples of embodiments describe a method for improving the commissioning, interpretation, and automated or remote operation of a methane density camera designed for monitoring gas emissions. In some embodiments, the method comprises three related but independent steps: commissioning, remote operation, and data interpretation.

Description

Title of the invention: PANORAMIC IMAGES FOR IMPROVING THE COMMISSIONING, INTERPRETATION AND REMOTE OPERATION OF METHANE CAMERAS CONTEXT

[0001] Calculating the fugitive gas emission rate is an important part of detecting and determining the extent of leaks resulting from mining activity. These fugitive gas emissions contribute to greenhouse gas emissions that harm the environment. Many fugitive emissions occur as a result of loss of well integrity, by passing through poorly sealed well casings due to geochemically unstable cement. These poorly sealed well casings allow gas to escape through the well itself (known as surface casing vent flow) or via lateral migration along adjacent geological formations (known as gas migration).

[0002] Gas imaging systems scan a finite field of view (FOV) in a given time. To increase the field of view, some solutions include continuous and cyclic scanning patterns, iteration through predefined frames, acquisition of images within the predefined frames, and marking of the images. In some cases, images are marked as positive if the imaging system sees an identifiable plume within the frame. In other cases, images are marked as negative if no identifiable plume is detected. Each acquisition acts as a standalone observation.When a system's images can be refocused, as well as when a system offers zoom capabilities, upon plume detection, the imaging system may refocus on an estimated plume origin and acquire an additional frame at a predefined zoom level (same or different from the original zoom level). Even with optimally selected frames, such scan cycles are prone to false positives caused by noise. Additional problems exist for large plumes that may extend over multiple frames. Such extension can distort the attribution to sources within those frames, increasing the likelihood of attributing an emission to an incorrect source. The above results in inaccurate calculations for determining the duration of a leak.Other limitations encountered include the lack of accuracy in leak rate quantification, as well as analysis, which results in possible false negatives since the imaging system sees part of the plume but does not see an identifiable plume origin.

[0003] With growing concerns about gas emissions (especially greenhouse gases such as methane and carbon dioxide), it is imperative to accurately monitor gas emissions as well as their source, duration, and emission rate. Therefore, there is a need to create a gas imaging system that can adapt to real-time detections and changes.

[0004] Currently, image acquisition and interpretation rely on individual images, which leads to many interpretation complications and limits the possibilities for automated remote commissioning and operation of the systems. When installing the camera at a given site, the field team must select the coordinates of the frames, or bearings, so that the camera can view them sequentially as it scans the installation.

[0005] Engineers point the camera in a given direction and adjust settings, such as camera heading and zoom level, based on what fits in the frame. Engineers may select viewing angles that are not optimal for monitoring emissions. The camera may be pointed too high, missing horizon returns, or too low, experiencing excessive reflections and other artifacts. In other cases, the camera may miss an important group of equipment altogether. Having a panoramic scan of the entire facility allows the results to be shared with remote experts or the use of consulting software, which can then make better frame selections based on a better understanding of the system's hardware limitations.

[0006] There is a need to create a system for capturing panoramic images of broadcast sites that allows for accurate data analysis.

[0007] There is an additional need to create a cost-effective recording system for capturing images that can be evaluated from a remote location. ABSTRACT

[0008] In order that the features of the present invention, as recited above, may be fully understood, a more specific description of the invention, briefly summarized below, refers to embodiments, some of which are illustrated in the drawings. It should be noted that the drawings illustrate only typical embodiments of this invention and should therefore not be considered as limiting its scope, since the invention may admit other equally effective embodiments which do not require specific description. Accordingly, the following summary provides only some aspects of the description and should not be used to limit the described embodiments to a single concept.

[0009] A method of generating a panoramic image for monitoring emissions is described in an exemplary embodiment. The method may comprise performing the positioning of a camera for monitoring emissions from a location. The method may also include performing a sequence definition for the scanning frames that the camera is to acquire. The method may also include performing two or more frame acquisitions according to the sequence definition in question and assembling these two or more frames. The method may also include creating the panoramic image from the assembly of the two or more frames acquired according to the sequence definition.

[0010] A method of analyzing an environment to monitor for gaseous effluents during commissioning of a system configured to perform the analysis is described in another example embodiment. The method may include obtaining a generated panorama for a site that is to be monitored for gaseous effluents. The method may also include at least one of the following: labeling equipment in the panorama, selecting a set of frame coordinates and zoom levels for the panorama, and marking no-emission locations in areas of the site where no emissions can occur.

[0011] A method of analyzing an environment to monitor for gaseous effluents during operation of at least one system is described in another example embodiment of the invention. The method may include obtaining a generated panorama for a site that contains the one or more systems to be monitored for gaseous effluents. The method may further include labeling equipment in the panorama. The method may further include selecting a set of frame coordinates and zoom levels for the panorama. The method may further include marking no-emission locations in areas of the site where no emissions can occur. The method may further include marking high albedo and high noise areas in the panorama. The method may further include making a selection of plume tracking frames of the panorama.The method may further include identifying the presence of a plume in the panorama. The method may further include screening for high albedo and high noise areas and selecting plume tracking frames from the panorama. The method may further include attributing the presence of a selection of plume tracking frames to an emission source. Brief description of the drawings

[0012] In order that the features of the present invention, as recited above, may be fully understood, a more specific description of the invention, briefly summarized above, refers to embodiments, some of which are illustrated in the drawings. However, it should be noted that the accompanying drawings illustrate only typical embodiments of this invention and should therefore not be considered as limiting its scope, since the invention may include other equally effective embodiments.

[0013] [Fig.l] is an illustration of a golden spiral ground projection of a set of circular frames for a 360 x 45 degree panorama.

[0014] [Fig.2] is an illustration of a field of view at different tilt angles of the camera.

[0015] [Fig.3] is an illustration of an example of a frame sequence projected onto a panoramic and tilting space.

[0016] [Fig.4] is an illustration of an example of a panorama of an installation industrial.

[0017] [Fig.5] is an illustration of an example of a panorama of an installation industrial.

[0018] [Fig.6] is an illustration of an example of a panorama of an installation industrial.

[0019] [Fig.7] is an illustration of an example of a panorama of an installation industrial illustrating leak source exclusion zones.

[0020] [Fig.8] is an illustration of a gas density and intensity image.

[0021] [Fig.9] is an illustration of an example of a panorama of an installation industrial illustration of a gas plume.

[0022] [Fig. 10] is an illustration of an example of a panorama of an installation industrial illustration of a gas plume.

[0023] [Fig. 11] is an example of a method for generating panoramic images. DETAILED DESCRIPTION

[0024] In the following, reference is made to embodiments of the invention. However, it should be understood that the invention is not limited to specific embodiments described. Rather, any combination of the following features and elements, whether related to different embodiments or not, is contemplated for implementing and applying the invention. Furthermore, although embodiments of the invention may offer advantages over other possible solutions and / or the current state of the art, whether or not a particular advantage is achieved by a given embodiment does not limit the invention. Thus, the following aspects, features, embodiments, and advantages are merely illustrative and are not considered elements or limitations of the claims unless explicitly recited in a claim.Similarly, the reference to "invention" should not be interpreted. as a generalization of the inventive subject matter disclosed herein and should not be considered as an element or limitation of the claims unless explicitly mentioned in a claim.

[0025] Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers, and / or sections, such elements, components, regions, layers, and / or sections should not be limited by such terms. Such terms may only be used to distinguish one element, components, region, layer, or section from another region, layer, or section. Terms such as "first," "second," and other numerical terms, when used herein, do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer, or section discussed herein could be referred to as a second element, component, region, layer, or section without departing from the teachings of the exemplary embodiments.

[0026] When an element or layer is referred to as being "on," "nested within," "connected to," or "coupled to" another element or layer, it may be directly on, nested within, connected to, or coupled to the other element or layer, or nested elements or layers may be present. In contrast, when an element is described as being "directly on," "directly nested within," "directly connected to," or "directly coupled to" another element or layer, no nested elements or layers may be present. Other terms used to describe a relationship between the elements should be interpreted in the same manner. As used herein, the term "and / or" includes any combination of one or more of the related terms listed.

[0027] Certain embodiments will now be described with reference to the figures. Like elements in different figures will be referenced with the same numerals for consistency. In the following description, numerous details are presented to provide a better understanding of various embodiments and / or features. However, those skilled in the art will understand that certain embodiments may be practiced without many of these details, and that many variations or modifications of the described embodiments are possible. As used herein, the terms "above" and "below," "up" and "down," "upper" and "lower," "upward" and "downward," and other similar terms indicating positions relative to a given point are used in this description to more clearly describe certain embodiments.

[0028] Reference will now be made in detail to the present examples, including the examples illustrated in the accompanying drawings. As far as possible, the same Reference numbers will be used throughout the drawings to refer to the same or similar items.

[0029] In an exemplary embodiment, a camera is used to obtain visual emissions data for a site. In embodiments, once installed, the camera may be operated remotely in a semi-automated fashion, with each frame individually controlled by interpretation software. The interpretation software may be installed on a personal computer, a computer server, or other computing device. The interpretation software may accept data obtained by the camera. The data may be in the form of an image. If the image clearly shows a methane plume, the source is attributed to a piece of equipment visible in the frame, a detection event is created, and a notification is generated. A frame may then be refocused to the location of the highest concentration point in the image, possibly at an adjusted zoom level, and reacquired.

[0030] The method described above works well for strong signal plumes that are clearly defined, entirely confined within the frame, unobscured by objects, and placed against a sufficiently high albedo scattered diffuse background. When either of these conditions is not met, because the background albedo causes increased image noise, or because a large plume extends over multiple frames, the current interpretation may result in either a false detection (a false positive) or a missed detection (a false negative). Both false detection and missed detection are highly undesirable results that require careful manual inspection of the image by trained personnel. Certain aspects of the invention significantly reduce the number of incorrect identifications, thereby reducing the need for manual verification.These aspects reduce the need for specialized personnel to manually inspect images thanks to the disclosed methods that minimize errors.

[0031] Certain aspects of the invention describe methods for generating a panorama or an appropriate section of a panorama that covers the facility of interest by stitching the images of the individual frames acquired by the methane detection camera and by auxiliary measurements, such as photon intensity, LiDAR (Laser imaging Detection and Ranging), RGB (red, green, blue) values ​​or others. This may be performed at the system commissioning stage. In other embodiments, the stitching of the images may be repeated later, as needed, to reflect and monitor any changes in the camera environment. The stitching may be performed on a periodic basis. Certain considerations may be taken into account, such as seasonal variability in weather conditions (e.g. example, snow / ice accumulation, changing foliage or ground cover) or changes in man-made structures surrounding the camera when stitching is performed.

[0032] In cases of long exposure frames that may take several seconds or minutes to acquire, and which are required for quantitative methane density laser cameras, a first step is to generate a list of frame coordinates, including appropriate zoom levels, such that the frames fully cover the desired sector. In this step, the camera may be mounted on a pan-tilt stage capable of rotating and tilting within a certain range, which could be 360 ​​degrees horizontally and 180 degrees vertically. Other variations of the above are also possible. This sector, defined as the "default sector", may be the full range of the pan-tilt stage, or the sector could be a subsection of the full range, depending on the specific location of the camera relative to the facility to be monitored.

[0033] In an exemplary embodiment, if the camera is installed in a corner of a square-shaped site, the required horizontal sector of the panorama could be 90 degrees. Similar values ​​may be encountered for the vertical range. When the camera is installed far from potentially emitting equipment, it may not be necessary to include nearby ground sections in the panoramic scan. In the case of using a laser imaging system that relies on reflections of the laser beam from the background, it is not necessary to include tilts above the horizontal, or more generally, above a tilt setting that returns a horizon as determined by the particular camera parameters and installation layout.In some cases, the system may use a custom panorama sub-sector for a particular installation to speed up commissioning time because full 360-degree acquisition can take several hours depending on the field of view of individual frames.

[0034] Some embodiments of the invention may use algorithms to select image coordinates. There are various algorithms that may be used to provide full coverage, with sufficient overlap to perform frame stitching. A selection process may be used to minimize the number of frames. In some embodiments, the algorithm used may depend on the pan-tilt angle range as well as the shape of the frames, which need not be square or rectangular but may be circular or have other shapes depending on the specific hardware implementation. For full 360- to 180-degree coverage and circular frames with a particular field of view, optimizing the coordinates current is analogous to a problem of finding the locations of a given number of electrons or other like-charged particles free to move around the surface of a sphere while minimizing their total electrostatic repulsion energy.

[0035] The global minimum energy configuration, for coordinate optimization, can be obtained by computationally intensive Monte Carlo calculations. Other, less intensive, approximate solutions can also be used. One such approximate solution is given by the Fibonacci lattice or the so-called golden spiral and provides the locations of the raster centers (see [Fig.l]). For restricted sectors, fixed by the horizon and the boundaries of the facility, the golden spiral may diverge from the optimum. In a possible embodiment, sector- and range-specific optimization can be performed, again, using the well-studied electrostatic energy minimization mapping of a 2D electron gas.

[0036] If acquiring multiple additional frames is not a key constraint, simple algorithms for packing circles can be efficiently implemented, such as hexagonal packing with sufficient overlap to fill the gaps between frames. A hexagonal close-packed arrangement of circles, superimposed on an equirectangular projection, mapped in spherical coordinates, results in conical fields of view with increasing overlap at polar angles closer to the zenith. If the desired range of vertical angles does not extend to the zenith (from the horizon to a downward angle of 45 degrees), the total number of frames may be only marginally greater than that of a configuration optimized to reduce overlap.In some embodiments, a more symmetrical appearance of the frames in the hexagonal arrangement may be desirable enough to compensate for the small increase in acquisition time for these few additional frames. The zoom level or field of view may be another parameter used in the optimization. In one embodiment, the figure of merit for the optimization may be the total time required to acquire all the necessary frames. This may be achieved under the constraint of achieving a sufficiently high resolution of the final stitched image that will improve with denser and longer scans.

[0037] Once the frames are acquired, the next step is to stitch them together to generate the panorama. The stitching algorithm can use any of the available data streams as the primary input, whether RGB images, photon intensity images, or LiDAR range images, whichever provides the sharpest features for frame-by-frame matching. In other cases, the stitching algorithm can consider all available data streams simultaneously and optimize the stitching pattern across all images. In case of data of LiDAR range, stitching can be performed on flattened 2D images using range as any other function of pan-tilt angle. Alternatively, stitching can be performed as a 3D point cloud, displaying true depth and distances to surrounding objects. In other embodiments, an overlay of any of the data streams, such as LiDAR and intensity, can be used to convey more information in the same space. As another option, panoramas from different data streams can be displayed on top of each other.

[0038] Once the full panorama, or a particular sub-sector thereof, is generated for each of the available data streams, the result can be displayed in appropriate coordinates, which may be the pan angle relative to the camera tilt angle or the Cartesian projection of the tilt-pan space onto the flat ground. There are subtleties in each of the approaches described above. A fixed field of view, in degrees, will cover a different fraction of the circle at different camera tilt angles, as illustrated schematically in [Fig.2].

[0039] In cases where the panorama is mapped onto the tilt-pan angular space and subjected to a map projection, the field of view in a single frame takes on a clearly asymmetrical egg shape as the frame moves away from the horizon. This is illustrated in [Fig.3] which shows the scanning pattern of the complete panorama based on the golden spiral for a particular fixed field of view.

[0040] The tilt-based field of view frame shape is correctly taken into account when stitching the images and displaying the final panorama. [Fig.4] shows an example panorama after stitching all adjacent frames.

[0041] The panorama can then be used to enable a remote commissioning workflow that includes all or a subset of the following:

[0042] equipment labeling: automated or manual identification and labeling of equipment and structures present in the panorama;

[0043] selection of frame coordinates: depending on (1), automated or manual selection of frame pan-tilt coordinates and zoom levels for future scanning of the facility;

[0044] no-emission locations: identification of no-emission locations, i.e. regions of the panorama where leaks cannot occur;

[0045] high noise areas: identification of high albedo areas or areas where noise levels are higher than ambient noise due to surface reflectivity.

[0046] Each of the steps in the workflow can be implemented in different ways. Labeling of equipment can be done by manually drawing polygons or other shapes around the different structures of interest and selecting a corresponding label from a list. In other embodiments, computer vision algorithms can be used to suggest the shapes and labels which can then be modified or accepted by a human operator. In still other embodiments, machine learning algorithms can perform the entire process automatically without any manual intervention. Other possibilities exist, such as using a combination of the algorithms described above. [Fig. 5] shows an example of the result of such a process performed for the panorama of [Fig. 4],

[0047] Different types of facilities may have different equipment present and therefore different assortments of tags to mark the equipment. A typical upstream or midstream oil and gas facility may include storage tanks, wellheads or Christmas trees, compressors, flares, separators, pumps, pipes, valves, as well as other equipment, some of which may be housed under the roof of a shed or barn. All equipment of interest, in one example, encompassing anything that could potentially leak or emit methane, would then be identified and marked on the panorama.

[0048] The selection of panoramic coordinates and zoom levels for automated facility scans may be performed automatically or manually, or by a combination of both methods. Depending on the probability that a particular piece of equipment will develop a leak and based on knowledge of where the plume would form, frames may be selected to ensure detection of such an emission event. [Fig. 6] shows an example of a manual frame selection process, whereby the skilled operator indicates (e.g., clicks on) the particular piece of equipment, and the software draws the corresponding field of view (e.g., around the clicked point) for the particular zoom level.Another implementation is possible in which the operator draws the outline of the region to be monitored and asks the software to suggest the frame or multiple frames at the desired zoom level that would cover the indicated region. A snapshot of this process is also shown in [Fig.6].

[0049] The automatically or manually selected frames and the corresponding pan-tilt coordinates and zoom levels would then be saved in a parameter file used to operate the camera for future automated scanning of the facility.

[0050] The identification of emission-free locations would be performed in a similar manner, indicating areas where a leak cannot occur. An example is illustrated in [Fig.7].

[0051] Identifying high noise areas may require the use of a methane density image. Identification may be accomplished using a return photon intensity image or, optionally, by superimposing the methane density onto another image, such as a photon intensity image, as illustrated in [Fig. 8]. [Fig. 8] shows an example of marking a high albedo or high noise area in a single frame superimposing the methane density onto the photon intensity. The same process could be followed for a full panorama, delineating areas of potential high noise for use in future data processing.

[0052] Once the camera commissioning is complete, the automated operation stage begins. The panorama will be presented in several ways. First, it can be used during periodic quality checks, to ensure that the frames acquired during continuous operation are consistent with the panorama acquired during commissioning. This could be accomplished by overlaying the acquired single frame onto the tilt-pan space panorama by the corresponding amount (e.g., LiDAR, photon intensity, methane density, or RGB values).Deviations could signal mechanical failure of the pan-tilt stage or shifting or tilting of the camera mount, or changes in the albedo or reflectivity of background surfaces, or degradation of camera performance (e.g., photon frequency shift, lower levels of generated photons, loss of coherence, etc.). Any of these conditions could adversely affect camera performance and cause problems during interpretation.

[0053] During the data processing and interpretation step, the panorama is used in several steps. If a methane plume is detected in a given frame, it is necessary to attribute the plume to a particular piece of equipment. If the emitting equipment is not in the frame, the attribution algorithm may ignore the possibility that some groups of out-of-frame equipment are the source of the emission and perform an incorrect attribution. Displaying the plume on the full panorama and performing the attribution with a full view of all adjacent infrastructure significantly improves the performance of the algorithm if it is automated; or make it easier for a human operator to make a “best choice” about the likely origin of the broadcast.

[0054] Another application of the invention is when the plume is large and extends beyond the boundaries of the individual frame, as illustrated in [Fig.9]. Depending on the implementation of the acquisition automation, the frame will follow the plume, perhaps in the wind direction or perhaps in the methane density gradient. Multiple frames of the same plume would be acquired, sometimes overlapping. Frame-by-frame interpretation in such a case is very difficult because the pan-tilt coordinates change and nearby equipment may be similar and difficult to distinguish.

[0055] In one embodiment, assembling these plume tracking frames and overlaying them on the panorama will make manual and automated emission attribution and quantification easier, more efficient, more robust, and more accurate.

[0056] Another use case is the previously mentioned high albedo or high noise regions. Such regions may result in false positives due to the higher probability of spurious signal peaks that could be interpreted as emission. There may also be systematic distortion or positive shift in such high albedo regions that are erroneously recorded as genuine signals. False positives pose a great challenge for methane detection systems. Frames containing such high noise / high albedo regions should be flagged for further investigation in the event of a positive detection event. In some cases, the detection signal level threshold could be increased for such frames.In some cases, only high-noise regions in the entire panorama could have a detection threshold adjusted in case a plume appears to originate from these regions. In some cases, noise distributions for each local region could be calculated from the original panorama and used locally as a measure for confirmation of a detection.

[0057] In addition to the corrections applied to high-noise and high-albedo regions mentioned above, all frames can be corrected for background noise levels. While these measurements can in principle be performed on a frame-by-frame basis, more advanced acquisition automation such as plume tracking or adaptive zooming would benefit from a full background panorama.

[0058] Another feature that aids interpretation, whether manual or automated, is to display both the plume and the wind direction and speed on the panorama, if meteorological information is available. This can be very useful because the apparent wind direction will shift when projected onto the panoramic view, changing the shape of the plume. This could be done by displaying arrows to indicate the wind direction, as projected onto the panorama plane, the length of the arrow being proportional to the wind speed. It is worth noting that in this representation, the arrow will be longest at the point where the wind direction is tangent to the panorama plane. In other locations, the length and direction of the arrow will represent the projection of the wind vector onto the panorama plane at that point. Wind entering the page may be indicated by a cross in a circle and off the page by a dot in a circle, or by any other convention. An example is shown in [Fig. 10]. Is it necessary to explain that longer arrows represent higher wind speeds?

[0059] Any other representation of the wind along the panoramic space can be implemented according to a wide range of 3D visualization techniques to represent the direction and magnitude of a vector in a 2D space. In case 3D point clouds are used to generate the panorama, the wind can be represented as an actual arrow in the 3D space. As another example, the panorama could be used for manual selection of frames. If, at a given time, due to episodic activity occurring in a given area, methane imaging of a particular piece of equipment was of interest, whether or not that equipment was included in the normal scanning sequence of the facility, then the panorama could allow for coordinate selection quickly and easily.This could be implemented by clicking on the panorama at the location of the desired center of the frame, which would produce the pan-tilt coordinates required to direct the camera to point in that specific direction. In some embodiments, this process may be automated such that in manual mode, the click itself would direct the camera to point to the specific location and perform the acquisition without the need to exit and enter the pan-tilt coordinates. The desired zoom level may also be selected based on the coverage area for each zoom level displayed directly on the panorama, as shown on the left side of [Fig. 6].

[0060] Alternatively, when it is necessary to scan a given entire region, this could be drawn or otherwise indicated directly on the panorama, after which the software would recommend the frames needed for acquisition; the frames would then be acquired, stitched together, and displayed for review. Another variation of the invention is to use the 3D point cloud data taken for the panorama to predict what would be viewed for a given set of pan-tilt coordinates and display this to a user to ensure an optimal choice before sending a command to the camera.

[0061] [Fig. 11] illustrates the steps required for generating a panorama as well as during commissioning and remote operation. With reference to [Fig. 11], panorama generation 1102 includes individual elements of performing camera positioning 1104, performing panorama scan frame sequence definition 1106, performing frame acquisition and stitching 1108, and performing final result panorama generation 1110.

[0062] The panorama generated at 1110 may be used during commissioning 1112. Use during commissioning may include labeling equipment 1114, selecting frame coordinates and zoom levels 1116, marking non-emitting locations 1118, and marking high albedo and high noise areas 1120. Use of the panorama in operations 1122 may include displaying plume and wind on the full panorama 1124, selecting plume tracking frames 1126, screening high albedo and non-emitting areas 1128, background noise compensation 1130, emission source attribution 1132, quality control of hardware operation 1134, and manual point-and-click operation 1136.

[0063] The workflow and method described can be applied to any data stream that provides methane density image frames and any ancillary measurements such as range, intensity, or RGB values ​​(visible frequency band photography).

[0064] Exemplary embodiments of the claims are cited. The invention should not be considered as being limited by the cited features. A method of generating a panoramic image for monitoring emissions is described in an exemplary embodiment. The method may comprise performing camera positioning at a location to be monitored for monitoring emissions. The method may also comprise performing a sequence definition for the scanning frames that the camera is to obtain. The method may also comprise performing two or more frame acquisitions according to the sequence definition and stitching the two or more frames. The method may also comprise creating the panoramic image from the stitching of the two or more frames acquired according to the sequence definition.

[0065] performing camera positioning at a location to be monitored to monitor emissions. The method may further comprise performing a sequence definition for the scanning frames that the camera is to obtain. The method may further comprise performing two or more frame acquisitions and stitching the two or more frames together according to the sequence definition. The method may further comprise creating the panoramic image from the stitching of the two or more frames together according to the sequence definition.

[0066] In another exemplary embodiment, the method may be implemented to monitor emissions comprising at least one of the following: methane emissions, carbon dioxide emissions, greenhouse gas emissions, and hydrocarbon emissions.

[0067] In another exemplary embodiment, the method may be implemented so that the assembly of two or more frames according to the sequence definition is performed using a computing device.

[0068] In another exemplary embodiment, the method may be implemented so that the two or more frame acquisitions comprise at least one of the following: red, green, blue images, photon intensity images, and LiDAR images.

[0069] In another exemplary embodiment, the method may be implemented so that a selection of at least one of the following: red, green, blue images, photon intensity images, and LiDAR images is based on a desired resolution.

[0070] In another exemplary embodiment, the method may further include obtaining data relating to an auxiliary measurement prior to stitching and using the obtained data relating to the auxiliary measurement and frame acquisitions in stitching.

[0071] In another exemplary embodiment, the method may be implemented so that the auxiliary measurement comprises at least one of a photon intensity measurement or a LiDAR measurement.

[0072] In another exemplary embodiment, a method of analyzing an environment to monitor for gaseous effluents is described upon commissioning a system configured to perform the analysis. The method may include obtaining a generated panorama for a site to be monitored for gaseous effluents. The method may also include at least one of the following: labeling equipment in the panorama, selecting a set of frame coordinates and zoom levels for the panorama, and marking no-emission locations in areas of the site where no emissions can occur.

[0073] In another exemplary embodiment, the method may be implemented so that the labeling of equipment in the panorama includes at least one of the following: labeling at least one stack, emission control device, tank, or structure in the panorama.

[0074] In another exemplary embodiment, the method may further comprise analyzing the panorama to monitor for gaseous effluents and when analyzing the panorama to monitor for gaseous effluents indicates the presence of gaseous effluents in at least one high albedo or high noise area, a reanalysis of the presence of gaseous effluents in at least the high albedo or high noise area.

[0075] In another exemplary embodiment, the method may further comprise measuring a wind speed for the panorama.

[0076] In another exemplary embodiment, the method may further include noting the wind speed on the panorama.

[0077] In another exemplary embodiment, the method may further include marking high albedo and high noise areas in the panorama.

[0078] In another exemplary embodiment of the invention, a method of analyzing an environment to monitor gaseous effluents during operation of at least one system is described. The method may include obtaining a generated panorama for a site that contains the one or more systems to be monitored for gaseous effluents.The method may further include at least one of the following: labeling equipment in the panorama, selecting a set of frame coordinates and zoom levels for the panorama, marking no-emission locations in areas of the site where no emissions may occur, performing a selection of plume tracking frames of the panorama, identifying the presence of a plume in the panorama, performing screening for high albedo and high noise areas and the selection of plume tracking frames of the panorama, and attributing the presence of a selection of plume tracking frames to an emission source.

[0079] In another exemplary embodiment, the method may further comprise determining an emission rate for the plume.

[0080] In another exemplary embodiment, the method may further include comparing the plume emission rate to a standard and modifying the plume emission rate when the standard is exceeded.

[0081] In another exemplary embodiment, the method may be implemented so that modifying the emission rate of the plume comprises performing a hardware operational control of the emission equipment.

[0082] In another exemplary embodiment, the method may be implemented so that modifying the plume emission rate includes performing hardware operational control of a production process.

[0083] In another exemplary embodiment, the method may further comprise recording data for the analyzed data.

[0084] In another exemplary embodiment, the method may further include reviewing the recorded data or analyzed data by a computer configured with a point-and-click operation.

[0085] In another exemplary embodiment, the method may further include marking high albedo and high noise areas in the panorama.

[0086] Other examples of the invention will be apparent to those skilled in the art upon review of the description and practice of the examples disclosed herein. Although some of the methods described have been presented as a series of steps, it should be understood that one or more steps may occur simultaneously, in an overlapping manner, or in a different order. The order of the steps presented is merely illustrative of the possibilities, and these steps may be performed or carried out in any suitable manner. Furthermore, the various features of the examples described herein are not mutually exclusive. To the contrary, any feature of any example described herein may be incorporated into any other suitable example. It is understood that the description and examples are to be considered exemplary only, with the true scope and spirit of the invention being indicated by the claims that follow.

Claims

Claims

1. A method of analyzing an environment to monitor gaseous effluents during operation of at least one system, the method comprising: obtaining a generated panorama for a site that contains the at least one system to be monitored for gaseous effluents; and at least one of the following: labeling equipment in the panorama; selecting a set of frame coordinates and zoom levels for the panorama; marking no-emission locations in areas of the site where no emissions can occur; performing a selection of plume tracking frames of the panorama; identifying the presence of a plume in the panorama; performing a screening of high albedo and high noise areas and the selection of plume tracking frames of the panorama; and attributing the presence of a selection of plume tracking frames to an emission source.

2. The method of claim 1, further comprising: determining an emission rate for the plume.

3. The method of claim 2, further comprising: comparing the plume emission rate to a standard; and modifying the plume emission rate when the standard is exceeded.

4. The method of claim 3, wherein modifying the plume emission rate comprises performing a hardware operational control of the emitting equipment.

5. The method of claim 3, wherein modifying the plume emission rate comprises performing physical operational control of a production process.

6. The method of claim 1, further comprising: recording data for the analyzed data.

7. The method of claim 6, further comprising: reviewing the recorded data or analyzed data via a computer configured with a point-and-click operation.

8. The method of claim 1, further comprising: marking high albedo and high noise areas in the panorama.

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