Surveying Device Self-Localization Using 3D Scan Panoramas
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Solution Overview
Problem
Current methods for determining the position and orientation of terrestrial surveying devices with scan functionality are either time-consuming, prone to errors, or limited in accuracy, especially in indoor environments and when interrupted between measurement setups.
Innovation Solution
A fully automatic method using geo-referenced 3D scan panoramic images stored on the device or in a cloud, allowing for real-time position and alignment determination through image matching and machine learning algorithms, enabling precise location calculation without the need for manual referencing or sensitive inertial measurement units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual referencing methods are used to determine position and orientation, then the determination can be performed with basic equipment, but the process is time-consuming and prone to errors
Solution Approach 1:
The system automatically determines position and orientation by having the surveying device capture images and perform self-localization against stored panoramic images, eliminating the need for manual referencing operations by surveyors
Solution Approach 2:
Manual mechanical referencing operations are replaced by an automated computer vision system that uses image matching and machine learning algorithms to determine position and orientation
2Extent of automation
If GNSS receivers are used to determine live position, then the determination can be performed automatically, but the resolution capacity is lower and signal reception is limited in indoor environments
Solution Approach 1:
Instead of relying on external GNSS satellite signals, the system creates and uses local panoramic image copies of the measurement environment that can be stored and referenced indefinitely, providing unlimited indoor coverage with high precision
Solution Approach 2:
The image-based referencing system serves multiple functions including position determination, orientation determination, and environment mapping, replacing the need for separate GNSS receivers and manual referencing procedures
3Measurement precision
If free stationing with multiple target points is used to ascertain station coordinates, then absolute position can be determined, but the process requires manual acquisition and is time-consuming
Solution Approach 1:
The surveying device automatically captures images and performs self-localization to determine absolute position and orientation without requiring surveyors to manually acquire multiple target points
Solution Approach 2:
The system extracts position and orientation information directly from visual features in the environment captured by the device's camera, eliminating the need for separate manual target point acquisition procedures
4Duration of action of moving object
If inertial measurement units are used for position tracking, then continuous position tracking is possible, but the devices are sensitive and require careful installation and maintenance
Solution Approach 1:
Sensitive inertial measurement units are replaced by a robust image-based positioning system that uses the device's existing camera and computer vision algorithms, eliminating the need for additional sensitive hardware
Solution Approach 2:
The system uses visual copies of the environment captured by the camera to track position continuously, replacing the need for physical inertial sensors that require careful installation and maintenance
Data Source
AI summary
One aspect of the invention relates to a fully automatic method for calculating the current, geo-referenced position and alignment of a terrestrial scan-surveying device in situ on the basis of a current panoramic image recorded by the surveying device and at least one stored, geo-referenced 3D scan panoramic image.