Systems and methods are disclosed relating to acquisition of images regarding large area objects or large areas. In one exemplary embodiment, there is provided a method of obtaining or capturing, via a first system that includes one or more first image capturing devices, overview images, wherein the
Systems and methods are disclosed relating to acquisition of images regarding large area objects or large areas. In one exemplary embodiment, there is provided a method of obtaining or capturing, via a first system that includes one or more first image capturing devices, overview images, wherein the overview images depict first areas, as well as obtaining or capturing, via a second system that includes a plurality of image capturing devices, detail images characterized as being related to each other along an image axis. Moreover, the detail images may depict second areas that are subsets of the first areas, they may be arranged in strips parallel to the image axis, and they may have a higher resolution than corresponding portions of the first images.
대표청구항▼
1. A method of capturing images comprising: capturing, via a first system that includes one or more first image capturing devices, overview images, wherein the overview images depict first areas; andcapturing, via a second system that includes a plurality of second image capturing devices, detail im
1. A method of capturing images comprising: capturing, via a first system that includes one or more first image capturing devices, overview images, wherein the overview images depict first areas; andcapturing, via a second system that includes a plurality of second image capturing devices, detail images related to each other along a detail image axis, wherein the detail images depict second areas that:are subsets of the first areas,are arranged in strips parallel to the detail image axis, andhave a higher resolution than corresponding portions of the overview images,wherein after capturing the overview images and the detail images, a bundle adjustment process to determine interior and exterior orientations of the detail images is performed based on overview image overlaps and the detail images, anddetail photomaps are generated from the detail images using the interior and exterior orientations determined in the bundle adjustment process, andwherein the overview images have a redundancy greater than 17 images,an area of at least one overlapping overview portion between a first and second overview image is greater than or equal to 50% of an area of one of the first and second overview images, andan area of at least one overlapping portion of a first and second detail image is less than or equal to 10% of an area of one of the first and second detail images. 2. The method of claim 1, further comprising bundle adjusting an orientation of the first system, the second system, or one or more of the first and second image capturing devices using data associated with a spatial relationship among the overview images and the detail images. 3. The method of claim 2 wherein a side overlap of the overview images is between 50% and 60% with images that are laterally adjacent to an overview axis, and a forward overlap of the overview images is between 94% and 99% with images that are longitudinally adjacent to the overview axis. 4. The method of claim 1, further comprising capturing images corresponding to multiple different views, including one or more oblique views and/or one or more nadir views. 5. The method of claim 1, wherein the detail photomaps have a ground-pixel resolution of 10 cm or less. 6. The method of claim 1, wherein the overview images are captured with an overlap between images to cause a same image point to be captured in a quantity of images sufficient to enable accurate bundle adjustment. 7. The method of claim 1, wherein a digital elevation model is produced during the bundle adjustment process, the digital elevation model being used to ortho-rectify the detail images into the detail photomaps. 8. The method of claim 1, further comprising: using the bundle adjustment process to self-calibrate an interior orientation of the one or more first image capturing devices and the plurality of second image capturing devices. 9. A method of capturing images comprising: capturing, via a first system that includes one or more first image capturing devices, overview images related to each other along an overview axis, wherein the overview images depict first areas; andcapturing, via a second system that includes a plurality of second image capturing devices, detail images related to each other along a detail axis, wherein the detail images depict second areas that are subsets of the first areas and the detail images have a higher resolution than corresponding portions of the overview images;wherein the overview images captured have a side overlap between 50% and 60% with images that are laterally adjacent to the overview axis, and a forward overlap between 94% and 99% with images that are longitudinally adjacent to the overview axis,after capturing the overview images and the detail images, a bundle adjustment process to determine interior and exterior orientations of the detail images is performed based on the side and forward overview image overlaps and the detail images, and detail photomaps are generated from the detail images using the interior and exterior orientations determined in the bundle adjustment process, and wherein the overview images have a redundancy greater than 17 images,an area of at least one overlapping overview portion between a first and second overview image is greater than or equal to 50% of an area of one of the first and second overview images, andan area of at least one overlapping portion of a first and second detail image is less than or equal to 10% of an area of one of the first and second detail images. 10. The method of claim 9, wherein images captured correspond to multiple different views, including one or more oblique views and/or one or more nadir views. 11. An image capturing system comprising: a first system comprised of one or more first cameras and configured to capture overview images that are related to each other along an overview axis, wherein the overview images have forward overlap between 94% and 99% with images that are longitudinally adjacent to the overview axis; anda second system comprised of a plurality of second cameras and configured to capture detail images having a higher resolution than corresponding portions of the overview images, the detail images related to each other along a detail axis, wherein the detail images are captured such that overlap of regions of the detail images is between 0% and 10%,wherein the one or more first cameras of the first system and second cameras in the second system are configured such that interior orientation information and exterior orientation information for the detail images may be determined from a bundle adjustment of the detail images performed after the detail images and the overview images are captured and based on overview image overlaps and the detail images, anddetail photomaps are generated from the detail images using the interior and exterior orientation information, andwherein the overview images have a redundancy greater than 17 images,an area of at least one overlapping overview portion between a first and second overview image is greater than or equal to 50% of an area of one of the first and second overview images, andan area of at least one overlapping portion of a first and second detail image is less than or equal to 10% of an area of one of the first and second detail images. 12. The system of claim 11, wherein interior orientation and exterior orientation is determined for images from one or more of individual cameras, groups of cameras, or a camera system as a whole. 13. The system of claim 11, wherein the second system includes 3 sub-arrays of second image capturing devices, wherein a first sub-array captures detail nadir view images, a second sub-array captures first oblique detail view images, and a third sub-array captures second oblique detail view images. 14. The system of claim 11, wherein the forward overlap of the overview images is between 98% and 99% with images that are longitudinally adjacent to the overview axis. 15. The system of claim 11, wherein the second system is configured to capture images corresponding to multiple different views, including one or more oblique views and/or one or more nadir views. 16. The system of claim 11, wherein one or both of the first system or the second system are configured to include a removable mounting system such that the first or second cameras may be interchanged with different image capturing devices. 17. The system of claim 11, wherein multiple first cameras are arranged at different poses to maximize an amount of ground feature observations included within multiple overview images taken by the first cameras, wherein maximizing the amount of ground feature observations provides sufficient data to extract accurate photogrammetric bundle adjustment solutions. 18. The system of claim 11, further comprising: a processing component that compresses image data local to each of the first and second cameras; anda solid state data store local to each of the first and second cameras and that is configured to store image data in parallel with regard to each of the first and second cameras. 19. The system of claim 11, wherein the second system includes between 5 and 13 second cameras that capture strip-shaped sub-portions of the overview images. 20. The image capturing system of claim 11, wherein the detail photomaps have a ground-pixel resolution of 10 cm or less. 21. The image capturing system of claim 11, wherein the overview images captured have a side overlap between 50% and 60% with images that are laterally adjacent to the overview axis. 22. An image capturing system comprising: a first system including one or more first image capturing devices that capture overview images, wherein the overview images depict first areas; anda second system including a plurality of second image capturing devices that capture detail images related to each other along a detail image axis; wherein the second image capturing devices are configured to capture the detail images such that the detail images: depict second areas that are subsets of the first areas,are arranged in strips parallel to the detail image axis, andhave a higher resolution than corresponding portions of the overview images,wherein orientations of the detail images are determined through a bundle adjustment process that is performed after the overview images and the detail images are captured, and that uses overview image overlaps, anddetail photomaps are generated from the detail images using the interior and exterior orientations determined through the bundle adjustment process, andwherein the overview images have a redundancy greater than 17 images,an area of at least one overlapping overview portion between a first and second overview image is greater than or equal to 50% of an area of one of the first and second overview images, andan area of at least one overlapping portion of a first and second detail image is less than or equal to 10% of an area of one of the first and second detail images. 23. The system of claim 22, wherein the second system includes between 5 and 13 second image capturing devices that capture strip-shaped sub-portions of the overview images. 24. The system of claim 22, wherein the second system includes 3 sub-arrays of second image capturing devices, wherein a first sub-array captures detail nadir view images, a second sub-array captures first oblique detail view images, and a third sub-array captures second oblique detail view images. 25. The system of claim 22, wherein a forward overlap of the overview images is between 94% and 99% with overview images that are longitudinally adjacent to an overview axis. 26. The system of claim 22, wherein the second system is configured to capture images corresponding to multiple different views, including one or more oblique views and/or one or more nadir views. 27. The system of claim 22, further comprising: a processing component that compresses image data local to each image capturing device; anda solid state data store local to the image capturing devices that is configured to store image data in parallel with regard to each image capturing device. 28. The system of claim 22, wherein one or both of the first system or the second system are configured to include a removable mounting system such that the image capturing devices may be interchanged with different image capturing devices. 29. The system of claim 22, wherein a forward overlap of the overview images is between 98% and 99% with images that are longitudinally adjacent to the overview axis. 30. The image capturing system of claim 22, wherein the detail photomaps have a ground-pixel resolution of 10 cm or less. 31. A method of capturing images comprising: capturing, via a first system that includes a plurality of first image capturing devices arranged on a platform in different poses, overview images having an overlap to cause a same ground point to be visible and measurable on at least 30 of the overview images captured;capturing, via a second system that includes a plurality of second image capturing devices, detail images having a higher resolution than corresponding portions of the overview images and related to each other along a detail axis;after the overview images and the detail images are captured, performing a bundle adjustment process using at least overview image overlaps and the detail images, to determine spatial relationship information among the overview images and the detail images, andto determine interior orientation and exterior orientation of the detail images based on the spatial relationship information,wherein detail photomaps are generated from the detail images using the interior and exterior orientation, andwherein the overview images have a redundancy greater than 17 images,an area of at least one overlapping overview portion between a first and second overview image is greater than or equal to 50% of an area of one of the first and second overview images, andan area of at least one overlapping portion of a first and second detail image is less than or equal to 10% of an area of one of the first and second detail images. 32. The method of claim 31, wherein the detail images are captured with a resolution sufficient to produce a detail photomap having a ground-pixel resolution of 10 cm or less. 33. The method of claim 31, wherein the first image capturing devices and the second image capturing devices are configured to capture respective overview and detail images having overlap among the overview and detail images sufficient to enable the bundle adjustment process. 34. The method of claim 31, further comprising maintaining forward overlap between 94% and 99% in overview images that are longitudinally adjacent to an overview axis. 35. The method of claim 31, further comprising capturing images corresponding to multiple different views, including one or more oblique views and/or one or more nadir views. 36. The method of claim 35, wherein the one or more oblique views and the one or more nadir views are captured simultaneously. 37. The method of claim 31, further comprising: compressing image data local to each first and second image capturing device; andstoring image data in parallel with regard to each first and second image capturing device via a solid state data store local to the first and second image capturing devices. 38. The method of claim 31, further comprising arranging multiple first image capturing devices at different poses to maximize an amount of ground feature observations contained within multiple overview images taken by the first image capturing devices, maximization of the amount of ground feature observations providing data sufficient to extract accurate photogrammetric bundle adjustment solutions.
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