Determining tilt angle and tilt direction using image processing

摘要

A method of determining a tilt angle and a tilt direction of a survey instrument. The survey instrument has an imaging device that captures first images at a first location. The first images include features from an environment around the survey instrument. The imaging device also captures second images at a second location. The second images include a portion of the features. A pose of the imaging device is determined at the second location using observed changes in location of a common portion of the features between the first images and the second images. The tilt angle and the tilt direction of the survey instrument at the second location are determined using the pose of the imaging device.

主权项

1. 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, the pose determined using observed changes in location of the portion of the first features between the first images and the second images, wherein processing the reference information and the image information 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.