Exterior hybrid photo mapping

摘要

Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.

主权项

1. A method on a user equipment (UE), the method comprising:
capturing a plurality of images of an exterior of a structure when traversing a plurality of locations in a vicinity of the structure; capturing a plurality of measurement sets, wherein each measurement set corresponds to at least one image in the plurality of images and each measurement set comprises Inertial Measurement Unit (IMU) measurements and available wireless measurements with correction information for the available wireless measurements; estimating, based, in part, on the plurality of images and the corresponding plurality of measurement sets, a 3D structural envelope of the structure and a trajectory of the UE; transmitting information comprising the estimated trajectory of the UE, the 3D structural envelope, the plurality of images, and the corresponding measurement sets, to a first server wirelessly coupled to the UE; and receiving, based, in part, on the transmitted information, a corrected trajectory of the UE registered to absolute coordinates and a 3D structural envelope of the structure registered to the absolute coordinates.