EP2952024A2

EP2952024A2 - Inspection camera unit, method for inspecting interiors, and sensor unit

Info

Publication number: EP2952024A2
Application number: EP14708813.2A
Authority: EP
Inventors: Anko BÖRNER; Sergey Zuev; Denis GREISSBACH; Dirk BAUMBACH; Maximilian Buder; Andre CHOINOWSKI; Marc WILKEN; Christian CABOS
Original assignee: Dnv Gl Se; Deutsches Zentrum fuer Luft und Raumfahrt eV
Current assignee: Dnv Gl Se; Deutsches Zentrum fuer Luft und Raumfahrt eV
Priority date: 2013-02-04
Filing date: 2014-02-04
Publication date: 2015-12-09
Also published as: KR20150115926A; WO2014118391A2; EP3410064B1; JP2019032330A; US20150379701A1; KR101807857B1; WO2014118391A3; JP2016509220A; EP3410064A1

Abstract

In order to specify an inspection camera unit (101) having an inspection camera (104) for recording preferably colour inspection photos (122) of interiors (121), in particular of ships, or a method for inspecting interiors (121), in particular of ships, by recording preferably colour inspection photos (122) by means of an inspection camera unit, which each increase the usefulness of the inspection photos and also enable, for example, an improved historical examination, according to the invention the inspection camera unit (101) comprises referencing means (105) for referencing the inspection photos (122) or the inspection photos (122) are referenced in that relative location data of the inspection camera (104) and orientation data of the inspection camera (104) are determined when the inspection photos are recorded and are associated with the inspection photos (122), wherein the relative location data and the orientation data are then put into a coordinate system of the interior (121), wherein the inspection camera unit (101) preferably is designed in accordance with one of claims 1 to 14.

Description

Inspection camera unit, method for

Inspection of interiors and sensor unit

The invention relates to a surveying arrangement and a method for measuring, in particular of closed rooms.

The inspection of industrial plants, buildings, but also ships, for example, for an early detection of damage and / or the

Ensuring operational safety. Sensor systems that collect the data required for this purpose can be, for example, camera systems with an arbitrary spectral range, humidity sensors or gas sensors. The data generated by these sensor systems can, however, usually only be used meaningfully and usefully if they are spatially referenced. In other words, a position, ie position and / or orientation, of the sensor system should also be known for each measurement signal.

A position detection by means of a GNSS (global navigation satellite system) ensures such spatial referencing of measurement data in outdoor areas with a position accuracy of a few centimeters, e.g. when using a differential GPS (Global Positioning System), up to a few meters. The determination of an orientation is not possible with GNSS. However, in closed spaces, such as in interiors of buildings or vehicles, especially ships, operability and accuracy of the GNSS may be compromised. In the outdoor area, the quality of the position measurement can be impaired by GNSS in unfavorable conditions, such as shadowing and

Multiple reflections.

For a spatial referencing of measured data, for example, terrestrial microwave transmitter and receiver units can be used. For example, RFID (Radio Frequency Identification) systems,

Pseudolite systems or WLAN-based spatial systems

Referencing, but require a corresponding technical Equipment of the measuring environment in advance of the measurements. It is also possible to use inertial measuring systems. These systems measure

Angular velocities and accelerations caused by single or

Double integration can be processed to orientation and position values. This principle quickly accumulates large errors, which can only be circumvented by the use of large and expensive inertial measurement systems. In addition, compass-based systems can also be used. All of these systems can be used indoors. Maps created in advance (e.g., building footprints, electric field strength maps) are often used to support the measurements.

All known methods for the spatial referencing of measurement data without GNSS have in common that they require a priori information, e.g. by maps or equipment of the object to be measured with appropriate technical aids, and are expensive.

Furthermore, there are approaches for photogrammetric localization of measurement data. In this case, a multiplicity of spatially overlapping images are recorded in an interior area to be examined. Here it is problematic that a localization on the basis of photogrammetric approaches is only conditionally real-time capable, since usually the entire image block (from the first to the last image) must be present to subsequently the trajectory of the

Determine measuring system and thus ensure the spatial referencing of the measured values.

The published DE 10 2011 084 690.5 describes a camera comprising at least one optical system, at least one optical detector, which is arranged in a focal plane of the optics, and an evaluation unit, wherein the camera comprises at least one light source and at least one diffractive optical element, by means of the light source, the diffractive optical element can be illuminated, so that this produces different plane waves, which are each punctiform imaged by the optics on the optical detector and through the evaluation are evaluated at least for geometric calibration, and a method for geometrical calibration of a camera.

The technical problem is to provide a surveying arrangement and a method for surveying, which simplify a spatial referencing of measurement data and enable a temporally fast spatial referencing, wherein a-priori knowledge, e.g. in the form of maps or additional infrastructure, is not necessary. The solution of the technical problem results from the objects with the features of claims 1 and 8. Further advantageous embodiments emerge from the dependent claims.

It is a basic idea of the invention that a surveying arrangement both a sensory system for generating measured data and at least two position detection systems for generating position and / or

Orientation data, wherein the location detection systems are in relation to the environment unreferenzierte position detection systems. The

Surveying arrangement detects its own position and orientation in a relative coordinate system whose origin is e.g. can be adjusted by a user. The measurement data is stored referenced to local position and / or orientation data of the attitude detection systems detected in this relative coordinate system. The following definitions apply. A layer at least partially describes a position and / or an orientation of an object. A position can be described by three translation parameters, for example. For example,

For example, translational parameters may include an x parameter, a y parameter, and a z parameter in a Cartesian coordinate system. A

Orientation can be described, for example, by three rotation parameters. For example, rotation parameters may include a rotation angle ω about an x-axis, a rotation angle φ about ay-axis, and a rotation angle κ about a z-axis of the Cartesian Coordinate System. Thus, a layer can include up to 6 parameters.

Proposed is a surveying arrangement, wherein the

Surveying arrangement can also be referred to as surveying system. The surveying arrangement is used in particular for the measurement of enclosed spaces, in particular for the measurement of ship halls, mines, buildings and tunnels. Alternatively or cumulatively, the

Surveying arrangement for surveying outdoor areas with disturbed or missing GNSS reception. In the context of this invention

Measurement that measurement signals whose acquisition is triggered automatically or manually by a user are generated and spatially referenced. In addition, measurement data can also be referenced in time. The surveying arrangement comprises at least one sensory system for generating measured data. The sensory system may be, for example, a camera system for generating camera images, a humidity sensor or a gas sensor. Of course, other sensory systems can be used.

Furthermore, the surveying arrangement comprises a first unreferenced

Position detection system for generating first position and / or

Orientation data and at least one second unreferenced

Positioning system for generating second position and / or

Orientation data.

Preferably, the first and the at least second work

Positioning system based on independent physical measuring principles. This advantageously allows for improved redundancy and increased accuracy in the detection of position and / or orientation information. The term "unreferenced" here means that the generated position and / or orientation data are determined exclusively relative to a system coordinate system of the position detection systems or relative to a common coordinate system of the position detection systems, wherein the common coordinate system is stationary and rotationally fixed with respect to the surveying arrangement. For example, the first position and / or orientation data relative to a system coordinate system of the first position detection system can be determined. Accordingly, the second position and / or orientation data can also be determined in a system-specific coordinate system of the second position detection system.

Further, the term "unreferenced" may mean that by means of the

unreferenced position detection system no clear detection of the position and / or orientation, e.g. in a global coordinate system. This means that at least one parameter is needed for a clear and complete description of the situation, ie the position and / or

Orientation, is necessary, can not be detected or determined by means of the unreferenzierte position detection system. For example, can be a unique spatial referencing in a parent, e.g. global, coordinate system the capture or determination of three positional and three orientation parameters in this parent

Require coordinate system. If this can not be fully guaranteed, the position can only be determined in a system-specific coordinate system, even if individual parameters of the position in the higher-level coordinate system can be detected. For example, tilt sensors may be two

Orientation angle and magnetic sensors spatially referenced an orientation angle to capture a world-fixed coordinate system. Unreferenced also means that no spatial reference to a previously known spatial map is known. For example, a position may refer to a Cartesian

Coordinate system can be determined with three linearly independent axes. In this way, the position detection system allows the detection of a movement with three translational degrees of freedom. Alternatively or cumulatively, orientation data can be determined as the angle of rotation about the three axes of the Cartesian coordinate system, for example according to the so-called yaw pitch-roll convention (yaw-nick-roll angle convention). Thus, the determination of an angular movement with three independent rotational degrees of freedom is possible.

As explained in greater detail below, an origin of the coordinate system may be e.g. be set when switching on the position detection system, ie at the beginning of a power supply, or at the beginning of a measurement process or when generating an initialization signal. This means that at one of the previously explained times current position and / or

Orientation coordinates are reset or zeroed, and subsequently all detected position and / or orientation data are determined relative to the set origin of the coordinate system. Furthermore, the surveying arrangement comprises at least one

Storage means.

The measurement data and the position and / or orientation information encoded by the first and / or second position and / or orientation data, in particular temporally corresponding to one another, are referenced to one another, ie with a previously known association with one another, can be stored in the memory device.

This means that both the measurement data and the corresponding position and / or orientation information are stored. The position and / or orientation information may take the form of

unprocessed output signals (raw signals) of the unreferenced

Location detection systems be given. The position and / or orientation information can also be processed by already processed output signals of the be unreferenced position detection systems, the processed output signals in turn encode a position and / or orientation exclusively referenced to the / the native coordinate system (s) or to a common measurement arrangement fixed coordinate system or represent.

For example, the measured data and the temporally corresponding first and / or second unprocessed position and / or orientation data can be stored referenced to one another.

Thus, an assignment of measurement data to a position and / or orientation is possible and retrievable at a later date. However, an assignment is exclusive to positions in the unreferenced ones

native coordinate systems of the position detection systems or to layers in a common, survey-fixed

Coordinate system possible.

In this case, the described surveying arrangement can be portable, in particular portable by a human user. However, it is also possible, the surveying arrangement described on a

Positioning device, for example, on a vehicle, in particular on a robot mountable form.

The proposed surveying arrangement advantageously allows a spatial referencing of measured data even in enclosed spaces, in particular in interiors of, for example, industrial plants, buildings or ships. Since the spatial referencing is independent of a global coordinate system, such as a coordinate system of a GNSS, and also independent of other additional arrangements, such as installed in the rooms transmitters, resulting in an advantageous manner a simple and inexpensive surveying. The use of at least two position detection systems advantageously increases the availability of position and / or position

Orientation information and increased accuracy of the position and / or orientation information. Is e.g. a position detection by means of one of the at least two position detection systems not possible, e.g. due to external conditions or in case of failure of the position detection system, so position and / or orientation data or information of the remaining position detection system are still available. The data stored by the surveying arrangement allow navigation in already measured rooms at a later time. Also, the data for the creation or comparison of investment or Gebäudebzw. Serve ship models. In a further embodiment, the surveying arrangement comprises a computing device, wherein the first and the second position and / or orientation data can be fused to resulting position and / or orientation data by means of the computing device. The resulting position and / or orientation data may then be e.g. represent the previously explained position and / or orientation information.

Here, e.g. Position and / or orientation data of a

Positioning system are converted into the native coordinate system of the other position detection system. For this it is necessary that a mapping rule for such a conversion is already known. In other words, this means that the native coordinate systems of the position detection systems are registered with each other.

It is also possible that both the first and the second position and / or orientation data are converted into a common coordinate system of the surveying arrangement. The coordinate system of the surveying arrangement denotes a respect to the

Surveying arrangement stationary and torsion-proof coordinate system. this in turn means that when the surveying arrangement moves in a translatory and / or rotational manner, the common coordinate system of the

Surveying arrangement to the same extent translationally and / or rotationally moved. As previously explained, this requires that the native coordinate systems be registered with the common coordinate system.

This advantageously makes it possible to save storage space since measurement data now only has to be stored in a referenced manner to the resulting position and / or orientation data.

In another embodiment, the first is unreferenced

Position detection system as optical position detection system and the at least second unreferenzierte position detection system as inertial

Position detection system trained.

In the optical attitude detection system, a position change and / or orientation change is optically detected, e.g. image-based, recorded. In an inertial attitude detection system, one or more inertial sensors are used to detect acceleration and / or spin rates. If e.g. Detected accelerations, so a current position can be determined on the basis of an already traveled path, wherein the distance covered by e.g. Double integration of the detected accelerations results. If a rate of rotation is detected, then a current angle, e.g. be determined by simple integration of the rotation rate.

The use of an optical and an inertial position detection system realizes advantageously a position detection on the basis of two independent physical measurement principles. Another advantage is that inertial position detection systems work experience robust and thus high availability of position and / or

Provide orientation data. Optical position detection systems usually allow a highly accurate determination of a position and / or orientation. The use of the proposed position detection systems results So advantageously both high availability and high accuracy in the determination of position and / or

Orientation information. In a further embodiment, the optical position detection system is designed as a stereo camera system. A stereo camera system advantageously allows a simple, image-based determination of a spatial position and / or spatial orientation of objects or persons in the detection range of the stereo camera system. For this purpose, it may be necessary to carry out the method for image-based feature or object recognition, by the corresponding, by a respective camera of the

Stereocamera system imaged persons or objects are detected. Of course, other methods of image processing may be used to improve a determination of spatial position and / or orientation, e.g. Noise suppression techniques, segmentation techniques, and other image processing techniques.

In addition, temporally sequentially recorded stereo images or individual images can be used to perform a three-dimensional reconstruction, for example in a so-called structure-from-motion process.

In particular, in the stereo camera system at least one

panchromatic camera or a color camera, in particular an RGB-based color camera, or an infrared camera. Alternatively or cumulatively, it is possible that the cameras used in the stereo camera system have different geometric, radiometric and / or spectral properties. For example, a spatial resolution and / or a spectral resolution of the cameras used may be different from each other. This results in an advantageous manner that one of the cameras, as explained in more detail below, can be used as a measuring system, for example when using a spatially high-resolution RGB camera and a spatially low-resolution panchromatic camera. In a further embodiment, the surveying arrangement comprises a calibration device for calibrating the stereo camera system.

A geometric calibration of cameras is one

A basic requirement for their use as a position-finding system. The

Calibration can also be used as a determination of parameters of an internal

Orientation of the camera. The aim is to determine a line of sight in the camera coordinate system for each pixel of an image generated by a camera of the stereo camera system.

The calibration device may in this case be e.g. be formed such that a camera of the stereo camera system or all cameras of the

Stereo camera system optics and at least one optical detector, which is arranged in a focal plane of the optics, and comprise an evaluation. Furthermore, the camera can comprise at least one light source and at least one diffractive optical element, wherein the diffractive optical element can be illuminated by means of the light source, so that this generates different plane waves which are imaged punctiform on the optical detector by the optics and at least by the evaluation unit

geometric calibration are evaluated.

Such a system is described in the subsequently published DE 10 201 1 084 690.5. The diffractive optical element can in this case by the optics by means of

Be illuminated light source. Furthermore, the light source can be designed and aligned in such a way that it emits spherical wavefronts which pass through the optics into plane waves and strike the diffractive optical element. The optical detector can be designed as a matrix sensor. The at least one diffractive optical element can be integrated into the optics. Alternatively, the diffractive optical element may be arranged on the optics. As a further alternative, the diffractive optical element can be arranged on a diaphragm of the optics. It is also possible that the camera comprises a plurality of light sources having different emission directions. Furthermore, the light source can be arranged in the focal plane. It is also possible that the light source comprises an optical phase whose aperture forms the light exit of the light source.

Diffractive optical elements are known in various embodiments, passive and active diffractive optical elements being known, the latter also being referred to as SLMs (Spatial Light Modulator). SLMs can be designed, for example, as an adjustable micro-mirror array (reflective SLM) or as a transmitting or reflective liquid crystal display (liquid crystal, LC display). These can be actively controlled so that their diffraction structures can be changed over time. Passive diffractive optical elements, however, have a fixed diffraction pattern, which may be formed reflective or transmitiv.

With respect to further embodiments of the camera with a calibration device, reference is hereby made to the exemplary embodiment disclosed in DE 10 2011 084 690.5. This results in an advantageous manner that a calibration of one or all cameras of the stereo camera system during operation and thus a permanently highly accurate determination of the position and / or orientation is possible. In a further embodiment, the measuring system is simultaneously designed as an unreferenced position detection system. For example, the measuring system can be designed as a camera or camera system, which is also part of the stereo camera system. In this case, the measuring system generates image data as measured data, with the generated image data simultaneously serving to provide position information. Of course, it is conceivable, other measuring systems whose

Output signals for providing a position and / or

Orientation information can serve to use. In a further embodiment, the surveying arrangement additionally comprises at least one further position detection system, e.g. a third position detection system.

The further position detection system may include, for example, a GNSS sensor or be designed as such. A GNSS sensor enables position detection by receiving signals from navigation satellites and pseudolites.

Alternatively, the further position detection system can be designed as a laser scanner or comprise such a laser scanner. In this case, the laser scanner can be a one-dimensional, two-dimensional or three-dimensional laser scanner which correspondingly permits a one-dimensional, two-dimensional or three-dimensional image of an environment of the measurement arrangement. By appropriate methods of data processing, according to the image processing, an object recognition can be carried out in the output signals generated by the laser scanner. In

Depending on detected objects, then movement, i. a position and / or orientation change of the surveying arrangement between two times, be determined. There are algorithms for this, e.g. the so-called ICP (iterative dosest point) algorithm.

Alternatively, the further position detection system can be designed as a magnetometer. A magnetometer refers to a device for detecting a magnetic flux density. By means of a magnetometer, for example, a geomagnetic field or an overlay of the

Earth magnetic field and another magnetic field, which is generated for example by an electric generator, in the closed premises be recorded. Furthermore, the magnetometer can also be used as a position detection system.

Further alternatively, a tilt sensor can be used as another position detection system. An inclination sensor can detect changes in an inclination angle, for example. These changes in the angle of inclination can in turn be used as a basis for determining an orientation of the surveying arrangement. For example, the

Tilt sensor also detect an actual angular difference to a direction of gravitational acceleration. Thus, the tilt sensor can work according to a spirit level.

The output signals of the previously explained position detection systems can hereby be stored separately or fused with the first and second position and / or orientation data, as explained above.

Further proposed is a method for measuring, in particular of closed rooms and / or outdoor areas with disturbed or faulty GNSS reception, whereby a sensory system generates measured data. Furthermore, a first unreferenced position detection system generates first position and / or orientation data and at least one second

unreferenziertes position detection system second position and / or

Orientation data. Furthermore, the measured data and the position and / or orientation information encoded by the first and / or second position and / or orientation data, in particular temporally corresponding to one another, are stored with reference to one another.

The proposed method can be advantageously used to inspect closed spaces of natural and unnatural origin, eg, caves and shafts, using reference-free attitude detection systems. For the proposed method, the registration of the used position detection systems may be necessary to each other. Here, temporal, rotational and / or translational relationships between the

Position detection systems and, where appropriate, the measuring system are determined in order to merge the position data and to be able to determine in a reference coordinate system. Methods are known for this referencing of the position sensors.

Thus, the proposed method allows the inspection of buildings as part of a facility management, e.g. in the context of

Noise protection measures. Furthermore, the inspection of buildings within the framework of safety-relevant tasks is made possible, e.g. for use by police and fire departments. Further, an inspection of industrial equipment, e.g. of ships or tanks, possible.

In a further embodiment, the first and the second position and / or orientation data for resulting position and / or

Orientation data merged, with only the coded by the fused or resulting position and / or orientation data position and / or orientation information are stored. The merged position and / or orientation data can be the position and / or

Represent orientation information or the position and / or orientation information can be determined depending on the fused position and / or orientation data.

This results in an advantageously, as previously explained, improved accuracy of the position and / or orientation information and a reduced storage space requirement. In another embodiment, an origin of a native

Coordinate system of the first unreferenced position detection system and an origin of a systemic coordinate system of the second

Unreferenced position detection system or an origin of a common Coordinate system can be initialized at the beginning of an operation of a surveying arrangement or at the beginning of a measurement or at a time of generation of an initialization signal. In this case, it is possible to initialize that current position and / or orientation information or position and / or orientation data from the time of initialization as a reference or

Origin coordinates are used. Thus, the current position and / or orientation information or the position and / or

Orientation data reset. From this point on and until a new initialization now position and / or

Orientation information relative to this origin determined.

An initialization signal can be generated, for example, by actuating a corresponding actuating device, for example a pushbutton or switch. Thus, a user can if the

Surveying arrangement in a desired position and / or

Orientation, which initialize native coordinate systems. In this case, all previously generated position and / or

Orientation information or position and / or orientation data are converted to the newly initialized origin. Thus, it is possible in an advantageous manner that already generated information for spatial

Referencing will not be lost. For example, a user can perform a full survey and, after the measurement, the native coordinate systems in a desired position and / or

Initialize the orientation of the survey arrangement.

For example, in this way a reference to a global

Coordinate system are produced. Thus, the surveying arrangement can be brought into a position and / or orientation, which with respect to a desired global coordinate system, for example

Coordinate system of a GNSS, is known. Become the native ones

Initialized coordinate system of the position detection systems in this position and / or orientation, it can be a registration between the already generated or still to be generated position and / or Orientation information and the global coordinate system can be determined. By way of example, it is possible for a user to measure closed spaces in accordance with the invention and to move out of the closed rooms into a free space after completion of the measurement in which a position and / or orientation can be determined with sufficient accuracy, for example by means of a GNSS sensor , Further, for example by means of a GNSS sensor, then a current position and / or orientation of the surveying arrangement can be determined in a coordinate system of the GNSS. Further, as previously explained, the native coordinate systems of the attitude detection systems can be initialized and a conversion of the stored position and / or

Orientation information on the coordinate system of the GNSS done.

It is also possible, e.g. image-based to detect a structure or an object whose position and / or orientation is known in a global coordinate system. Further, a position and / or orientation of the detected structure or the detected object in the native

Coordinate systems of the position detection systems are determined. Finally, it is then possible to convert the already determined position and / or orientation information or position and / or orientation information still to be determined onto the global coordinate system.

In this case, therefore, the unreferenced native

Coordinate systems of the position detection systems are initialized to the position and / or orientation of the object or the structure.

If a stereo camera is used as the position detection system, a spatial referencing of a 2D / 3D environment model, which is generated as a function of the image data of the stereo camera system, can also take place.

From the determined and stored position and / or

Orientation information can also be a trajectory of Measurement arrangement can be determined. Thus, it is possible to display a trajectory in a 2D / 3D model at a later time.

The present invention further relates to an inspection camera unit with an inspection camera for taking, preferably colored, inspection photos of interiors, in particular of ships.

The invention equally relates to a method for the inspection of

Interiors, in particular of ships, by receiving, preferably colored, inspection photos by means of an inspection camera unit.

Finally, the invention relates to a sensor unit with sensor means for metrological detection of at least one property of interiors, especially of ships.

In the often regulatory required inspection of interiors, e.g. From industrial plants, especially ships, photos serve as visual information carriers for documentation. For example, the structural state of a ship can be documented at a specific time on the basis of inspection photos. This is generally customary in the context of carrying out a generic method or using a generic inspection camera unit, in particular in connection with ships. However, the inspection photos are managed unsystematically as images in a shoebox, without a reference of the respective inspection photo in terms of location and orientation in the hull is given. At most, manual records of the location of

Inspection photos taken by the inspector who created the inspection photos are unsystematic after the completion of an inspection run.

The benefit of the inspection photos is therefore limited to disadvantage. For both the retrievability in the hull of damage documented by an inspection photo and a historical evaluation of the temporal evolution of structural damage on the basis of a comparison of

At various times recorded inspection photos is disadvantageously not systematically or only with increased effort possible.

Also, a classification of inspection photos in an existing model, for example, the hull for the reasons described is not possible or only with increased effort. There is therefore a need for an inspection camera unit of the type mentioned in the introduction, as well as a method for inspecting interiors of the aforementioned type, which in each case increase the usefulness of the inspection photos and, for example, also enable improved history viewing. Likewise, there is a need for a sensor unit of the type mentioned,

It is therefore an object of the present invention to provide an inspection camera unit of the type mentioned, a method for inspection of the type mentioned or a sensor unit, which are improved in the above sense.

According to the invention this object is achieved by an inspection camera unit with an inspection camera for receiving, preferably colored,

Inspection photos of interiors, in particular ships, solved, which has referencing means for referencing the inspection photos. For the purposes of the present specification, the term "referencing" is understood to mean, in particular, the acquisition of position and / or orientation data Inspection photo automatically this

Information will be attached. This allows a systematic evaluation of the inspection photos even when viewing the history.

If the location data collected by the referencing means and

Orientation data with an existing external coordinate system of the interior to be inspected, for example, the ship, brought into relation, so if a registration, i. a provision of

Coordinate transformation between the coordinate system used for the positioning with the ship's coordinate system by means of at least one control point is made, can be assigned to the external ship coordinate system with advantage the inspection photos taken within the scope of the inspection using the inspection camera unit according to the invention. Registration in the sense of the invention can likewise be carried out by means of manual assignment of points of the ship's coordinate system to points of the coordinate system used for the positioning performed. In this case, for example, manually selected by an operator at least one control point in an inspection photo and each assigned to a location in the ship's coordinate system.

In a preferred embodiment of the inspection camera unit according to the invention, the referencing means comprise a stereo chamber with a first referencing camera and a second referencing camera for determining relative location data of the inspection camera and orientation data of the inspection camera that can be assigned to the inspection photos. The first and second Referenzierungskamera are arranged in a fixed spatial arrangement to the inspection camera within the inspection camera unit. Based on the parallel recorded homing pictures of the two

Referencing cameras of the stereo camera can by means of image processing at a known fixed distance between the first and second

Referencing camera using trigonometric calculations Location and orientation of the stereo camera and thus the inspection camera with respect to the interior can be determined.

In order to reduce the amount of data, the first referencing camera and / or the second referencing camera can be designed as a black and white camera within the scope of the invention. For the purposes of referencing the inspection photos, in many applications it will be sufficient to record only contrasts but not color information. The resulting significant advantage of this data reduction allows the use of image processing in the referencing on the basis of the

Referencing cameras added referencing pictures. Advantageously, according to the invention, a referencing can therefore also take place in real time. For example, this advantageously also makes it possible to record a trajectory which the inspection camera unit according to the invention during a

Inspection run in the interior, ie in particular in the hull, passed through.

In a further preferred embodiment of the invention, the stereo camera is configured infrared-sensitive and includes an infrared source, wherein preferably the infrared source is designed to be operated in a pulsed manner. Since the inspection is often done in poorly lit or completely dark interiors, the use is of infrared images within the stereo camera advantageous. If the

Inspection photos in the visible range, in particular color, recorded in the inventive design of the stereo camera as an infrared-sensitive camera also ensures that the infrared source does not affect the inspection photos. Furthermore, an infrared source advantageously requires less energy than, for example, a light source in the visible range.

A pulsed mode of operation of the infrared source advantageously reduces the energy requirement of the infrared source. This is advantageous in view of the fact that the inspection camera unit according to the invention is operated as a portable device, for example as a helmet camera unit, without an external power supply.

In a further advantageous embodiment of the invention

Inspection camera unit, the stereo camera, an image processing unit for referencing based on an image comparison of one with the first

Referencing camera recorded first Referenzierungsbildes with a parallel with the second Referenzierungskamera recorded second Referenzierungsbildes. This refinement of the invention makes it advantageously possible to carry out a determination of location data and orientation data assigned to the inspection photos on the part of the inspection camera unit, in particular in real time. Advantageously, in this way only one

Parameter set for identifying the location data, so typically a

Coordinate triplet, as well as orientation data, typically a Winkeltriplet be recorded. The memory requirement compared to the storage of the complete reference images is advantageously considerably lower.

It is particularly advantageous if, in the context of the invention, the image comparison comprises a selection of at least one evaluation pattern in the first referencing image, a finding of the evaluation pattern in the second referencing image, and a determination of the position of the evaluation pattern within the first

Referencing image and within the second Referenzierungsbildes. Taking into account the known distance of the first

Referencing camera of the second Referenzierungskamera can be by knowing the positions of the Auswertemusters within the two

Referencing images based on trigonometric calculations Location and orientation of the stereo camera and, if known, fixed relative Determine the arrangement of the inspection camera to the stereo camera, location and orientation of the inspection camera.

Referencing is particularly reliable if, in an embodiment of the invention, the evaluation pattern comprises an image area with a maximum contrast.

In a further development of the inspection camera unit according to the invention, it comprises an acceleration sensor and / or an inclination sensor. By virtue of the fact that according to the invention an acceleration sensor can be provided, the location determination and / or orientation determination is advantageously even more reliable. Because there is an additional measurand available, which allows a referencing of the inspection photos. If, for example, the referencing images can not be evaluated because they are blurred, for example, or because there is a disturbance in the beam path, the acceleration sensor and / or the sensor can be based on the evaluation of the location and orientation last determined on the basis of the stereo camera

Inclination sensor can be determined at what current position and in what current orientation, the inspection camera is located. This is particularly advantageous to a gapless trajectory, which the

Inspection camera unit during an inspection run in the zu

inspecting interior, for example, in the hull, is determined to determine. But even in cases where the referencing pictures

are fully usable for referencing, are data of an additional acceleration sensor and / or an additional

Tilt sensor advantageous. Because the search field for finding the current position of the Auswertemusters can be selectively limited due to the knowledge of the probable position of the Auswertemusters on the

Referenzierungsbild. This can advantageously reduce the computing time. In a further advantageous embodiment of the invention

Inspection camera unit are the reference means for evaluating data with respect to an opening angle of the inspection camera designed. The additional knowledge of the opening angle of the inspection camera in conjunction with the knowledge of the registration in relation to a

Coordinate system of the interior to be examined, ie in particular the to be examined, determining whether two given

Inspection photos show the same section of the given interior. It can be within the scope of the invention, the assignment to a

Schiffskoordinordinmodellmodell serve to determine a sectional area of the detection angle of the inspection camera with walls of the ship's interior. All this is crucial for a history analysis, if, for example, by comparing inspection photos taken at different times, it is to be determined whether a structural damage has increased or changed in any other way. In general, the development of findings with time can be observed in this way within the scope of the invention, in which sense the term finding also includes, for example, the condition of a patient

Coating or the presence of mud or other

Can include deposits in one place.

In another advantageous embodiment of the invention, the first

Referencing camera or the second referencing camera the

Inspection camera. The complexity of the invention

Inspection camera unit can be reduced in this way with advantage. It is thus according to the invention in addition to the anyway for the inclusion of

Inspection photos existing inspection camera provided only an additional Referenzierungskamera, wherein an image comparison between the Referenzierungsbild the referencing camera and the inspection photograph is made. If the inspection camera is a

Color Camera, the image comparison after conversion of the

Inspection photos done in a black and white photo.

It is advantageous in the context of the invention if visual position-indicating means, preferably comprising a laser light source, are provided for displaying an object region detectable by an inspection photograph on the basis of the location and orientation of the inspection camera. For example, a crosshair can be projected onto the object area by means of laser light, which indicates the center point of an inspection photograph, if such is recorded. This can be of great advantage if the inventive

Inspection camera unit, for example, as a helmet camera from the inspector is worn and the perspective of the inspector differs from the "viewing angle" of the inspection camera.

In order to promote problem-free referencing in real time, it is advantageous in an embodiment of the invention if the image comparison takes place only on the basis of a subarea, in particular a substantially line-like region, of the referencing images. Concretely, therefore, a selected in the first Referenzierungsbild evaluation pattern in the second

Referencing image to be searched for a Linier, if the knowledge of the geometric arrangement of the two homing camera of the stereo camera or data from an acceleration sensor and / or data from a tilt sensor are taken into account.

The inspection camera unit according to the invention makes it possible to store a trajectory when a storage unit is provided in order to store a time series of inspection photos and a time series of relative location data of the inspection camera and / or orientation data of the inspection camera.

A complete decoupling of the location of the inclusion of the inspection photos is achieved in an embodiment of the invention, when the

Inspection camera between the first Referenzierungskamera and the second Referenzierungskamera is arranged. In this embodiment, therefore, the inspection camera is in particular separate from the first and second

Referencing camera designed.

The object of the invention is based on the method by a method for inspecting interiors, in particular of ships, by receiving, preferably colored, inspection photos by means of a

Inspection camera solved, in which the inspection photos are referenced, in the relative location of the inspection camera and recording

Orientation data of the inspection camera determined and associated with the inspection photos, wherein preferably the inspection camera according to one of claims 1 1 - 24 is configured.

In an advantageous embodiment of the method according to the invention, it includes a method for dimensioning structures in the interior spaces on the basis of the inspection photos, comprising: Selecting in an inspection photograph of two inspection photo pixels,

then determining in the first referencing image and in the second referencing image the selected inspection photo pixels of corresponding referencing pixels

- and calculate their Euclidean distance.

With regard to the sensor unit, the object underlying the invention by a sensor unit with sensor means for metrological detection of at least one property of interiors, in particular of ships, solved, which for the purpose of determining a by relative location data and

Orientation data marked position of the sensor means with

Positioning means for cooperating with the referencing means of an inspection camera unit according to one of claims 1 to 14 is provided. For example, the sensor unit may have an ultrasonic thickness sensor as a sensor means for ultrasound-based thickness measurement

For example, a steel plate of a ship interior. Due to the fact that according to the invention the sensor unit is provided with position-determining means, in cooperation with an inspection camera unit as described above, the position of the sensor means, thus for example the position of the sensor

Ultrasonic Thickemesssensors be determined. In this way it can be noted with advantage, at which place and in which orientation itself

For example, the ultrasonic thickness sensor was at the time of recording the measured value. For this purpose, it must be arranged during the metrological detection of the thickness in the field of view of the referencing means of the inspection camera unit.

In a preferred embodiment of the sensor unit according to the invention, the position encoder means spaced from each other on a sensor axis arranged, causing an optical contrast, in particular point-like areas. In the context of the invention, these regions can be advantageously used in the image comparison of the images of two referencing cameras described above as evaluation patterns with a maximum contrast.

The position encoder can be switched off switchable in a further advantageous embodiment of the invention. In particular, the position-determining means can be at least one point-shaped

Have light source. For example, the position sensor may be constructed of two light-emitting diodes arranged at a distance from one another, which upon triggering the storage of a measuring signal, for example a

Ultrasonic Thickness measurement, are turned on for a short time, in order to be able to be detected in this way as Auswertemuster with maximum contrast of the Referenzierungskameras.

The invention will be explained in more detail using an exemplary embodiment with reference to a drawing.

The figures of the drawing show in detail:

Figure 1: a schematic block diagram of a surveying arrangement.

FIG. 1 a shows a perspective schematic view of an embodiment of the inspection camera unit according to the invention;

Figure 2: an exemplary illustration of an embodiment of the inspection camera unit according to FIG. 1 a used

Image processing method;

FIG. 3 shows a schematic representation of the illustration within the scope of the invention of possible embodiments of an inspection camera unit;

FIG. 4 shows an example illustration of an embodiment of the invention

inventive method;

Figure 5: schematic illustration of the implementation of a

Thickness measurement with a sensor unit according to the invention in

Cooperation with an inspection camera unit according to the invention.

In Fig. 1, a surveying arrangement 1 according to the invention is shown in a schematic block diagram. The surveying arrangement 1 comprises a sensory system 2 for generating measured data. The sensory system 2 in this case comprises a sensor 3, for example a humidity sensor. Furthermore, the sensory system 2 comprises a control and evaluation device 4, which can preprocess output signals of the sensor 3 and an operation of the sensor 3 controls. It is further shown that the sensory system 2 comprises an actuating device 5 for activating the sensory system 2 or the surveying arrangement 1, which may be designed as a switch, for example.

Furthermore, the surveying arrangement 1 comprises a combined

Position detection system 6. The combined position detection system 6 comprises an inertial sensor 7 as the first unreferenced position detection system. Furthermore, the combined position detection system 6 comprises a stereo camera system comprising a first camera 8 and a second camera 9 as the second unreferenced position detection system. The first unreferenced

Position detection system detects first position and orientation data with respect to a native three-dimensional coordinate system 1 1.

Accordingly, the second unreferenced position detection system detects second position and orientation data with reference to a native one

Three-dimensional coordinate system 12. In this case, the first camera 8 and the second camera 9 each capture image data in a two-dimensional

camera own coordinate system 13, 14, wherein the image data in these coordinate systems 13, 14 then by another control and

Evaluation device 10 in the native three-dimensional

Coordinate system 12 are converted. Thus, first position and / or orientation data from the inertial sensor 7 and image data from the cameras 8, 9 of the stereo camera system to the further control and

Evaluation device 10 is transmitted, which calculates position and / or orientation information from the output signals, wherein in the

Output signals of the inertial sensor 7 encoded first position and / or orientation data with the coded in the image data of the cameras 8, 9 position and / or orientation data are fused together. The calculated position and / or orientation information may e.g.

be referenced to a measurement arrangement fixed coordinate system 15. Here, the evaluation and computing device 10 also perform methods of image processing. Next both from the first control and evaluation device 4 as well as from the other control and Evaluation device 10 specific data stored in a memory device 16 referenced to each other. Thus, preprocessed measurement data are spatially referenced to a common coordinate system, namely the coordinate arrangement fixed coordinate system 15, the inertial sensor 7 and the stereo camera system stored. The measuring arrangement fixed coordinate system 15 is in this case lazy and rotationally fixed against the

Surveying arrangement 1.

The sensory system 2 and elements of the combined

Position detection system 6 are also arranged stationary and rotationally fixed to each other on or in the surveying arrangement 1. In particular, the cameras 8, 9 and the initial sensor 7 are arranged stationary and rotationally fixed to each other. This means that there is a registration between each

Output data does not change during operation.

Also, the sensory system 2 and the elements of the combined attitude detection system 6 may be mechanically loosely coupled, e.g. if the requirements for the accuracy of the spatial referencing permit.

Mechanically loose may mean, for example, that the mechanical coupling is designed such that a position of the sensory system 2 is always within a spherical volume having a predetermined radius, wherein a center of the spherical volume is referenced to the position and / or orientation information known. This allows, for example, a humidity measurement by hand directly on a ship's wall.

The further control and evaluation device 10 can in this case in real time a position in three translational and three rotational degrees of freedom, based on the vermessungsanordnungsfeste coordinate system 1 15 determine.

In addition, the further control and evaluation device 10 from the

Output signals of the cameras 8, 9 generate a 3D model. Information of the 3D model can also be spatially referenced stored in the memory device 16. FIG. 1a shows an inspection camera unit 101, which is mounted on a working helmet 102. The exact way of fixing the

Inspection camera unit 101 on the working helmet 102 can not be seen from the illustration according to FIG. 1a. It can be in any, the

Professional well-known manner done.

The inspection camera unit 1a has a housing frame 103, on which various individual components, which are described in more detail below, are mounted in fixed positions relative to one another. On the one hand, an inspection camera 104 is attached to the housing frame 103. The inspection camera 104 is designed as a digital color camera with suitable resolution.

Furthermore, a stereo camera 105 is fixed on the housing frame 103. The stereo camera 105 has a first reference camera 106 and a second reference camera 108 arranged at a distance 107 from the first reference camera 106 parallel thereto. The first reference camera 106 and the second reference camera 108 are each as a digital infrared-sensitive black and white cameras

designed, which thus record only one intensity value per pixel. Each reference camera 106, 108 is associated with a pulsed controllable infrared light source 109 and 110, respectively. A

Image entry plane at the reference camera 106 and 108 is congruent. However, the image entry plane of the referencing cameras 106, 108 lies in front of an image entry plane of the inspection camera 104. These relationships can be seen in the perspective view according to FIG. 1a.

The inspection camera 104 is between the first

Referencing camera 106 and the second reference camera 108 on a central connecting line 110 between the referencing cameras 106, 108 such that the optical axes of the referencing cameras 106, 108 are aligned parallel to the optical axis of the stereo camera 105. On the housing frame 03 is also a light source 111 for

Illumination arranged with visible light. The visible light source 11 1 can be operated synchronously in the manner of a flashlight via a control, not shown, of the inspection camera 104 with the inspection camera 104. In the housing frame 103, there are further included an image processing unit for performing image comparison with the first one

Referencing camera 106 recorded first

Referencing image with one parallel to the second

Referencing camera 108 recorded second

Referencing image attached. In addition, the housing frame 103 is a memory unit for storing a time series of

Inspection photos of the inspection camera 104 and a time series of location data of the inspection camera 104 and orientation data of the inspection camera 104 is provided. The storage unit and the

Image processing unit can not be seen in FIG. 1a. In the context of the invention, they can be used in particular in a separate portable unit which, for example, in the manner of a backpack

be configured, be provided.

In addition, the inspection camera unit 01 has an on the

Case frame 103 attached acceleration sensor 1 12 and also attached to the housing frame 103 inclination sensor 113. The acceleration sensor 112 is constructed, for example, on the basis of a piezoelectric sensor. The inclination sensor 113 may be in be configured in any manner well known to those skilled in the art.

For example, within the scope of the invention capacitive

Liquid inclination sensors are used. Finally, mounted on the housing frame 103 is a laser pointer 124 indicating a reticle on an object in the interior space 121 for marking the center of the object area detected by an inspection photograph 122 when an inspection photograph 122 is taken.

FIG. 2 shows by way of example that of the invention

Inspection camera unit 101 underlying principle for determining location data and orientation data based on an image comparison of a first referencing camera 106 recorded first Referenzierungsbildes 114 with a parallel with the second

Referencing camera 108 recorded second

Referencing image 115 shown. In FIG. 2, the

Referencing images 114, 115 shown in a gray scale representation for illustrating the belonging to a pixel intensity of the infrared light.

In a first step, an evaluation pattern 116 is selected in the first referencing image 114. The evaluation pattern 116 relates to an image area with a maximum contrast, namely the transition from black to white. In the second step, the evaluation pattern 1 16 in the parallel recorded second referencing value 1 15 is visited, according to the parallel evaluation pattern 117.

Subsequently, a position of the evaluation pattern 1 16 is determined within the first Referenzierungsbildes 1 14 and belonging to this position coordinates (x, y) are recorded. Accordingly, a position of the parallel evaluation pattern 117 within the second referencing image 115 is determined and recorded with the coordinates (x ^' , y ^' ). Taking into account the geometric relative arrangement of the first referencing camera 106 to the second Referenzierungskamera 108 and optionally taking into account data of the

According to the invention, the acceleration sensor 12 and / or the inclination sensor 13 can be limited to a substantially line-like or rectangular area 118 when the parallel evaluation pattern 117 in the second referencing image 15 is located in order to reduce the computing time.

On the basis of the coordinates (x, y) or (χ ^' , y ^' ) -characterized positions of the evaluation pattern 1 16 in the first referencing image 1 14 and the parallel evaluation pattern 117 in the second referencing image 115 is based on triogonometric calculations under

Considering the distance 107 between the first

Referencing camera 106 and the second Referenzierungskamera 108 location and orientation of the stereo camera 105 and due to the known arrangement of the inspection camera 104 relative to the stereo camera 105 and the inspection camera 104 made.

In FIG. 3, different attachment possibilities within the scope of the invention of the inspection camera unit 101 according to FIG. 1 a are shown purely schematically. On the left in the picture is illustrated that the

Inspection camera unit 101 may be attached to a kind of vest 1 19 in the chest region of an inspector 120.

In the middle part of FIG. 3, an attachment of the inspection camera unit 101 according to the invention to a working helmet 102 is illustrated. Finally, the right part of Figure 3 shows the attachment of

Inspection camera unit 101 according to the invention on a vest 119 in the neck region of the inspector 120. FIG. 4 illustrates how within the scope of the invention

Registration, i. Alignment of within the framework of the

Inspection camera unit 101 obtained according to the invention

Referencing data based on an external model of the interior, such as a ship, takes place. This is done with the

Inspection camera unit 101 in the interior to be inspected 121 an inspection photograph 122 once manually assigned to a three-dimensional model 123 of the interior 121.

With reference to FIGS. 1 a - 4, an inspection camera unit 101 and a method for inspecting interior spaces 121 are therefore proposed, which advantageously allow an association of the inspection images 122 obtained to an existing three-dimensional model 123. The benefit of the inspection photos 122 increases considerably.

For example, history considerations can be made by comparing inspection photos 122 taken at different times, since it is possible to determine which inspection photos 122 show the same area of the interior 121. For the determination, a known opening angle of the inspection camera 104

It is to be taken into account which, on the basis of the knowledge of the position and orientation of the inspection camera 104, defines a viewing cone whose sectional plane with the three-dimensional model 123 of the inner space 121 indicates the detected object area.

As a result, an inspection camera unit and an associated method is provided with advantage, which can be used in the interior, where usually access to, for example, satellite-based position determination method is not possible. In addition, the interior does not have to be previously provided with devices that allow location. FIG. 5 schematically illustrates the implementation of a

Thickness measurement with a sensor unit 125 according to the invention for ultrasonic thickness measurement. The sensor unit 125 has a

Ultraschalldickemesssensor 126, a sensor operation unit 127, a sensor data memory 128 and a position sensor 129 on. In the embodiment illustrated in FIG

Sensor operating unit 127 and the sensor data memory 128 via a cable to the unit from the sensor head 126 and the position sensor 129 is connected. This opens up the possibility of arranging the sensor operating unit 127 and the sensor data memory 128, for example, in a backpack, which an operator carries on his back, in order to design the unit containing the actual sensor head 126 easily and thus easy to handle.

The position sensor 129 is arranged in extension of the sensor head 126 at this then on the sensor head axis 130. Of the

Position sensor 129 has two light-emitting diodes 131, 132 arranged at a distance from one another along the sensor head axis 130. The light-emitting diodes 131, 132 are connected to the sensor operating unit 127 in such a way that upon triggering the storage of a measuring signal of the sensor head 126 in the sensor data memory 128, the light-emitting diodes 131, 132 are switched on for a short time. The light-emitting diodes emit infrared light according to the exemplary embodiment illustrated in FIG.

The sensor unit 125 illustrated in FIG. 5 acts

intended use with an infrared-sensitive

Stereo camera 105 as part of an inspection camera unit 101, for example according to Figure 1a together as follows.

If, via the sensor operating unit 127, the storage of a measuring signal of the sensor head 126 for the ultrasonic thickening of a measuring object, such as a steel plate 133 is triggered, the LEDs 131, 132 are turned on for a short time. The LEDs 131, 132 then emit infrared light 134.

The reference cameras 106, 107 of the stereo camera 105 as

Part of an inspection camera 101 then take the

Sensor unit 125 each on. In this case, due to the radiated infrared light 134, the light emitting diodes 131, 132 having portions of the position sensor 129 has an increased contrast. Due to the increased contrast, it is the stereo camera 105 based on the above

described method, the location and location of the sensor head 126 of the sensor unit 125 at the time of triggering the storage of a measurement signal in the sensor data memory 128 record.

The condition is that when triggering the storage of a

Measuring signal, the sensor unit 125 and in particular the position sensor 129 in the field of view of the two Referenzierungskameras 106, 107 is located.

Advantageously, it is possible with the inventively designed sensor unit 125 to record the location and location of the sensor head 126 at the time of storing a measurement signal. This makes it possible, for example, in the case of an ultrasonic thickness measurement of the steel plate 133, to assign the obtained thickness measurement value to a precise position and direction of the thickness measurement. Location and location are recorded relative to the location and location of the stereo camera 105. Location and location of

Stereo camera 105 can be based on the above

Assign method by referencing an external coordinate system such as a ship's coordinate system. 101 inspection camera unit

102 work helmet

103 rack

104 inspection camera

105 stereo camera

106 first referencing camera

107 distance

108 second referencing camera

109 infrared light source

1 10 central connecting line

1 1 light source

2 acceleration sensor

1 13 inclination sensor

114 first referencing image

1 15 second referencing picture

1 16 evaluation pattern

117 parallel evaluation pattern

1 18 rectangular part area

1 19 vest

120 inspector

121 interior

122 inspection photo

123 three-dimensional model

124 laser pointer

125 sensor unit

126 sensor head

127 Sensor operation unit 128 sensor data memory

129 position encoder

130 sensor head axis

131 LED

132 LED

133 steel plate

134 IR light

Claims

Inspection camera unit (101) with an inspection camera (104) for recording, preferably colored, inspection photos (122) of interiors (121), in particular of ships, characterized in that it comprises referencing means (105) for referencing the inspection photos (122).

Inspection camera unit (101) according to claim 1, characterized dad uur chch that the referencing means a

Comprising a stereo camera (105) with a first referencing camera (106) and a second referencing camera (108), for determining relative location data of the inspection camera (104) and the camera, which can be assigned to the inspection photos (122)

Orientation data of the inspection camera (104).

Inspection camera unit (101) according to claim 2, characterized in that the first

Referencing camera (106) and / or the second

Referencing camera (108) designed as a black and white camera.

Inspection camera unit (101) according to claim 2 or 3, characterized in that the stereo camera (105)

is designed infrared sensitive and comprises an infrared source (109), wherein preferably the infrared source (109) is designed to be pulsed operable.

Inspection camera unit (101) according to one of claims 2 to 4, characterized in that the stereo camera (105) an image processing unit for referencing based on an image comparison of a with the first Referenzierungskamera (106) recorded first referencing image (114) with a parallel to the second Referenzierungskameraes (108)

recorded second Referenzierungsbild (115).

6. inspection camera unit (101) according to claim 5, d a d u rc h

characterized in that the image comparison is a selection of at least one evaluation pattern (116) in the first

Referencing image (114), finding the Auswertemusters (117) in the second Referenzierungsbild (115) and a determination of the position (x, y) of the Auswertemusters (116, 117) within the first Referenzierungsbildes (114) and within the second

Referencing image (115).

7. inspection camera unit (101) according to claim 6, characterized

characterized in that the evaluation pattern (116) comprises an image area with a maximum contrast. 8. inspection camera unit (101) according to any one of the preceding claims, characterized in that it comprises an acceleration sensor (112) and / or a tilt sensor (113).

9. inspection camera unit (101) according to any one of the preceding claims, characterized in that the

Referencing means for evaluating data with respect to an opening angle of the inspection camera (104) are configured.

10. inspection camera unit (101) according to any one of the preceding claims, characterized in that the first Referenzierungskamera (106) or the second

Referencing camera (108) is the inspection camera (104).

1 . Inspection camera unit (101) according to one of the preceding claims, characterized in that visual position indicator means, preferably comprising a laser light source (124), for displaying a position due to the location and the

Orientation of the inspection camera (104) of one

Inspection photo (122) are provided currently detectable object area.

12. Inspection camera unit (101) according to one of the preceding claims, characterized in that the

Image comparison based only on a portion (118), in particular a substantially line-like region, the referencing images (114, 115) takes place.

13. inspection camera unit (101) according to any one of the preceding claims, characterized in that a

Memory unit is provided to a temporal series of

To store inspection photos (122) and a temporal series of relative location data of the inspection camera (104) and / or orientation data of the inspection camera (104).

14. inspection camera unit (101) according to any one of the preceding claims, characterized in that the

Inspection camera (104) between the first

Referencing camera (106) and the second

Referencing camera (108) is arranged.

15. Method for inspection of interiors (121), in particular of ships, by picking up, preferably colored,

Inspection photos (122) by means of an inspection camera unit, characterized in that the

Inspection photos (122) are referenced by the Recording relative location data of the inspection camera (104) and orientation data of the inspection camera (104) and associated with the inspection photos (122), wherein then an adjustment of the relative location data and the orientation data in a coordinate system of the interior (121) is made, preferably the inspection camera unit (101) is designed according to one of claims 1 to 14.

A method according to claim 15, characterized in that it includes a method of dimensioning structures in the interior spaces (121) on the basis of the inspection photos (122)

Selecting in an inspection photograph (122) of two

Inspection Photo pixels

- then determining, in the first referencing image (114) and in the second referencing image (115), the corresponding inspection photo image points, respectively

Referenzierungsbildpunkte

- and calculate their Euclidean distance.

Sensor unit with sensor means for the metrological detection of at least one property of interior spaces, in particular of ships, characterized in that it for the purpose of determining a location of the sensor means characterized by relative location data and orientation data with position encoder means for cooperating with the referencing means (105) of an inspection camera unit (101) according to one of Claims 1 to 14 is provided.

18. Sensor unit according to claim 17, characterized in that the position encoder means of each other on a sensor axis comprise spaced, optically contrasting, in particular point-like, areas comprise.

19. Sensor unit according to claim 17 or 18, characterized

characterized in that the position encoder means are designed switchable.

20. Sensor unit according to one of claims 17 to 19, dadu rch

in that the position-determining means have at least one punctiform light source.

21 surveying arrangement, in particular for the measurement of

enclosed spaces and / or external areas with disturbed or missing GNSS reception, wherein the surveying arrangement (1) comprises at least one sensory system (2) for generating measured data, the surveying arrangement (1) further comprising a first unreferenced position detection system for generating first position and / or orientation data and at least one second unreferenced position detection system for generating second position and / or orientation data, wherein the

Surveying arrangement (1) further at least one

Memory device (16), wherein measured data and coded by the first and / or second position and / or orientation data position and / or orientation information referenced to each other in the memory device (16) can be stored.

22. Surveying arrangement according to claim 21, characterized

in that the measuring arrangement (1) has a

Computing device comprises, wherein by means of the computing device, the first and the second position and / or orientation data to the resulting position and / or orientation data can be fused.

23. Surveying arrangement according to one of claims 21 or 22, characterized in that the first unreferenced

Position detection system as an optical position detection system and the at least second unreferenzierte position detection system is designed as an inertial position detection system.

24. Surveying arrangement according to claim 23, characterized

in that the optical position detection system is designed as a stereo camera system.

25. Surveying arrangement according to one of claims 21 to 24,

characterized in that the surveying arrangement (1) a

Calibration device for calibrating at least one camera (8, 9) of the stereo camera system comprises.

26. A surveying arrangement according to one of claims 21 to 25,

characterized in that the sensory system (2) is simultaneously formed as an unreferenziertes position detection system.

27. Surveying arrangement according to one of claims 21 to 26,

characterized in that the surveying arrangement (1) additionally comprises at least one further position detection system, wherein the further position detection system comprises a GNSS sensor, a laser scanner, a magnetometer or an inclination sensor.

28. Method of surveying, in particular closed

Rooms and / or outdoor areas with disturbed or missing GNSS reception, where

A sensory system (2) generates measurement data Wherein a first unreferenced position detection system generates first position and / or orientation data,

- wherein second unreferenced position detection system

generates second position and / or orientation data,

- Wherein measurement data and coded by the first and / or second position and / or orientation data position and / or orientation information are stored referenced to each other.

29. The method according to claim 28, characterized in that the first and the second position and / or orientation data are fused to resulting position and / or orientation data.

Method according to one of claims 28 or 29, characterized in that an origin of a native

Coordinate system of the first unreferenced

Location detection system and an origin of a systemic coordinate system of the second unreferenced

Lageerfassungssystem or origin of a common coordinate system at the beginning of an operation of a

Measuring arrangement (1) or at the beginning of a measurement or at a time of generation of an initialization signal is initializable.