SE543568C2 - Improved forest surveying apparatus and method using video sequences to generate 3D models and for height determination - Google Patents

Improved forest surveying apparatus and method using video sequences to generate 3D models and for height determination

Info

Publication number
SE543568C2
SE543568C2 SE1950180A SE1950180A SE543568C2 SE 543568 C2 SE543568 C2 SE 543568C2 SE 1950180 A SE1950180 A SE 1950180A SE 1950180 A SE1950180 A SE 1950180A SE 543568 C2 SE543568 C2 SE 543568C2
Authority
SE
Sweden
Prior art keywords
tree
image
upper portion
generate
models
Prior art date
Application number
SE1950180A
Other versions
SE1950180A1 (en
Inventor
Johannes Ulén
Krister Tham
Linus Mårtensson
Sebastian Haner
Original Assignee
Katam Tech Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Katam Tech Ab filed Critical Katam Tech Ab
Priority to SE1950180A priority Critical patent/SE543568C2/en
Publication of SE1950180A1 publication Critical patent/SE1950180A1/en
Publication of SE543568C2 publication Critical patent/SE543568C2/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G06V20/653—Three-dimensional objects by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces

Abstract

A forestry-surveying apparatus (100) being a handheld User Equipment (UE), comprising a controller (CPU) configured to: receive (210) an image stream; determine (220) a camera pose for a second image relative a first image by utilizing SLAM; match (230) the first image with the second image based on the camera pose; and generate (240) a 3D model; wherein the 3D model represent forestry-related objects. The controller (CPU) is further configured to: receive sensor data and determine the camera pose and/or generating the 3D model based on the sensor data. The controller (CPU) is further configured to determine (1120) a tree height by detecting, in a further video sequence, an upper portion of a tree; pairing (1123) the upper portion to a detected tree (T); extrapolating the tree (T) to include the upper portion; scale (1125) the detected tree (T); and determine (1122) the tree height including the upper portion.
SE1950180A 2017-02-27 2017-02-27 Improved forest surveying apparatus and method using video sequences to generate 3D models and for height determination SE543568C2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SE1950180A SE543568C2 (en) 2017-02-27 2017-02-27 Improved forest surveying apparatus and method using video sequences to generate 3D models and for height determination

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1950180A SE543568C2 (en) 2017-02-27 2017-02-27 Improved forest surveying apparatus and method using video sequences to generate 3D models and for height determination

Publications (2)

Publication Number Publication Date
SE1950180A1 SE1950180A1 (en) 2019-02-14
SE543568C2 true SE543568C2 (en) 2021-03-30

Family

ID=65718967

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1950180A SE543568C2 (en) 2017-02-27 2017-02-27 Improved forest surveying apparatus and method using video sequences to generate 3D models and for height determination

Country Status (1)

Country Link
SE (1) SE543568C2 (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1670474A (en) * 2004-03-19 2005-09-21 北京林业大学 Video super-station instrument and forest measuring method
WO2006083297A2 (en) * 2004-06-10 2006-08-10 Sarnoff Corporation Method and apparatus for aligning video to three-dimensional point clouds
US20120148162A1 (en) * 2010-12-09 2012-06-14 The Hong Kong University Of Science And Technology Joint semantic segmentation of images and scan data
CN103426200A (en) * 2013-08-26 2013-12-04 天津大学 Tree three-dimensional reconstruction method based on unmanned aerial vehicle aerial photo sequence image
WO2014112911A1 (en) * 2013-01-21 2014-07-24 Saab Ab Method and arrangement for developing a three dimensional model of an environment
CN104236529A (en) * 2014-07-11 2014-12-24 北京林业大学 Minitype forest observation photography super-station instrument and measuring method thereof
WO2016174659A1 (en) * 2015-04-27 2016-11-03 Snapaid Ltd. Estimating and using relative head pose and camera field-of-view
CN103486991B (en) * 2013-10-08 2017-02-08 北京林业大学 Method for measuring height of tree and volume of wood by means of total station under condition that crown is covered
EP3182157A1 (en) * 2015-12-14 2017-06-21 Leica Geosystems AG Method for creating a spatial model with a hand-held distance measuring device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1670474A (en) * 2004-03-19 2005-09-21 北京林业大学 Video super-station instrument and forest measuring method
WO2006083297A2 (en) * 2004-06-10 2006-08-10 Sarnoff Corporation Method and apparatus for aligning video to three-dimensional point clouds
US20120148162A1 (en) * 2010-12-09 2012-06-14 The Hong Kong University Of Science And Technology Joint semantic segmentation of images and scan data
WO2014112911A1 (en) * 2013-01-21 2014-07-24 Saab Ab Method and arrangement for developing a three dimensional model of an environment
CN103426200A (en) * 2013-08-26 2013-12-04 天津大学 Tree three-dimensional reconstruction method based on unmanned aerial vehicle aerial photo sequence image
CN103486991B (en) * 2013-10-08 2017-02-08 北京林业大学 Method for measuring height of tree and volume of wood by means of total station under condition that crown is covered
CN104236529A (en) * 2014-07-11 2014-12-24 北京林业大学 Minitype forest observation photography super-station instrument and measuring method thereof
WO2016174659A1 (en) * 2015-04-27 2016-11-03 Snapaid Ltd. Estimating and using relative head pose and camera field-of-view
EP3182157A1 (en) * 2015-12-14 2017-06-21 Leica Geosystems AG Method for creating a spatial model with a hand-held distance measuring device

Also Published As

Publication number Publication date
SE1950180A1 (en) 2019-02-14

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