WO2011143622A8 - Underwater acquisition of imagery for 3d mapping environments - Google Patents

Underwater acquisition of imagery for 3d mapping environments Download PDF

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Publication number
WO2011143622A8
WO2011143622A8 PCT/US2011/036531 US2011036531W WO2011143622A8 WO 2011143622 A8 WO2011143622 A8 WO 2011143622A8 US 2011036531 W US2011036531 W US 2011036531W WO 2011143622 A8 WO2011143622 A8 WO 2011143622A8
Authority
WO
WIPO (PCT)
Prior art keywords
panoramic
gps
underwater
images
imagery
Prior art date
Application number
PCT/US2011/036531
Other languages
French (fr)
Other versions
WO2011143622A2 (en
WO2011143622A3 (en
Inventor
Justin Baird
Lucas Tomkins
Original Assignee
Google Inc.
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 Google Inc. filed Critical Google Inc.
Publication of WO2011143622A2 publication Critical patent/WO2011143622A2/en
Publication of WO2011143622A3 publication Critical patent/WO2011143622A3/en
Publication of WO2011143622A8 publication Critical patent/WO2011143622A8/en

Links

Classifications

    • 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
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/02—Bodies
    • G03B17/08—Waterproof bodies or housings
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/063—Parallelogram arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/06—Arms
    • F16M2200/065—Arms with a special structure, e.g. reinforced or adapted for space reduction

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Studio Devices (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

A panoramic imagery acquisition system and method is disclosed, which facilitates capture of panoramic images underwater. A panoramic camera system can be deployed underwater, and stabilized to reduce effects of movement of a seagoing vehicle. In addition to panoramic images, location data can be collected using, for example, a Global Positioning System (GPS) system. A GPS antenna can be located above water to improve location accuracy. An offset between the panoramic camera system and GPS system can be determined, and incorporated into the location data associated with captured images. Additional data can be acquired and associated with the panoramic images, including topographical data acquired using LIDAR.
PCT/US2011/036531 2010-05-13 2011-05-13 Underwater acquisition of imagery for 3d mapping environments WO2011143622A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US33449310P 2010-05-13 2010-05-13
US61/334,493 2010-05-13

Publications (3)

Publication Number Publication Date
WO2011143622A2 WO2011143622A2 (en) 2011-11-17
WO2011143622A3 WO2011143622A3 (en) 2012-01-05
WO2011143622A8 true WO2011143622A8 (en) 2012-02-23

Family

ID=44121258

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/036531 WO2011143622A2 (en) 2010-05-13 2011-05-13 Underwater acquisition of imagery for 3d mapping environments

Country Status (1)

Country Link
WO (1) WO2011143622A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018072182A1 (en) * 2016-10-20 2018-04-26 天彩电子（深圳）有限公司 Photographing method and photographing system compatible in air and underwater

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2013215493A1 (en) * 2012-01-30 2014-08-21 Google Inc. Apparatus and method for acquiring underwater images
DE102013100750A1 (en) * 2013-01-25 2014-07-31 Sebastian Heinz Device for live video transmission
JP5989719B2 (en) * 2013-07-26 2016-09-07 国立研究開発法人国立環境研究所 Shallow water observation system
CN104662366B (en) * 2013-09-25 2018-07-06 株式会社Elm Electronic device in lighting device and water in water
US9998661B1 (en) * 2014-05-13 2018-06-12 Amazon Technologies, Inc. Panoramic camera enclosure
NL2013724B1 (en) 2014-10-31 2016-10-04 Fugro N V Underwater positioning system.
US9695072B2 (en) * 2015-01-30 2017-07-04 Milan Milosevic Monitoring apparatus and system
FR3084229B1 (en) * 2018-07-17 2022-02-18 Soletanche Freyssinet PORTABLE DEVICE FOR ACQUIRING IMAGES OF AN ENVIRONMENT
US11280905B2 (en) 2019-05-03 2022-03-22 Seagate Technology Llc Underwater imaging system with multiple connected autonomous underwater vehicles
CN112026669A (en) * 2020-09-03 2020-12-04 杭州麦扑文化创意有限公司 Map drawing program capable of quickly integrating travel information
US11948315B2 (en) * 2020-12-31 2024-04-02 Nvidia Corporation Image composition in multiview automotive and robotics systems
CN113607138B (en) * 2021-10-09 2021-12-24 南通协同软件科技有限公司 Multi-lens oblique photogrammetry camera based on remote software support
CN114046777A (en) * 2021-10-22 2022-02-15 自然资源部第一海洋研究所 Underwater optical imaging system and method suitable for large-range shallow sea coral reef drawing
WO2024039789A1 (en) * 2022-08-17 2024-02-22 X Development Llc Underwater camera system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000072726A1 (en) * 1999-05-28 2000-12-07 Grober David E Autonomous, self leveling, self correcting stabilized platform
WO2002065786A1 (en) * 2001-02-09 2002-08-22 Kujin Lee Method and apparatus for omni-directional image and 3-dimensional data acquisition with data annotation and dynamic range extension method
WO2005024507A2 (en) * 2003-09-04 2005-03-17 Chapman/Leonard Studio Equipment Stabilized three-axis camera head
WO2005085948A1 (en) * 2004-03-01 2005-09-15 Chapman/Leonard Studio Equipment Telescoping camera crane
US9366774B2 (en) * 2008-07-05 2016-06-14 Westerngeco L.L.C. Using cameras in connection with a marine seismic survey

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018072182A1 (en) * 2016-10-20 2018-04-26 天彩电子（深圳）有限公司 Photographing method and photographing system compatible in air and underwater

Also Published As

Publication number Publication date
WO2011143622A2 (en) 2011-11-17
WO2011143622A3 (en) 2012-01-05

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