Method and an apparatus for estimating values for a set of parameters of an imaging system
A method for estimating values for a set of parameters of an imaging system is presented. At least two pictures having an overlapping area are taken with the imaging system from different positions. Pulses are sent out to the area, the reflected pulses are detected and distances between a sender of the pulses and the respective point where the pulses were reflected are calculated based on the travel time of the pulses. First information about the area is calculated based on the pictures. Second information related to the calculated distances to the area is also calculated. Values for quantities contained in the first and second information are compared. If the value for a quantity obtained from the first information differs from the value obtained from the second information, values and/or an error estimate for the set of parameters of the imaging system is calculated based on the difference.
1. A method for estimating values for a set of parameters of an imaging system, the method comprising:
taking at least two pictures with the imaging system, where the at least two pictures are taken from different positions and where the at least two pictures comprise an at least partially overlapping area;
sending out pulses to the at least partially overlapping area with a sender system that is different from the imaging system;
detecting the reflected pulses by a detector system that is different from the imaging system and calculating distances between the sender system and the respective point where the pulses were reflected based on the travel time of the pulses;
associating positioning data to the pictures and to the calculated distance between the points where the pulses were reflected and the sender of the pulses, said positioning data comprising a position and pointing direction of the imagining system and the sender of the pulses;
calculating first information about the area, based on the at least two pictures, the information comprising at least one quantity of the area, the at least one quantity comprising at least one of size or position,
calculating second information related to the calculated distances to the at least partly overlapping area, the second information comprising at least one quantity of the area, the at least one quantity comprising at least one of size or position;
comparing values for the at least one quantity contained in the first information and the at least one quantity contained in the second information; and
if the value for at least one quantity of the area obtained from the first information differs from the value for the corresponding at least one quantity of the area obtained from the second information, calculating at least one of values or an error estimate for the set of parameters of the imaging system based on the difference,
wherein:
the at least one quantity contained in the first information is determined based on the at least two pictures taken by the imaging system; and
the at least one quantity contained in the second information is determined separate from the determination of the at least one quantity contained in the first information, the at least one quantity contained in the second information being determined based on the calculated distance based on the travel time of pulses sent out by the sender system and received by the detector system.
2. A method according to claim 1 , further comprising:
calculating a 3D-surface of the at least partially overlapping area based on the at least two pictures; and calculating the first information about the area based on the calculated 3D-surface.
3. A method according to claim 1 , the method further comprising calculating a point correspondence between points where the pulses were reflected and the corresponding points in the at least two pictures.
4. A method according to claim 1 , further comprising
calculating new first information, where the set of parameters of the imaging system is updated with the obtained values for the set of parameters;
comparing the values for the quantities contained in the first and second information;
if the value for at least one quantity of the area obtained from the new first information differs from the corresponding value of the second information, providing new at least one of values or error estimate for the set of parameters of the imaging system based on the difference; and
repeating the above steps until the difference is below a pre-determined threshold or until a pre-determined number of iterative steps has been reached.
5. A method according claim 1 , where the value estimation is performed during operation of the imaging system.
6. A method according to claim 1 , where the value estimation is used to error-correct the parameters of the imaging system and such error-corrected parameters are used as new input parameters when further operating the imaging system.
7. A method according to claim 1 , where the value estimation is performed after operation of the imaging system.
8. A method according to claim 1 , where the imaging system is used to take pictures of the surface of the Earth.
9. A method according to claim 1 , where the set of parameters comprises one or more of the following parameters: field of view, radial distortion, tangential distortion, focal length, offset of optical axis.
10. A method according to claim 1 , where the set of parameters of the imaging system comprise at least one of position or pointing direction of the imaging system.
11. A method according to claim 1 , where the pulses are laser pulses.
12. Computer program comprising a program code for estimating values for a set of parameters of an imaging system comprising the steps of claim 1 .
13. Computer program product comprising a program code stored on a non-transitory computer readable media for estimating values for a set of parameters of an imaging system comprising the steps of claim 1 .
14. An apparatus for taking pictures, comprising:
an imaging system arranged to take at least two pictures from different positions, wherein
the at least two pictures comprise an at least partially overlapping area;
a sender system arranged to send pulses to the at last partially overlapping area;
a detector system arranged to detect reflected pulses, wherein the sender system and the detector system are different from the imaging system;
a processing unit arranged to calculate distances between a sender of the pulses and the respective point where the pulses were reflected based on the travel time of the pulses;
a positioning data unit arranged to associate positioning data to the pictures and to the calculated distance between the reflection point and the sender of the pulses, said positioning data comprising a position and pointing direction of the imagining system and the sender of the pulses; and
the processing unit also arranged to calculate a 3D-surface of the at least partially overlapping area based on the at least two pictures, and to calculate first information about the area, based on the calculated 3D-surface, the information comprising at least one quantity of the area, the at least one quantity comprising at least one of size or position, wherein in that the processing unit is further arranged to calculate second information related to the calculated distances to the at least partly overlapping area, the second information comprising at least one quantity of the area, the at least one quantity comprising at least one of size or position, comparing values for the quantities contained in the first and second information, if the value for at least one quantity of the area obtained from the first information differs from the value for the corresponding at least one quantity of the area obtained from the second information, calculating at least one of values or error estimates for the set of parameters of the imaging system based on the difference,
wherein:
the at least one quantity contained in the first information is determined based on the at least two pictures taken by the imaging system; and
the at least one quantity contained in the second information is determined separate from the determination of the at least one quantity contained in the first information, the at least one quantity contained in the second information being determined based on the calculated distance based on the travel time of pulses sent out by the sender system and received by the detector system.
15. An apparatus according to claim 14 , where the sender system comprises at least one of a laser system, a radar system, or a sonar system.
16. A moving platform comprising an apparatus according to claim 14 , where the platform is moving to allow the imaging system taking pictures from different positions.
17. A platform according to claim 16 , where the platform is at least one of an aircraft or a satellite.
18. An apparatus according to claim 15 , wherein the detector system comprises a corresponding laser detection system, radar detection system, or sonar detection system.
19. An apparatus according to claim 14 , wherein the processing unit comprises a computer.