CA2215690A1 - Mobile system for indoor 3-d mapping and creating virtual environments - Google Patents

Mobile system for indoor 3-d mapping and creating virtual environments

Info

Publication number
CA2215690A1
CA2215690A1 CA002215690A CA2215690A CA2215690A1 CA 2215690 A1 CA2215690 A1 CA 2215690A1 CA 002215690 A CA002215690 A CA 002215690A CA 2215690 A CA2215690 A CA 2215690A CA 2215690 A1 CA2215690 A1 CA 2215690A1
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CA
Canada
Prior art keywords
images
dimensional
environment
mapped
mobile system
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
CA002215690A
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French (fr)
Other versions
CA2215690C (en
Inventor
Sabry F. El-Hakim
Pierre Boulanger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Research Council of Canada
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National Research Council of Canada
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Publication date
Application filed by National Research Council of Canada filed Critical National Research Council of Canada
Publication of CA2215690A1 publication Critical patent/CA2215690A1/en
Application granted granted Critical
Publication of CA2215690C publication Critical patent/CA2215690C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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

Abstract

A mobile mapping system is designed to generate a geometrically precise three-dimensional detailed model of an unknown indoor environment.
There is no limit on the distance the mobile system may travel, nor on the type of details that can be mapped. The same design is used for environments ranging from simple office hallways to long winding underground mine tunnels. Surfaces and features can be mapped from images acquired by a unique configuration of different types of optical imaging sensors and positioning devices. This configuration ensures that all the information required to reconstruct the three-dimensional environment is included in the collected images. Provided a sufficient overlap between two-dimensional intensity images and combining such with three-dimensional range images, the method reconstructs an environment by adjusting a plurality of images simultaneously.
CA002215690A 1996-09-18 1997-09-16 Mobile system for indoor 3-d mapping and creating virtual environments Expired - Lifetime CA2215690C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/714,325 1996-09-18
US08/714,325 US6009359A (en) 1996-09-18 1996-09-18 Mobile system for indoor 3-D mapping and creating virtual environments

Publications (2)

Publication Number Publication Date
CA2215690A1 true CA2215690A1 (en) 1998-03-18
CA2215690C CA2215690C (en) 2006-05-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CA002215690A Expired - Lifetime CA2215690C (en) 1996-09-18 1997-09-16 Mobile system for indoor 3-d mapping and creating virtual environments

Country Status (3)

Country Link
US (1) US6009359A (en)
CA (1) CA2215690C (en)
WO (1) WO1998012504A1 (en)

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