The Boeing Company

2d3 Limited

Boeing Defence UK Limited

Eric Greveson

Julian Morris

James Srinivasan

An apparatus includes an interface configured to receive image data and position data from an aircraft. The image data is associated with a plurality of images of a scene including an object. The position data is associated with positions of a camera of the aircraft that captured the plurality of images. The apparatus further includes a processor configured to identify a first camera position corresponding to a first image of the plurality of images. The processor further configured to identify a first relative position of the object relative to the camera. The first relative position identified based on the first camera position, the first image data, and second image data corresponding to a second image of the plurality of images. The processor further configured to output an indication of a global position of the object based on the position data and the first relative position of the object.

Determination of position from images and associated camera positions

An apparatus includes an interface configured to receive image data and position data. The image data is associated with a plurality of images of a scene including an object. The position data is associated with positions of a camera that captured the plurality of images. The apparatus further includes a processor configured to identify a corresponding camera position for a first image of the plurality of images and to output an indication of a global position of the object based on first image data corresponding to the first image and based on the corresponding camera position.

The absolute position of a target object point is determined using a series of images of the scene with overlapping fields of view captured by a camera in positions arranged in at least two dimensions across the scene and position data representing the absolute positions of the camera on capture of the respective images. The images are analyzed to identify sets of image points corresponding to common object points in the scene. A bundle adjustment is performed on the sets of image points that estimates parameters representing the positions of the object points relative to the positions of the camera associated with each image, but without using input orientation data representing the orientation of the camera. The absolute position of the target object point is derived on the basis of the results of the bundle adjustment and the absolute positions of the camera represented by the position data.

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Edinburgh, United Kingdom

Eric Greveson