US3750293A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Stereoplotting method and apparatus
Assignee: Bendix Corp
•
Filing: 1971-03-10
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Granted: 1973-08-07
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Expires: 1991-03-10
Abstract
Abstract A method and apparatus for obtaining three-dimensional positional or coordinate information for a scene from two stereo images of that scene. An operator views a stereoscopic image of a scene which need not be in exact proportion to that scene, but can be distorted or warped. The operator traces along and records image positions of all conjugate points or lines of interest in the overlap area of the stereo images. Calculations convert these recorded image positions to the three-dimensional coordinates the actual points had in the image scene.
Inventors
- 👤 R Forrest
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 11:38
CPC Classifications
G; G01; G01C; G01C11/00
Claims Analysis
Total Claims: 48
Claim 1
Independent Claim
213 words
A stereoplotter for providing an undistorted model of a scene from two stereo images of the scene, each stereo image including reference points representing predetermined locations in the scene comprising: means for holding the two stereo images of the scene in positions that provide one viewing the two stereo images with a three-dimensional image that may be either distorted or undistorted, said three-dimensional image comprising a collection of image points, with each image point formed from one conjugate point on each of the two stereo images; viewing means for viewing various points, lines, and areas of said three-dimensional image; means for selecting individual points and series of points defining lines and areas of interest in said three-dimensional image; means for automatically measuring the image positions of conjugate point pairs forming said selected image points, lines, and areas in said three-dimensional image; calculating means for using said measured image positions and the relationship between the positions of said reference points on the stereo images and the predetermined locations in the scene to calculate the coordinate positions in an undistorted model of said scene of image points, lines and areas represented by said selected pairs of conjugate points; and output means responsive to said calculated coordinate positions for providing a representation of the undistorted scene.
Claim 2
Dependent Claim
213 words
A stereoplotter for providing an undistorted model of a scene from two stereo images of the scene, each stereo image including reference points representing predetermined locations in the scene comprising: means for holding the two stereo images of the scene in positions that provide one viewing the two stereo images with a three-dimensional image that may be either distorted or undistorted, said three-dimensional image comprising a collection of image points, with each image point formed from one conjugate point on each of the two stereo images; viewing means for viewing various points, lines, and areas of said three-dimensional image; means for selecting individual points and series of points defining lines and areas of interest in said three-dimensional image; means for automatically measuring the image positions of conjugate point pairs forming said selected image points, lines, and areas in said three-dimensional image; calculating means for using said measured image positions and the relationship between the positions of said reference points on the stereo images and the predetermined locations in the scene to calculate the coordinate positions in an undistorted model of said scene of image points, lines and areas represented by said selected pairs of conjugate points; and output means responsive to said calculated coordinate positions for providing a representation of the undistorted scene.
Claim 3
Dependent Claim
49 words
The stereoplotter set forth in claim 1 in which: the stereoplotter further includes means for recording said measured image positions; and said calculating means comprises means for calculating said coordinate positions in said undistorted model for eacH selected point after all points of interest have been selected and recorded.
Claim 4
Dependent Claim
47 words
The stereoplotter set forth in claim 1 in which said calculating means comprises means for responding immediately to said measured image positions and provide a real time representation of the coordinate position of each selected image point, line, and area in an undistorted model of the scene.
Claim 5
Dependent Claim
40 words
The stereoplotter set forth in claim 1 further including: means for recording said measured image positions; and a control device for inserting control signals into the record of said image positions to indicate the classification of said recorded point pairs.
Claim 6
Dependent Claim
75 words
The stereoplotter set forth in claim 1 in which: said means for selecting points, lines, and areas of interest comprises means for providing a floating mark to stereoscopically identify and select points, lines and areas of interest in said three-dimensional image; and the stereoplotter further includes means for automatically recording the image positions of conjugate point pairs forming an image point identified by the floating mark whenever said floating mark is moved a predetermined distance.
Claim 7
Dependent Claim
41 words
The stereoplotter set forth in claim 1 further including means for forming a trace of points, lines, and areas selected to be of interest to enable an operator to determine the points, lines, and areas of interest that have been selected.
Claim 8
Dependent Claim
25 words
The stereoplotter set forth in claim 6 in which: said viewing means is constructed to superimpose an image of said trace onto said three-dimensional image.
Claim 9
Dependent Claim
243 words
In a stereoplotter for providing an undistorted model of a scene from two stereo images of the scene carrying reference points representing predetermined locations in the scene and having: means for holding the two stereo images; and viewing means for viewing the two stereo images to provide a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of the two stereo images; and means for selecting image points defining lines and areas of interest in said three-dimensional image; the improvement comprising: means for providing a first coordinate measuring system for one of said stereo images and a second coordinate measuring system for the other of said stereo images; measuring means for measuring the coordinate positions in said coordinate measuring systems of conjugate points on said two stereo images forming a selected image point; calculating means for using said measured positions and the relationship between the positions of said reference points in said coordinate measuring system and the predetermined locations in the scene to calculate the positions in an undistorted model of the scene of points, lines and areas represented by measured pairs of conjugate points; and means for moving said one stereo image and first coordinate system with respect to said other stereo image and second coordinate system to vary the stereo quality and provide stereo fusion in the area of the three-dimensional image being viewed.
Claim 10
Dependent Claim
243 words
In a stereoplotter for providing an undistorted model of a scene from two stereo images of the scene carrying reference points representing predetermined locations in the scene and having: means for holding the two stereo images; and viewing means for viewing the two stereo images to provide a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of the two stereo images; and means for selecting image points defining lines and areas of interest in said three-dimensional image; the improvement comprising: means for providing a first coordinate measuring system for one of said stereo images and a second coordinate measuring system for the other of said stereo images; measuring means for measuring the coordinate positions in said coordinate measuring systems of conjugate points on said two stereo images forming a selected image point; calculating means for using said measured positions and the relationship between the positions of said reference points in said coordinate measuring system and the predetermined locations in the scene to calculate the positions in an undistorted model of the scene of points, lines and areas represented by measured pairs of conjugate points; and means for moving said one stereo image and first coordinate system with respect to said other stereo image and second coordinate system to vary the stereo quality and provide stereo fusion in the area of the three-dimensional image being viewed.
Claim 11
Dependent Claim
87 words
The stereoplotter set forth in claim 8 in which: said means for providing said first coordinate measuring system comprises a first grid device; said means for providing said second coordinate measuring system comprises a second grid device; and said stereoplotter also includes: calculating means for converting said coordinate positions in said coordinate measuring systems to the stereo image coordinates of said conjugate points and for using said stereo image coordinates to calculate the coordinate positions in an undistorted model of the scene of said selected image points.
Claim 12
Dependent Claim
84 words
The stereoplotter set forth in claim 9 in which: said one stereo image is fastened to said first grid device and said other stereo image is fastened to said second grid device to maintain a fixed relationship between eacH stereo image and the coordinate system provided by the grid device fastened to that stereo image; and said means for holding two stereo images comprises a first image carrier for holding one stereo image and a second image carrier for holding the other stereo image.
Claim 13
Dependent Claim
58 words
The stereoplotter set forth in claim 10 in which said one stereo image and first grid device are movably disposed on said first image carrier, and said other stereo image and said second grid device are movably disposed on said second image carrier to permit an operator to move said stereo images with respect to said image carriers.
Claim 14
Dependent Claim
55 words
The stereoplotter set forth in claim 8 in which: said viewing means comprise binocular viewing apparatus for viewing said two stereo images simultaneously, said binocular apparatus defining an eye base for the stereoplotter; and said means for moving comprises means for moving one of said stereo images in a direction parallel to said eye base.
Claim 15
Dependent Claim
45 words
The stereoplotter set forth in claim 12 in which: said two stereo images are held substantially in a plane; and said moving means comprises means for moving one of said stereo images in a direction substantially perpendicular to said eye base and in said plane.
Claim 16
Dependent Claim
218 words
In a stereoplotter having: means for holding two stereo images of a scene; and viewing means for providing a first optic path to one of said stereo images and a second optic path to the other stereo image to thereby provide one viewing the stereo images with a three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of two stereo images; improved means for providing a floating mark for identifying points of interest in said three-dimensional image comprising: means disposed in the first optic path defining a first half mark for identifying points on the one stereo image shaped to provide both an x coordinate defining and a y coordinate defining portion of said floating mark; and means disposed in the second optic path defining a second half mark for identifying points of interest on the other of said stereo images shaped to provide only an x coordinate defining portion of said floating mark, said two half marks providing a floating mark capable of identifying points in said three-dimensional image when said stereo images are oriented to provide a three-dimensional image having a moderate amount of Y parallax, and when said half marks are placed over conjugate points on the two stereo images.
Claim 17
Dependent Claim
218 words
In a stereoplotter having: means for holding two stereo images of a scene; and viewing means for providing a first optic path to one of said stereo images and a second optic path to the other stereo image to thereby provide one viewing the stereo images with a three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of two stereo images; improved means for providing a floating mark for identifying points of interest in said three-dimensional image comprising: means disposed in the first optic path defining a first half mark for identifying points on the one stereo image shaped to provide both an x coordinate defining and a y coordinate defining portion of said floating mark; and means disposed in the second optic path defining a second half mark for identifying points of interest on the other of said stereo images shaped to provide only an x coordinate defining portion of said floating mark, said two half marks providing a floating mark capable of identifying points in said three-dimensional image when said stereo images are oriented to provide a three-dimensional image having a moderate amount of Y parallax, and when said half marks are placed over conjugate points on the two stereo images.
Claim 18
Dependent Claim
71 words
The stereoplotter set forth in claim 14 further including: means for measuring the x and y image positions of identified conjugate points on said one stereo image; means for measuring only the x image positions of identified points on said other stereo image; and calculating means for using said measured image positions to calculate the coordinate position in an undistorted model of said scene of points identified in said three-dimensional image.
Claim 19
Dependent Claim
73 words
The stereoplotter set forth in claim 15 in which: said viewing means comprises binocular viewing apparatus for viewing said two stereo images simultaneously, said binocular apparatus defining an x axis for the stereoplotter parallel to the eye base of said binocular apparatus; and said second half mark comprises a broken straight line substantially perpendicular to said x axis, said break defining a y coordinate position when said second half mark is viewed alone.
Claim 20
Dependent Claim
206 words
The stereoplotter set forth in claim 15 in which: said means for holding said two stereo images is constructed to hold said images substantially in a plane; said viewing means comprise binocular viewing apparatus for viewing said two stereo images simultaneously, said binocular apparatus defining an eye base for the stereoplotter; and said calculating means comprises means for calculating said coorDinate position in said undistorted model using the formulas: X XL + S''x''16 Y YL + S''y''16 Z ZL + S''z''16 where: the X axis of the coordinate system for the above three formulas is parallel to said eye base; the Y axis of said coordinate system is perpendicular to said X axis and is substantially in said plane; the Z axis of said coordinate system is perpendicular to the X and Y axes; X,Y,Z the coordinates of a point in the scene; XL ,YL ,ZL the location in model coordinates of the coordinate origin of the image coordinate system for one stereo image; S a scale factor relating image coordinate scale to model coordinate scale; and x''16, Y''16, z''16 the stereo image coordinates of the one stereo image with its coordinate origin at XL ,YL ,ZL rotated to be parallel to the model coordinate axes.
Claim 21
Dependent Claim
193 words
A stereoplotter for providing coordinate positions of selected points in an undistorted model of a scene, and indicating whether said points lie on a preselected contour in said undistorted model comprising: means for holding two stereo images of the scene; viewing means for providing a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; means for selecting points of interest in said three-dimensional image; means for automatically measuring the image positions of conjugate point pairs forming said selected image points in said three-dimensional image; calculating means for responding immediately to said measured image positions and calculating the coordinate position in an undistorted model of said scene of said selected image points; and signal means responsive to said calculated coordinate positions for providing a signal indicating whether the calculated elevation of a selected point differs from the elevation of a preselected contour, said signal providing means thereby enabling an operator to select points along a preselected contour in an undistorted model of the scene from a possibly distorted three-dimensional image of that scene.
Claim 22
Dependent Claim
193 words
A stereoplotter for providing coordinate positions of selected points in an undistorted model of a scene, and indicating whether said points lie on a preselected contour in said undistorted model comprising: means for holding two stereo images of the scene; viewing means for providing a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; means for selecting points of interest in said three-dimensional image; means for automatically measuring the image positions of conjugate point pairs forming said selected image points in said three-dimensional image; calculating means for responding immediately to said measured image positions and calculating the coordinate position in an undistorted model of said scene of said selected image points; and signal means responsive to said calculated coordinate positions for providing a signal indicating whether the calculated elevation of a selected point differs from the elevation of a preselected contour, said signal providing means thereby enabling an operator to select points along a preselected contour in an undistorted model of the scene from a possibly distorted three-dimensional image of that scene.
Claim 23
Dependent Claim
51 words
The stereoplotter set forth in claim 18 in which said signal providing means provides a first signal to indicate the calculated elevation of a selected point is higher than said preselected elevation and a second signal to indicate the calculated elevation of a selected point is lower than said preselected elevation.
Claim 24
Dependent Claim
128 words
The stereoplotter set forth in claim 18 in which: said viewing means comprises a binocular viewing apparatus for viewing said two stereo images simultaneously, said binocular apparatus defining an x axis for said stereoplotter parallel to the eye base of said binocular apparatus; said selecting means comprises means for providing a floating mark for selecting points of interest in the three-dimensional image; and said signal providing means comprises means for moving one of said stereo images along said x axis of said stereoplotter to introduce X parallax into said three-dimensional image to raise the elevation of said floating mark when said calculated elevation is greater than said preselected elevation, and to lower the elevation of said floating mark when said calculated elevation is lower than said preselected elevation.
Claim 25
Independent Claim
177 words
A method for providing an undistorted model of a scene from a three-dimensional image that may be either distorted or undistorted of the scene comprising the steps of: providing two stereo images of a scene, said stereo images carrying reference points representing predetermined locations in the scene; viewing said two stereo images simultaneously to obtain a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; selecting points, lines, and areas of interest in said three-dimensional image; measuring the image positions of conjugate point pairs forming said selected points, lines, and areas of said three-dimensional image; using said measured image positions and the relationship between the image positions of said reference points and the predetermined locations in the scene to calculate the coordinate positions in an undistorted model of said scene of image points, lines, and areas represented by measured pairs of conjugate points; and forming a representation of the undistorted scene from said calculated coordinate positions.
Claim 26
Independent Claim
177 words
A method for providing an undistorted model of a scene from a three-dimensional image that may be either distorted or undistorted of the scene comprising the steps of: providing two stereo images of a scene, said stereo images carrying reference points representing predetermined locations in the scene; viewing said two stereo images simultaneously to obtain a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; selecting points, lines, and areas of interest in said three-dimensional image; measuring the image positions of conjugate point pairs forming said selected points, lines, and areas of said three-dimensional image; using said measured image positions and the relationship between the image positions of said reference points and the predetermined locations in the scene to calculate the coordinate positions in an undistorted model of said scene of image points, lines, and areas represented by measured pairs of conjugate points; and forming a representation of the undistorted scene from said calculated coordinate positions.
Claim 27
Dependent Claim
48 words
The method set forth in claim 21 in which said steps of measuring and calculating said positions are performed by automatic measuring and calculating apparatus respectively, and in which said step of forming said representation is performed by an automatic graphing apparatus responsive to said calculated coordinate positions.
Claim 28
Dependent Claim
52 words
The method set forth in claim 21 further including the step of: recording said measured image positions; and said step of calculating coordinate positions in an undistorted model is performed for each selected conjugate point pair after a record of the image positions of all selected conjugate point pairs has been provided.
Claim 29
Dependent Claim
44 words
The method set forth in claim 21 in which said step of calculating coordinate positions in an undistorted model is performed for each selected conjugate point pair immediately after selection of said point pair to provide a real time representation of the undistorted model.
Claim 30
Dependent Claim
36 words
The method set forth in claim 21 further including the steps of: recording said measured image positions; and inserting control signals into the record of stereo image coordinates that indicate the classification of recorded point pairs.
Claim 31
Dependent Claim
74 words
The method set forth in claim 21 in which: said step of selecting points, lines, and areas of interest includes providing a floating mark to stereoscopically identify and select points, lines and areas of interest in said three-dimensional image; and the method further includes the step of automatically recording the image positions of conjugate point pairs forming an image point identified by the floating mark whenever said floating mark is moved a predetermined distance.
Claim 32
Dependent Claim
95 words
The method set forth in claim 21 in which: said step of selecting points, lines, and areas of interest includes providing a floating mark to stereoscopically identify and select points, lines, and areas of interest in said three-dimensional image, and moving said floating mark along a plurality of parallel lines to select points lying along the said lines; and said calculation includes using the image positions of said selected points lying along said lines to calculate the X and Y model coordinate values of points lying along preselected contours of said model at preselected intervals.
Claim 33
Dependent Claim
41 words
The method set forth in claim 21 further including the step of forming a trace of points, lines, and areas selected to be of interest, said trace enabling an operator to determine the points, lines, and areas that have been selected.
Claim 34
Dependent Claim
22 words
The method set forth in claim 28 further including the step of superimposing an image of said trace onto said three-dimensional image.
Claim 35
Independent Claim
266 words
A method for providing coordinate positions of selected points in an undistorted model of a scene, said points being selected from a three-dimensional image of the scene that may be distorted and that may be varied during point selection to minimize distortions in one area of said image comprising the steps of: providing two stereo images of the scenE, each stereo image including reference points representing predetermined locations in the scene; providing a first coordinate measuring system for one stereo image and a second coordinate measuring system for the other of said stereo images; viewing said two stereo images simultaneously to obtain a three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; selecting points defining lines and areas of interest in said three-dimensional image; measuring the positions in said coordinate measuring systems of conjugate point pairs forming said selected image points; moving one of said stereo images with respect to the other while maintaining a fixed spatial relationship between each stereo image and the coordinate measuring system for said each stereo image, said relative movement thereby enabling an operator to vary the stereo quality of and provide stereo fusion in the area of the three-dimensional image being viewed; and using said measured coordinates and the relationship between the positions of said reference points in said coordinate measuring systems and in an undistorted model of the scene to calculate the positions in an undistorted model of said scene of image points represented by measured pairs of conjugate points.
Claim 36
Independent Claim
266 words
A method for providing coordinate positions of selected points in an undistorted model of a scene, said points being selected from a three-dimensional image of the scene that may be distorted and that may be varied during point selection to minimize distortions in one area of said image comprising the steps of: providing two stereo images of the scenE, each stereo image including reference points representing predetermined locations in the scene; providing a first coordinate measuring system for one stereo image and a second coordinate measuring system for the other of said stereo images; viewing said two stereo images simultaneously to obtain a three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; selecting points defining lines and areas of interest in said three-dimensional image; measuring the positions in said coordinate measuring systems of conjugate point pairs forming said selected image points; moving one of said stereo images with respect to the other while maintaining a fixed spatial relationship between each stereo image and the coordinate measuring system for said each stereo image, said relative movement thereby enabling an operator to vary the stereo quality of and provide stereo fusion in the area of the three-dimensional image being viewed; and using said measured coordinates and the relationship between the positions of said reference points in said coordinate measuring systems and in an undistorted model of the scene to calculate the positions in an undistorted model of said scene of image points represented by measured pairs of conjugate points.
Claim 37
Dependent Claim
89 words
The method set forth in claim 30 in which said step of calculating coordinate positions in an undistorted model includes: determining the relative positions of said one stereo image in said first measuring coordinate system and the relative positions of said other stereo image in said second measuring coordinate system; and converting said positions measured in said coordinate measuring systems to stereo image coordinate positions; and using said stereo image coordinate positions to calculate positions in an undistorted model of image points represented by measured pairs of conjugate points.
Claim 38
Dependent Claim
127 words
The method set forth in claim 31 in which: said step of providing first and second reference coordinate measuring systems comprises fastening a first reference grid measuring system to one of said stereo images and fastening a second reference grid measuring system to the other of said stereo images; and said step of converting coordinate positions in said coordinate measuring system to stereo image coordinate positions is accomplished using the formulas: x xg cos theta + yg sin theta + xo y -xg sin theta + yg cos theta + yo where: x,y stereo image coordinates of a point xg,yg grid coordinates of the same point xo,yo stereo image coordinates of the grid coordinate origin theta angle of rotation between the grid and stereo image coordinate systems.
Claim 39
Dependent Claim
207 words
The method set forth in claim 32 in which: said step of measuring positions in said coordinate measuring systems comprises measuring the x and y coordinates of conjugate points on each stereo image; and said calculation of the coordinate positions in an undistorted model of image points represented by pairs of conjugate image points is performed according to the formulas: X XL + Sx''16 Y YL + Sy''16 Z ZL + Sz''16 where: the X axis of the coordinate system for the above three formulas is parallel to the eye base of an observer viewing said three-dimensional image in an ordinary manner; the Z axis of said coordinate system is perpendicular to said X axis and defines elevation in said three-dimensional image; the Y axis of said coordinate system is perpendicular to both the X and Z axes; X,Y,Z Model coordinates of a point in the scene; XL ,YL ,ZL the location in model coordinates of the coordinate origin of the image coordinate system for one stereo image; S a scale factor relating image coordinate scale to model coordinate scale; and x''16,y''16,z''16 the stereo image coordinates of the one stereo image with coordinate origin at XL ,YL ,ZL rotated to be parallel to the model coordinate axes.
Claim 40
Independent Claim
258 words
A method for providing coordinate positions of selected points in an undistorted model of a scene, said points being selected from a three-dimensional image that may contain a moderate amount of Y parallax and be otherwise distorted comprising the steps of: providing two stereo images of the scene; viewing said two stereo images simultaneously to obtain a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; providing a floating mark for selecting and identifying points of interest in said three-dimensional image by providing a first half mark for identifying points on one of said stereo images shaped to provide both x coordinate defining and y coordinate defining portions of said floating mark, and a second half mark for identifying points of interest on the other of said stereo images shaped to provide only an x coordinate defining portion of said floating mark, said two half marks providing a floating mark capable of identifying points in said three-dimensional image when said stereo images are oriented to provide a three-dimensional image having a moderate amount of Y parallax and when said half marks are placed over conjugate points on the two stereo images; selecting points of interest in said three-dimensional image with said floating mark; determining the image positions of conjugate points forming said selected image points; and using said image positions to calculate the coordinate positions in an undistorted model of said scene of said selected image points.
Claim 41
Independent Claim
258 words
A method for providing coordinate positions of selected points in an undistorted model of a scene, said points being selected from a three-dimensional image that may contain a moderate amount of Y parallax and be otherwise distorted comprising the steps of: providing two stereo images of the scene; viewing said two stereo images simultaneously to obtain a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; providing a floating mark for selecting and identifying points of interest in said three-dimensional image by providing a first half mark for identifying points on one of said stereo images shaped to provide both x coordinate defining and y coordinate defining portions of said floating mark, and a second half mark for identifying points of interest on the other of said stereo images shaped to provide only an x coordinate defining portion of said floating mark, said two half marks providing a floating mark capable of identifying points in said three-dimensional image when said stereo images are oriented to provide a three-dimensional image having a moderate amount of Y parallax and when said half marks are placed over conjugate points on the two stereo images; selecting points of interest in said three-dimensional image with said floating mark; determining the image positions of conjugate points forming said selected image points; and using said image positions to calculate the coordinate positions in an undistorted model of said scene of said selected image points.
Claim 42
Dependent Claim
35 words
The method set forth in claim 34 in which said second half mark comprises a straight line disposed substantially perpendicular to the eye base of an observer viewing said three-dimensional image in an ordinary manner.
Claim 43
Dependent Claim
38 words
The method set forth in claim 35 in which said step of providing said second half mark provides a broken straight line with said break defining a y coordinate position when said second half mark is viewed alone.
Claim 44
Dependent Claim
224 words
The method set forth in claim 34 in which: said step of determining the stereo image coordinates of said conjugate points comprises determining the x and y stereo image coordinates of conjugate points on said one stereo image, and determining the x stereo image coordinates of conjugate points on said other stereo image; and said calculating coordinate positions in an undistorted model is performed using the formulas: X XL + S''x''16 Y YL + S''y''16 Z ZL + S''z''16 where: the x axis of the coordinate system for the above three formulas is parallel to the eye base of an observer viewing said three-dimensional image in an ordinary manner; the Z axis of said coordinate system is perpendicular to said X axis and defines elevations in the three-dimensional image; the Y axis of said coordinate system is perpendicular to the X and Z axes; X,Y,Z, model coordinates of a point in the scene; XL ,YL ,ZL the location in model coordinates of the coordinate origin of the imAge coordinate system for one stereo image; S'' a scale factor relating image coordinate scale to model coordinate scale and the attitude of one stereo image to that of the other; x''16,y''16,z''16 the stereo image coordinates of the one stereo image with coordinate origin at XL ,YL ,ZL rotated to be parallel to the model coordinate axes.
Claim 45
Independent Claim
170 words
A method of determining the coordinate positions in an undistorted model of points selected from a possibly distorted three-dimensional image of a scene, and for indicating whether said points lie on a preselected contour in said undistorted model comprising the steps of: providing two stereo images of the scene; viewing said two stereo images simultaneously to obtain a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; selecting points of interest in said three-dimensional image; determining the stereo image coordinates of conjugate point pairs forming said selected image points in said three-dimensional image; using said stereo image coordinates to calculate the coordinate position in an undistorted model of said scene of an image point immediately after selection of said an image point; and providing a signal indicating the relationship between the elevation of the calculated coordinate position of said an image point and the elevation of a preselected contour.
Claim 46
Independent Claim
170 words
A method of determining the coordinate positions in an undistorted model of points selected from a possibly distorted three-dimensional image of a scene, and for indicating whether said points lie on a preselected contour in said undistorted model comprising the steps of: providing two stereo images of the scene; viewing said two stereo images simultaneously to obtain a possibly distorted three-dimensional image of said scene, said three-dimensional image comprising a collection of image points, each image point formed from one conjugate point on each of said stereo images; selecting points of interest in said three-dimensional image; determining the stereo image coordinates of conjugate point pairs forming said selected image points in said three-dimensional image; using said stereo image coordinates to calculate the coordinate position in an undistorted model of said scene of an image point immediately after selection of said an image point; and providing a signal indicating the relationship between the elevation of the calculated coordinate position of said an image point and the elevation of a preselected contour.
Claim 47
Dependent Claim
60 words
The method set forth in claim 38 in which said step of providing a signal indicating the relationship between said calculated elevation and said preselected elevation comprises providing a first signal for indicating said calculated elevation to be greater than said preselected elevation, and providing a second signal for indicating said calculated elevation to be less than said preselected elevation.
Claim 48
Dependent Claim
138 words
The method set forth in claim 38 in which: said points of interest in said three-dimensional image are selected with a floating mark formed from a first half mark for identifying points on one of said stereo images and a second half mark for identifying points on the other of said stereo images; and said providing a signal indicating the relationship between the calculated and preselected elevations comprises providing a relative movement between said one stereo image and said one half mark to vary the apparent elevation of said floating mark, said relative movement comprising movement causing the apparent elevation of said floating mark to increase when said calculated elevation is greater than said preselected elevation, and to cause the apparent elevation of said floating mark to decrease when said calculated elevation is lower than said preselected elevation.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1976-08-06 | 1977-02-05 | 1977-08-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1980-08-06 | 1981-02-05 | 1981-08-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1984-08-06 | 1985-02-05 | 1985-08-07 | $7700.00 | Window Closed / Lapsed |