公开(公告)号：US09530235B2

公开(公告)日：2016-12-27

申请号：US14546217

申请日：2014-11-18

Applicant: Google Inc.

Inventor： Dennis Strelow ,  Craig Lewin Robinson ,  Samuel Felix de Sousa, Jr.

IPC: G06T11/60 ,  G06T3/00 ,  G06T7/00

CPC classification number: G06T11/60 ,  G06T3/0068 ,  G06T7/30

Abstract: Systems and methods for aligning panoramic imagery of a geographic area captured from a perspective at or near ground level and aerial imagery captured from an oblique perspective are provided. More particularly, a facade plane can be detected in a panoramic image based at least in part on geometric data associated with the image. The panoramic image can also have an associated image pose. An aerial image depicting the same facade can then be identified. The aerial image can be associated with an image pose and geometric data of the depicted imagery. The panoramic image can be warped into an image having a perspective associated with the aerial image. One or more feature matches between the warped image and the aerial image can be identified using a feature matching technique. The matched features can be used to align the panoramic image with the aerial image.

Abstract translation: 提供了从倾斜角度捕获的从地面或附近观察到的地理区域的全景图像对准的空间图像的系统和方法。 更具体地，可以至少部分地基于与图像相关联的几何数据，在全景图像中检测立面平面。 全景图像也可以具有相关联的图像姿势。 然后可以识别描绘相同立面的空中图像。 空中图像可以与所描绘的图像的图像姿态和几何数据相关联。 全景图像可以变形成具有与航空图像相关联的透视图像。 弯曲图像和空中图像之间的一个或多个特征匹配可以使用特征匹配技术来识别。 匹配的功能可用于将全景图像与空中图像对齐。