Patent ID: 6782123
Filing Date: 2004-08-24
Classification: G01C,G01T

Abstract:
A method for mapping sources of radiation in a three-dimensional environment, comprising:providing an assembly comprising a support, means for taking visual images, and means for taking images of the sources, said means for taking visual images and said means for taking images of the sources being secured together to the support; determining relationships between respective positions and orientations of said means for taking visual images and said means for taking images of the sources; taking at least two visual images of the environment at different angles of view with said assembly displaced at one imaging position and at least two images of the sources with said assembly displaced to at least two imaging positions; establishing a three-dimensional model of the environment from said at least two visual images, identifying homologous elements in the at least two visual images, and then computing locations of said homologous elements; determining lines of projection of the sources leading to the means for taking images of the sources for the at least two imaging positions; locating said lines of projection in said three-dimensional model based on said relationships; and computing positions of intersection points of said lines of projection in said three-dimensional model, which are positions of the sources.