Patent ID: 9094673
Filing Date: 2015-07-28
Classification: G06T,H04N

Abstract:
1. An arrangement comprising an image generating unit, a navigation unit and processing unit for generating a three dimensional map representation of an area, the arrangement comprising: an image generating unit arranged to generate time recorded images, said image generating unit being arranged to provide a plurality of at least partly overlapping images each covering at least a part of said area, a navigation unit arranged to output time recorded navigation states of the image generating unit as the images are generated, wherein the time recorded navigation states comprises a three-dimensional position vector and a three-dimensional attitude vector and optionally a three-dimensional velocity vector, and a processing unit arranged to, based on said navigation states, stereo process an arbitrary number of the plurality of at least partly overlapping image sets generated by said image generating unit so as to provide said three dimensional map representation, wherein the processing unit is arranged to, for each time recorded image to be stereo processed, associate each pixel to a corresponding one of the navigation states relating to a corresponding time record and to perform the stereo processing based on the associated navigation states so that all pixels in the map representation are specified in three geographical dimensions associated with a geographical coordinate on the ground, wherein the processing unit is arranged to form a plurality of three dimensional map representation parts each corresponding to a unique image set and to generate the three dimensional map representation of the area based upon the three dimensional map representation parts.