Abstract:
This invention relates to a system for organizing, storing, retrieving and displaying spatially related images where such images may also be relatable within time or image modality parameters. The system includes a dynamically manipulable user interface capable of visually depicting one or more images in a registerable manner, and also depicting the orientation of the image or images in relation to the surrounding neighborhood. The inventive system provides for display of panoramic image sequences consisting of multiple rows with multiple images per row, or image sequences consisting of only a single image. In a preferred embodiment, images taken from the same perspective at different times can be overlaid, and the user manipulates the display to perform real-time compare and contrast between images. In an alternate embodiment, the registered images include those created by means of different imaging modes or modalities such as, for example, visible light images and thermographic images.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This Application is related to provisional application 60/532,850 filed Dec. 24, 2003, the entirety of which is incorporated by this reference, and claims priority therefrom. 
    
    
     GOVERNMENT FUNDING 
     Not applicable. 
     BACKGROUND 
     This invention relates to imaging, and more particularly to the spatial and temporal organization of images and related image data. 
     Panoramic images have been used for many years to generate both high quality printed images, and immersive images that can be viewed and manipulated through a user interface. Linked panoramic images are available in a variety of formats that allow, for example, a potential homebuyer to do a “virtual walkthrough” of a home through a web-based user interface. Significant limitations exist on the usefulness of such images as currently presented. 
     For example, U.S. Pat. No. 6,359,617 (Xiong) teaches algorithms for blending rectilinear images into virtual reality panoramas and modifies the images for blending, keeping track of panoramic images that are used to create final image. However, Xiong does not display constituent images in their unmodified form, and does not relate images to their environment. U.S. Pat. No. 6,173,087 (Kumar, et al) teaches a process for alignment of multiple images that does not require distortion-free images. Kumar, et al builds a composite image from multiple images, each of which is warped to fit into a reference coordinate system. Although Kumar, et al teaches producing a distortion free composite of images taken at the same point in time, it does not teach producing composite images from constituent images, each image from the same imaging point, taken at multiple points in time. 
     Moreover, available systems used for organizing and displaying high-quality panoramic sequences require a significant amount of computation (and, consequently, computer processing run time) in order to generate a composite image from a sequence of images. The resulting blended image suffers loss of detail from contributing images. Such loss of detail hinders generating a good model of the structures shown in the images. Furthermore, current panoramic image viewers cannot provide registered time-sequential images (that is, images taken from the same imaging point or what is referred to as “perspective”) at times that differ by days, months, or years. 
     What is needed is a system capable of registering multiple images where each image shares the same perspective and each image was created at a different time. What is also needed is the ability to overlay such time distinct images to record observable changes over time. Further needed is the ability to relate images into a panoramic schema while preserving the relationship between the images and the scene of interest, i.e. the neighborhood surrounding the image or images. Further needed is a dynamic user interface display means enabling users to rapidly access images, visually relate the image to its surrounding environment, move around the neighborhood and access portions of the same or different images—even images from different imaging techniques- and images taken at different times, provided any image is registerable with (taken from the same perspective) as an image desired to be viewed on the user display interface at the same time. 
     SUMMARY OF THE INVENTION 
     The invention taught herein provides a solution to the needs articulated above. The invention provides a system for displaying images, including composite images and panoramic sequences of images, where the images have been taken from the same perspective at the same or different times. The system may overlay such images to gain additional information about changes over time. The inventive system also provides a means of displaying panoramic sequences of images where such display preserves the relationship between the images as well as the orientation of images to the larger context to which the images meaningfully relate, that is, the neighborhood of the imaging location relative to the image perspective. The term “image” as used herein, is intended to include any output of any imaging source. Such imaging sources include, but are not limited to, visible light based sources, themographic sources, or any other imaging source or device. 
     The invention provides an image management system enabling rapid and easy retrieval and display of multiple images or collections of images, where such images are spatially related and may also be related according to non-spatial parameters. The mode or modality of the imaging device or the time of imaging, or both, may be, for example, non-spatial parameters associated with the imaging data. The inventive system provides a user interface operably associated with computational modules capable of image storage, image retrieval, image composition, and image display. The user can connect with the user interface by a variety of devices (PC. PDA, any mobile device or any other instrument with display capability), and the user interface may output a user interface display. The inventive system user interface display has an image display area and an information and control area, both contributing to the user&#39;s quick comprehension of the spatial and temporal relationship of the images selected for display. The user interface display according to the present invention is dynamically manipulable, enabling the user to select a stored map (a construction blueprint in the preferred embodiment) from the control panel, and the map appears in the image display area. The user may point and click or otherwise interact with the user interface display to simultaneously display both a feature (ex. a room wall) as well as a visual indication of the point from which the image was created, called the “image locator” (i.e. where the camera/imaging device was positioned at the time of image creation) and the visual indication of the direction the camera/imaging device was pointing when the image was created. The user can simply move around the map and other images and portions of images taken from the same perspective are seamlessly viewable. Thus, for example, a wall can be viewed from framing, through electrical installation, through drywall and finishing on the dynamically manipulable interface display. 
     The invention provides a user interface display that displays the images to the user in an easily understood format. In particular, the display format is especially useful to those familiar with blueprints, maps or shop drawings, including contractors, architects, or surveyors. 
     The invention provides a means for organizing and presenting images through the user interface display in a manner that integrates detailed information concerning any image with respect to the image sourcing environment (the position from which the image was generated) and the neighborhood in which the image sourcing device was situated. For example, the spatial relationship between a selected image retrieved by the user and neighboring images will appear on the interface display by means of the image locater within the image display area on the user interface display. The image locater assists the user by visually contextualizing the selected image within a map and showing the neighborhood or surroundings in which the image was taken. 
     The invention also provides for retrieving, viewing and comparing images taken at the same or different times from a selected perspective (image sourcing position) without extensive calculations slowing down the user&#39;s viewing experience. This is facilitated by use of “zone of focus” calculation and storage of calculation results for each image, establishing the orientation of the image source device with respect to each stored image. 
     The invention also provides a means for combining multiple viewing modes (for example a composite ( FIG. 4 ) in conjunction with a transparency mode (not shown)). Further, different image types (e.g. visual and thermographic) may be overlaid and displayed on user interface display—image display area. In all of these modes or combinations of image display, the dynamically manipulable user interface display operates to easily and rapidly orient images on the selected map or blueprint, to indicate the image locater, and thus enhance the users perception of the context of any selected image. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1   a  is an exemplar of the user interface display according to the present invention. 
         FIG. 1   b  through  1   e , inclusive, illustrate how the view indicator relates the images to the neighborhood 
         FIG. 2  diagrams a generalized system for one embodiment of the present invention. 
         FIG. 3  illustrates a generalized algorithm for computing the orientation of an image source device with respect to a map of the neighborhood surrounding the image source device position at the time of image sourcing. 
         FIGS. 4   4   a  and  4   b  depict two specimens of composite images created from two images taken from the same perspective at different times.
           4   c  illustrates the composite images reveals an image taken at one time in the context of an image taken at a different time.     4   e  through  4   i  inclusive illustrates thru-view window in various combinations of foreground and background selection.       
         FIG. 5  depicts data structures useful for displaying registerable images taken at the same or different times. 
         FIG. 6  depicts a generalized data structure useful to contain images and related image data from multiple imaging locations, and from multiple imaging times. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     Although the discussion of the preferred embodiment and the accompanying figures may use the word “camera” or related terms, it is intended that “camera” and related terms mean any image sourcing device, that is to say, any device capable of imaging some aspect of interest, whether operable on visible light, non-visible radiation, temperature, bio-mass sensor, or any other image-able feature amenable to an image sourcing device. Although general in teaching, the invention herein described is useful in conjunction with that described in U.S. patent application Ser. No. 10/811,019 filed Mar. 26, 2004 entitled “System for Accurately Repositioning Imaging Devices”. 
     Referring to  FIG. 1 , an exemplar screen of the user display interface illustrates one embodiment of the present invention. The user interface display  100  (also referred to herein as a dynamic display) provides two areas: the image display area  102  and the information and control area  104 . The information and control area  104  displays, among other data, the date  120  on which the Image  116  selected for viewing by the user was created. The image display area  102  provides a map M of the area around the Image  116 . A map M is selected from the control area, and in the example discussed here, the map is a construction blueprint. All available maps may be selected from the control area. The orientation of the Image  116  in relation to the map M of the image display area  102  is shown by the image-locator  108 . The image-locator  108  is centered at the camera station  112 . The camera station  112  represents the position relative to other objects represented on the map M at which the camera was physically located at the time the Image  116  was created. Other camera stations  106  are shown on the map M. These other camera stations  106  have no corresponding images shown on the user interface display  100 . The zone of focus  110  shows the orientation and field of view of the camera lens associated with creation of the Image  116 . The reference feature  114  is a feature displayed on the map M that provides a reference for the orientation of the camera station  112  and the zone of focus  110 . Markers  118  on the reference feature  114  are captured by the camera located at camera station  112 . The known physical locations of markers  118  can be used to calculate the orientation of the imaging device located at camera station  112  relative to the reference feature  114 . The location of Marker  122  is shown on the map M as a cross  124 . The dashed line linking the Marker  122  and the cross  124  indicates a correspondence that is used to orient the image-locator  108  on the map M. The calculations required to determine the proper orientation of the image-locator  108  are detailed in  FIG. 3 .  FIGS. 1   b  through  1   e , inclusive illustrate how the selection of a camera station  112 , (from among available camera stations  106 ) and the corresponding zone of focus  110  causes the display of the image  116  to change. For example, in  FIG. 1   b , camera station  112 , and zone of focus  110  displays the selected view  116  acquired when the camera was at that camera station and oriented according to that zone of focus  110 . In  FIG. 1   c , the zone of focus  110  has shifted clockwise, and the image  116  is an image captured when the camera was oriented accordingly at camera station  112 .  FIG. 1   d  and  1   e  respectively depict a different camera station  112  and two images  1   d    116  and  1   e    116  each taken from a different zone of focus ( 1   d    110  and  1   e    110 ) when the camera was at that camera station and oriented accordingly. The image  1   d    116  and  1   e    116  display the captured image taken from that camera station  112  and oriented accordingly. Thus, it can be appreciated that the neighborhood of the camera station may be viewed by selecting each of the zones of focus and, depending only on the number of available images obtained, a substantially 360 degree view of the images taken from any camera station may be viewed. 
       FIG. 2  depicts a generalized system diagram for one embodiment of the present invention. The user interface  200  is implemented on an interactive display system  202 . The interactive display system consists of a display device  204  an input device  206  and a pointing device  208 . The user interface consists of a collection of modules  224  that implement the user interface  200 . The image storage module  210  stores the collection of images needed to implement the user interface. The image retrieval module  212  responds to user commands to select the proper image from image storage. The image composition module  214  overlays images taken from the same perspective (ex. some selected camera station  112 ,  106  in  FIG. 1 ) at different times. The image display module  216  positions the images generated by the image retrieval module  212  and the image composition module  214  on the user interface display  100  ( FIG. 1 ) and positions the image locator  108  correctly relative to the map M located in the image display area  102 . The user interface collection of modules  224  is implemented on a computing device  220  that is connected to an Input/Output device  222 . The Input/Output device  222  may be used to print hard copies of images displayed on the user interface display  100 , and to send and receive message from sources external to the interactive display system  202 , such as, for example, the Internet. 
       FIG. 3  illustrates some details of calculations needed to orient the zone of focus ( 110  on  FIG. 1 ) with respect to the map M on the image display area ( 102  on  FIG. 1 ). Locating markers Step  300  on the reference feature ( 114 ,  FIG. 1 ) is the first step. These markers ( 118 ,  FIG. 1 ) can be naturally occurring points in the scene upon which images are to be taken or markers specifically placed in the scene to help determine camera orientation. One of the markers (e.g. Marker  122 ,  FIG. 1 ) is chosen to represent the origin of the real-world coordinate system represented both in the map (M,  FIG. 1 ) and in the Image ( 116 ,  FIG. 1 ). Measuring and recording for later use Step  302  the real-world locations of all markers  118  relative to a known origin (represented in  FIG. 1  by  122  on image  116  and point  124  on reference feature  114  on map M) is the next step. Acquiring an Image ( 116  in  FIG. 1 ) of the markers ( 118  in  FIG. 1 ) from a camera station  112  is Step  304 . Application of known algorithms for computer vision Step  306  for computer vision such as those found in Hartley and Zisserman,  Multiple View Geometry in Computer Vision , to determine the orientation of the camera that recorded the Image  116  relative to the markers  118  embedded in the image. Computing the orientation of the reference feature ( 114  in  FIG. 1 ) relative to the map (M in  FIG. 1 ) is Step  308 . In Step  310 , the orientations computed in Steps  306  and  308  are combined to determine the orientation of the zone of focus ( 110  in  FIG. 1 ) relative to the map M. In Step  312 , the orientation calculated in Step  310  is stored for use in displaying panoramic images taken from the associated camera station ( 112  in  FIG. 1 ) 
       FIG. 4  consists of three parts.  FIGS. 4   a  and  4   b  show composite images.  FIG. 4   c  shows how the composite images in  FIG. 4   a  and  FIG. 4   b  are generated. The composite images in  FIGS. 4   a  and  4   b  consist of an image area  400  and a control area  402 . A first feature  404  in  FIG. 4   a  and a second feature  406  in  FIG. 4   b  show composite views of the same scene where a portion of an image taken from the same perspective at a different time (in this case, earlier in the construction process) is overlaid on the current image.  FIG. 4   c  shows how the first and second features  404 ,  406  are overlaid to create a composite image in  FIGS. 4   a  and  4   b  are generated. A mask  410  identifies an image portion  412  which is to be overlaid. The mask  410  is applied to a first image  408  such that only the image area  412  of first image  408  is visible. The resulting masked image  414  is positioned on second image  416  to create a composite image appearing in the image area  400  in  FIGS. 4   a  and  4   b . The masking operation illustrated in  FIG. 4   c  is a common operation performed by image manipulation and display programs such as Adobe&#39;s PhotoShop and Macromedia&#39;s Director. Any of the plethora of commercially available image display manipulation tools may be applied to modify the user interface display.  FIG. 4   e  through  4   i , inclusive, illustrates manipulable composite (also referred to herein as “thru-view”) in the image area  400 . According to the invention, the User may not only determine the position of the “window”—the image portion  412  of the resulting masked image  414 —with respect to the first image  408 . The User may also select, by virtue of the control area  402  from among a variety of foreground and background selections. Thus the User determines the location of the composite as well as the images to be composited. The User may select from a control area  402  of construction stages (see right hand panel: date range, foreground, background) and quickly and easily generate a variety of composite images accordingly to what features may be of interest.  FIG. 4   d  shows the thru-view in context of the user interface display  100  and the map M.  FIG. 4   e  through  4   i  illustrate User selection of the location of the “view through window” (the resulting masked image  414 ) and the composite image of said view thru window and a selected second image  416 , displayed in the image area  400 . For example,  FIG. 4   e , the composite appearing in the image area  400  shows a the selected second image  416  (also referred to as the background image) is an image of later stage (possibly completed) construction and the resulting masked image  414  displays the selected location at an earlier time (i.e. stud stage). In  FIG. 4   f , the image portion  412  has been moved to another location in the image area  400 , and the second image  416  is the same as in  4   e , and the resulting masked image  414  displays an image of the selected second image  416  at an earlier stage of construction.  FIGS. 4   g, h  and  i , inclusive, illustrate that the User may, by virtue of the Control panel, change the background image (selected second image  416 ), and the resulting masked image  414 . In  FIG. 4   g  a late stage of construction is the background, and the window reveals a view of an earlier construction stage.  FIG. 4   h  shows an early background [ 416 ], with the window [ 414 ] (drywall background and studs window) showing a later construction stage and  4   i  shows a background of stud stage and the window of final, completed construction. Thus it can be appreciated that the User can manipulate where the view through is desired in the image areas and can move the “window” to the desired portion of the image area. Further, the User can make any variety of composites, by selecting the background and window, or foreground, image. 
     A user interface enabling the user to input various information about images or panoramic sequences of images is depicted in  FIG. 5 . User-input information is stored for later reference and used to generate the dynamic display, the image display area  102  as shown in  FIG. 1 . Data “camera station”  500  identifies a camera station ( 106  and  112  in  FIG. 1 ) located on the map M in  FIG. 1 . Data “row number”  502  is used to distinguish between panoramic sequences in a situation where more than one row of panoramic sequences was taken and data entered at “camera station”  500 . The number of “images per row”  504  identifies the number of images in the panoramic sequence contained in that row. For example, there could be a single image in any given row. The “pitch of row”  506  indicates the angle between the center axis of the lens of the camera (where the imaging device uses visible light) and the horizontal plane. Positive numbers for the pitch indicate that the imaging device is pointed up, while negative numbers indicate the imaging device is pointed down. The “initial rotation”  508  is the orientation of the zone of focus ( 110  in  FIG. 1 ) to the map (M in  FIG. 1 ). The algorithm outlined in  FIG. 3  derives the initial rotation  508 . The “horizontal field of view”  510  is the field of view of the entire sequence of images stored in the given row. A field of view of  360  indicates that the panorama includes a full horizontal circle. The “lens parameters”  512  record information such as the distortion parameter, focal length, horizontal field of view and vertical field of view of the lens used (if any) to create the images in the given row. In applications where a non visible light imaging source is used, there is a functional equivalent operable to record relevant parameters The “image dates”  514  is a listing of dates or times at which images in a given row were taken. The “map scale and orientation”  516  data is used to insure that the image locator ( 108  in  FIG. 1 ) is scaled and oriented correctly with respect to the underlying map (M in  FIG. 1 ). 
       FIG. 6  depicts a generalized data structure for holding images and information necessary to generate the dynamic display of registered images appearing on the user interface display ( 100  in  FIG. 1 ). Although this example describes data associated with images from visible light imaging device, it is appropriate to state again that in the event another imaging source is used (e.g. thermography), the accompanying data structures would be modified inasmuch as the data within the structure would so require. 
     Data that locates the camera station positions ( 106  and  112  in  FIG. 1 ) and reference features ( 114  in  FIG. 1 ) are collected in “Global data related to Camera Structure”  600 . “Data and images from camera station  1 ”  602  contain data pertinent to a first camera station (not shown). The same data elements outlined for “Data and images from camera Station number  1 ”  602  are stored for all additional camera stations  604 ,  606 . “Camera station specific information”  608  includes the information detailed in  FIG. 5 . Images from a given camera station are identified by row number and images for a given row are organized in a known sequence  610 . One embodiment of the current invention is to organize the images in row  1  in linear order from the first image to the last image, such that if the images were laid side-by-side in order they would create a composite image that spanned the horizontal field of view of the image row. Images taken from first camera station at times other than Time T 1  are shown in  612  and  614 . The organization of data for images from a first camera station is repeated for all camera stations. The data organization shown in  FIG. 6  allows easy access to images from any time and camera orientation such that the images can be quickly displayed (for example, the Image  116  of  FIG. 1 ) and overlaid to display composite images as in  FIG. 4   a  and  FIG. 4   b.    
     The invention can be applied to, but is not limited to, the following applications: revealing hidden detail in commercial and residential construction; revealing structural details of interest to architects and engineers; revealing sun/shade patterns over the course of days or years; producing special effects for the movie and advertising industry; revealing changes in cityscapes over time; illustrating plant growth over days and years; revealing natural erosion or wear patterns; creating new art-forms with time as an element; illustrating changes occurring in interior spaces. 
     The embodiments set forth herein are merely illustrative of the principles and applications of the present invention. Numerous modifications may be made to the illustrative embodiments and other arrangements may be devised within the scope of the present invention as taught by the specification, the drawings, and any appended claims.