Self-calibrated, remote imaging and data processing system

Abstract

An imaging sensor system, having a view of a target area comprising: a rigid mount unit having at least two imaging sensors disposed within the mount unit, wherein a first imaging and a second imaging sensor each has a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, wherein the first sensors image data bisects the second sensors image data in the first image overlap area.

What is claimed is: 
     
       1. A system for generating a map of a target area, comprising:
 a global positioning receiver; 
 an imaging sensor system having a view of the target area, comprising:
 a rigid mount unit having at least two imaging sensors disposed within the mount unit, 
 wherein a first imaging sensor and a second imaging sensor each has a focal axis passing through an aperture in the mount unit, 
 wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, 
 wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, 
 wherein the first sensors image data bisects the second sensors image data in the first image overlap area; and 
 
 a computer in communication with the a global positioning antenna, the first imaging sensor, and the second imaging sensor; correlating at least a portion of the image areas from the first imaging sensor and the second imaging sensor to a portion of the target area based on input from the global positioning antenna. 
 
     
     
       2. The system of  claim 1  further comprising:
 a third imaging sensor disposed within the mount unit, wherein the third imaging sensor has a focal axis passing through the aperture in the mount unit, wherein the third imaging sensor generates a third image area comprising a third data array of pixels. 
 
     
     
       3. The system of  claim 2 , further comprising:
 a fourth imaging sensor disposed within the mount unit, wherein the fourth imaging sensor has a focal axis passing through the aperture in the mount unit, wherein the fourth imaging sensor generates a fourth image area comprising a fourth data array of pixels, wherein the third and fourth imaging sensors are offset to have a second image overlap area in the target area, wherein the third sensors image data bisects the fourth sensors image data in the second image overlap area. 
 
     
     
       4. The system of  claim 3 , wherein a first sensor array comprising the first and second image sensors and a second sensor array comprising the third and fourth image sensors are offset to have a third image overlap area in the target area, wherein the first sensor arrays image data bisects the second sensor arrays image data in the third overlap area. 
     
     
       5. The system of  claim 3 , wherein the first sensors arrays image data completely overlaps the second sensors arrays image data. 
     
     
       6. The system of  claim 3 , wherein third and fourth imaging sensors are selected from the group consisting of digital cameras, light detection and ranging (LIDAR), infrared, heat-sensing and gravitometers. 
     
     
       7. The system of  claim 3 , wherein the first and second imaging sensors are a digital camera and the third imaging sensor is a light detection and ranging (LIDAR). 
     
     
       8. The system of  claim 2 , wherein the third imaging sensor is selected from the group consisting of digital cameras, light detection and ranging (LIDAR), infrared, heat-sensing and gravitometers. 
     
     
       9. The system of  claim 2 , wherein the third imaging sensor is selected from the group consisting of a digital camera having a hyperspectral filter and a light detection and ranging (LIDAR). 
     
     
       10. The system of  claim 2 , wherein the first and second imaging sensors are a digital camera and the third imaging sensor is a light detection and ranging (LIDAR). 
     
     
       11. The system of  claim 1 , wherein the mount unit flexes less than 100th of a degree during operation. 
     
     
       12. The system of  claim 11 , wherein the mount unit flexes less than 1,000th of a degree during operation. 
     
     
       13. The system of  claim 12 , wherein the mount unit flexes less than 10,000th of a degree during operation. 
     
     
       14. The system of  claim 1 , wherein the first imaging sensor is calibrated relative to one or more attitude measuring devices selected from the group consisting of a gyroscope, an inertial measurement unit (IMU), and a global positioning system (GPS). 
     
     
       15. The system of  claim 1 , wherein the first and second imaging sensors are selected from the group consisting of digital cameras, light detection and ranging (LIDAR), infrared, heat-sensing and gravitometers. 
     
     
       16. An imaging sensor system comprising:
 a mount unit in alignment with a target area, having at least two imaging sensors disposed within the mount unit, wherein a first imaging sensor and a second imaging sensor each has a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, wherein the first sensors image data bisects the second sensors image data in the first image overlap area. 
 
     
     
       17. The system of  claim 16  further comprising:
 a third imaging sensor disposed within the mount unit, wherein the third imaging sensor has a focal axis passing through the aperture in the mount unit, wherein the third imaging sensor generates a third image area comprising a third data array of pixels. 
 
     
     
       18. The system of  claim 17  further comprising:
 a fourth imaging sensor disposed within the mount unit, wherein the fourth imaging sensor has a focal axis passing through the aperture in the mount unit, wherein the fourth imaging sensor generates a fourth image area comprising a fourth data array of pixels, wherein the third and fourth imaging sensors are offset to have a second image overlap area in the target area, wherein the third sensors image data bisects the fourth sensors image in the second image overlap area. 
 
     
     
       19. The system of  claim 18 , wherein a first sensors array comprising the first and the second image sensor and a second sensors array comprising the third and the fourth image sensor are offset to have a third image overlap area in the target area, wherein first sensor arrays image data bisects the second sensor arrays image data in the third image overlap area. 
     
     
       20. The system of  claim 18 , wherein the first sensors arrays image data completely overlaps the second sensors arrays image data. 
     
     
       21. The system of  claim 18 , wherein the third and fourth imaging sensors are selected from the group consisting of digital cameras, light detection and ranging (LIDAR), infrared, heat-sensing and gravitometers. 
     
     
       22. The system of  claim 18 , wherein the first and second imaging sensors are a digital camera and the third imaging sensor is a light detection and ranging (LIDAR). 
     
     
       23. The system of  claim 17 , wherein the third imaging sensor is selected from the group consisting of digital cameras, light detection and ranging (LIDAR), infrared, heat-sensing and gravitometers. 
     
     
       24. The system of  claim 17 , wherein the third imaging sensor is selected from the group consisting of a digital camera having a hyperspectral filter and a light detection and ranging (LIDAR). 
     
     
       25. The system of  claim 17 , wherein the first and second imaging sensors are a digital camera and the third imaging sensor is a light detection and ranging (LIDAR). 
     
     
       26. The system of  claim 16 , wherein the mount unit flexes less than 100th of a degree during operation. 
     
     
       27. The system of  claim 26 , wherein the mount unit flexes less than 1,000th of a degree during operation. 
     
     
       28. The system of  claim 27 , wherein the mount unit flexes less than 10,000th of a degree during operation. 
     
     
       29. The system of  claim 16 , wherein the first imaging sensor is calibrated relative to one or more attitude measuring devices selected from the group consisting of a gyroscope, an inertial measurement unit (IMU), and a global positioning receiver (GPS). 
     
     
       30. The system of  claim 16 , wherein the first and second imaging sensors are selected from the group consisting of digital cameras, light detection and ranging (LIDAR), infrared, heat-sensing and gravitometers. 
     
     
       31. A method of calibrating imaging sensors comprising the steps of:
 performing an initial calibration of the imaging sensors comprising:
 determining the position of an attitude measurement unit (AMU) selected from the group consisting of a gyroscope, an inertial measurement unit (IMU), and a global positioning system (GPS); 
 determining the position of a first imaging sensor within a rigid mount unit relative to the AMU; 
 determining the position of a second imaging sensor within the rigid mount unit relative to the AMU; 
 calibrating the first imaging sensor against a target area and determining a boresight angle of the first imaging sensor; and 
 calculating the position of one or more subsequent imaging sensors within the rigid mount unit relative to the first imaging sensor; and 
 calibrating the one or more subsequent imaging sensors using the boresight angle of the first imaging sensor; and 
 
 using oversampling techniques to update at least one initial calibration parameter of the first imaging sensor against a target area and the boresight angle of the first imaging sensor; 
 using oversampling techniques to update the position of one or more subsequent imaging sensors within the rigid mount unit relative to the first imaging sensor; and 
 updating at least one calibration parameter of one or more subsequent imaging sensors within the rigid mount using the updated boresight angle of the first imaging sensor. 
 
     
     
       32. The method of  claim 31 , wherein the initial calibration step further comprises the step of:
 calibrating the second imaging sensor using the updated boresight angle of the first imaging sensor. 
 
     
     
       33. The method of  claim 32 , further comprising the step of:
 using oversampling techniques to update the position of the second imaging sensor within the rigid mount unit relative to the first imaging sensor. 
 
     
     
       34. The method of  claim 31 , further comprising the steps of:
 using flight line oversampling techniques to update the calibration of the first imaging sensor against a target area and the boresight angle of the first imaging sensor; and 
 using flight line oversampling techniques to update the position of one or more subsequent imaging sensors within the rigid mount unit relative to the first imaging sensor. 
 
     
     
       35. The method of  claim 34 , further comprising the steps of:
 using flight line oversampling techniques to update the position of the second imaging sensor within the rigid mount unit relative to the first imaging sensor; 
 using flight line oversampling techniques to update the position of one or more subsequent imaging sensors within the rigid mount unit relative to the first imaging sensor; and 
 updating at least one calibration parameter of one or more subsequent imaging sensors within the rigid mount using the updated boresight angle of the first imaging sensor. 
 
     
     
       36. A system for generating a map of a surface, comprising:
 a global position receiver; 
 a global positioning antenna; 
 an imaging array, having a view of the surface, comprising: 
 a mount unit; 
 an aperture, formed in the mount unit; 
 a first imaging sensor, coupled to the mount unit, having a first focal axis passing through the aperture, wherein the first image sensor generates a first image area of the surface comprising a first data array of pixels, wherein the first data array of pixels is at least two dimensional; and 
 a second imaging sensor, coupled to the mount unit and offset from the first imaging sensor, having a second focal axis passing through the aperture and intersecting the first focal axis, wherein the second imaging sensor generates a second image area of the surface comprising a second data array of pixels, wherein the second data array of pixels is at least two dimensional; and 
 a computer, connected to the global positioning antenna, and first and second imaging sensors; correlating at least a portion of the image area from the first and second imaging sensors to a portion of the surface based on input from the global positioning antenna. 
 
     
     
       37. The system of  claim 36 , further comprising a third imaging sensor, coupled to the mount unit and offset from the first imaging sensor, having a third focal axis passing through the aperture and intersecting the first focal axis within an intersection area. 
     
     
       38. The system of  claim 37 , wherein the focal axes of the third imaging sensor lies in a common plane with the focal axes of the first and second imaging sensors. 
     
     
       39. The system of  claim 37 , wherein the focal axes of the first and second imaging sensors lie in a first common plane and the focal axis of the third imaging sensor lies in a plane orthogonal to the first common plane. 
     
     
       40. A system for generating a map of a surface, comprising:
 a global position receiver;   a global positioning antenna;   a first imaging sensor, having a view of the surface, having a focal axis disposed in the direction of the surface, wherein the first imaging sensor generates an image area comprising a first data array of pixels, wherein the first data array of pixels is at least two dimensional; and   a computer, connected to the global positioning antenna, and the first imaging sensor; generating a calculated longitude and calculated latitude value for a coordinate corresponding to at least one pixel in the array based on input from the global positioning antenna.   
     
     
       41. A system for generating a map of a target area, comprising:
 a global position receiver; 
 a global positioning antenna; 
 an imaging sensor system, having a view of the target area, comprising: 
 a mount unit, having a first and second imaging sensor disposed within the mount unit, wherein the first and second imaging sensors each have a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second data array of pixels is at least two dimensional; and 
 a computer in communication with the global positioning antenna, the first imaging sensor, and the second imaging sensor; correlating at least a portion of the image area from the first imaging sensor and the second imaging sensor to a portion of the target area based on input from the global positioning antenna. 
 
     
     
       42. The system of  claim 41 , further comprising a third imaging sensor disposed within the mount unit, wherein the third imaging sensor has a focal axis passing through an aperture in the mount unit, wherein the third imaging sensor generates a third image area comprising a third data array of pixels. 
     
     
       43. An imaging sensor system comprising:
 a mount unit, having a first and second imaging sensors disposed within the mount unit, wherein the first imaging and second imaging sensors each have a focal axis passing through an aperture in the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, wherein the first and second data array of pixels is at least two dimensional. 
 
     
     
       44. The system of  claim 43 , further comprising a third imaging sensor disposed within the mount unit, wherein the third imaging sensor has a focal axis passing through an aperture in the mount unit, wherein the third imaging sensor generates a third image area comprising a third data array of pixels. 
     
     
       45. A system for generating a map of a target area, comprising:
 a global positioning receiver;   an imaging sensor system having a view of the target area, comprising:
 a rigid mount unit having a first imaging sensor and a second imaging sensor, 
 wherein the first imaging sensor generates a first image area comprising a first data array of pixels and the second imaging sensor generates a second image area comprising a second data array of pixels, 
 wherein the first and second imaging sensors are offset to have a first image overlap area in the target area, 
 wherein the first data array of pixels bisects the second data array of pixels in the first image overlap area; and 
   a computer in communication with the global positioning receiver, the first imaging sensor, and the second imaging sensor, wherein at least a portion of the first image area from the first imaging sensor is correlated to a portion of the target area based on input from the global positioning receiver or other geographical positioning technique.    
     
     
       46. The system of claim 45, wherein the first image overlap area comprises at least one oversampling pattern.  
     
     
       47. The system of claim 46, wherein the at least one oversampling pattern comprises a plurality of pixels that have been positioned using an oversampling technique to a precision that is less than one pixel in magnitude.  
     
     
       48. The system of claim 47, wherein the mount unit flexes less than 100th of a degree during operation.  
     
     
       49. The system of claim 47, wherein the mount unit flexes less than 1,000th of a degree during operation.  
     
     
       50. The system of claim 47, wherein the mount unit flexes less than 10,000th of a degree during operation.  
     
     
       51. An imaging sensor system comprising:
 a rigid mount unit in alignment with a target area;   a first imaging sensor rigidly connected to the mount unit, wherein the first imaging sensor generates a first image area comprising a first data array of pixels;   a second imaging sensor rigidly connected to the mount unit, wherein the second imaging sensor generates a second image area comprising a second data array of pixels;   wherein the first and second imaging sensors are offset to have a first image overlap area in the target area,   wherein the first data array of pixels bisects the second data array of pixels in the first image overlap area.    
     
     
       52. The system of claim 51, wherein the first image overlap area comprises at least one oversampling pattern.  
     
     
       53. The system of claim 52, wherein the at least one oversampling pattern comprises a plurality of pixels that have been positioned using an oversampling technique to a precision that is less than one pixel in magnitude.  
     
     
       54. A method of calibrating imaging sensors comprising the steps of:
 performing an initial calibration of the imaging sensors comprising:
 determining the position of an attitude measurement unit (AMU) selected from the group consisting of a gyroscope, an inertial measurement unit (IMU), and a global positioning system (GPS); 
 determining the position of a first imaging sensor relative to the AMU; 
 calibrating the first imaging sensor against a target area and determining a boresight angle of the first imaging sensor; and 
 determining the position of the second imaging sensor relative to the first imaging sensor; and 
 calibrating the second imaging sensor using the boresight angle of the first imaging sensor; and 
   using oversampling techniques to update at least one initial calibration parameter of the first imaging sensor against a target area and the boresight angle of the first imaging sensor;   using oversampling techniques to update the position of the second imaging sensor relative to the first imaging sensor; and   updating at least one calibration parameter of the second imaging sensor using the updated boresight angle of the first imaging sensor.    
     
     
       55. The method of claim 54, wherein the oversampling techniques comprise flight line oversampling.  
     
     
       56. The method of claim 54, wherein the oversampling techniques comprise lateral oversampling.  
     
     
       57. The method of claim 54, wherein the oversampling techniques comprise generating at least one pixel that has been positioned using the oversampling techniques to a precision that is less than one pixel in magnitude.  
     
     
       58. The method of claim 54, wherein the oversampling techniques comprise generating a plurality of pixels that have been positioned using the oversampling techniques to a precision that is less than one pixel in magnitude.  
     
     
       59. A system for generating an image of a surface, comprising:
 a global position receiver;   an imaging array, having a view of the surface, comprising:
 a mount unit; 
 a first imaging sensor, coupled to the mount unit, having a first focal axis passing through an aperture in the mount unit, 
 wherein the first image sensor generates a first image area of the surface comprising a first data array of pixels, 
 wherein the first data array of pixels is at least two dimensional; and 
 a second imaging sensor, coupled to the mount unit and offset from the first imaging sensor, having a second focal axis passing through an aperture in the mount unit, 
 wherein the second imaging sensor generates a second image area of the surface comprising a second data array of pixels, 
 wherein the second data array of pixels is at least two dimensional; and 
   a computer, connected to the global position receiver, the first imaging sensor, and the second imaging sensor, wherein at least a portion of the first image area from the first imaging sensor is correlated to a portion of the surface based on input from the global position receiver.    
     
     
       60. The system of claim 59, wherein the mount unit flexes less than 100th of a degree during operation.  
     
     
       61. The system of claim 59, wherein the mount unit flexes less than 1,000th of a degree during operation.  
     
     
       62. The system of claim 59, wherein the mount unit flexes less than 10,000th of a degree during operation.  
     
     
       63. A system for generating an image of a surface, comprising:
 a global position receiver;   a first imaging sensor adapted to view a surface and disposed at least partially in a mount unit, wherein the mount unit flexes less than 100th of a degree during operation,   wherein the first imaging sensor generates a first image area comprising a first data array of pixels,   wherein the first data array of pixels is at least two dimensional; and   
       a computer connected to the global position receiver and the first imaging sensor, wherein a calculated longitude value and a calculated latitude value are generated for at least one pixel in the first data array of pixels based on input from the global position receiver.  
     
     
       64. The system of claim 63, wherein the mount unit flexes less than 1,000th of a degree during operation.  
     
     
       65. The system of claim 63, wherein the mount unit flexes less than 10,000th of a degree during operation.  
     
     
       66. A system for generating an image, comprising:
 a rigid mount unit;   a first imaging sensor disposed at least partially within the rigid mount unit, wherein the first imaging sensor generates a first image area comprising a first two-dimensional data array of pixels;   a second imaging sensor disposed at least partially within the rigid mount unit, wherein the second imaging sensor generates a second image area comprising a second two-dimensional data array of pixels;   wherein the first imaging sensor and the second imaging sensor are offset such that the first image area overlaps with the second image area to form a first image overlap area;   a computer in communication with the first imaging sensor and the second imaging sensor;   a mosaicking module associated with the computer for balancing the color of the second two-dimensional data array of pixels based on the average intensity of green-dominant pixels in the first two-dimensional data array of pixels.    
     
     
       67. The system of claim 66, wherein the first image overlap area comprises at least one oversampling pattern.  
     
     
       68. The system of claim 67, wherein the at least one oversampling pattern comprises a plurality of pixels that have been positioned using an oversampling technique to a precision that is less than one pixel in magnitude.  
     
     
       69. The system of claim 66, wherein the mount unit flexes less than 100th of a degree during operation.  
     
     
       70. The system of claim 66, wherein the mount unit flexes less than 1,000th of a degree during operation.  
     
     
       71. The system of claim 66, wherein the mount unit flexes less than 10,000th of a degree during operation.  
     
     
       72. An imaging sensor system comprising:
 a rigid mount unit;   a first imaging sensor disposed at least partially within the rigid mount unit, wherein the first imaging sensor generates a first image area comprising a first two-dimensional data array of pixels;   a second imaging sensor disposed at least partially within the rigid mount unit, wherein the second imaging sensor generates a second image area comprising a second two-dimensional data array of pixels;   wherein the first imaging sensor and the second imaging sensor are offset such that the first image area overlaps with the second image area to form a first image overlap area;   a computer in communication with the first imaging sensor and the second imaging sensor; and   an intensity balancing module associated with the computer for balancing the intensity of the first two-dimensional data array of pixels and the second two-dimensional data array of pixels using a balancing correlation matrix.    
     
     
       73. The system of claim 72, wherein the first image overlap area comprises at least one oversampling pattern.  
     
     
       74. The system of claim 73, wherein the at least one oversampling pattern comprises a plurality of pixels that have been positioned using an oversampling technique to a precision that is less than one pixel in magnitude.  
     
     
       75. The system of claim 72, wherein the mount unit flexes less than 100th of a degree during operation.  
     
     
       76. The system of claim 72, wherein the mount unit flexes less than 1,000th of a degree during operation.  
     
     
       77. The system of claim 72, wherein the mount unit flexes less than 10,000th of a degree during operation.