Abstract: Systems and methods for estimating attitude using double differenced GPS carrier phase measurements are provided. An exemplary computer-implemented method includes obtaining, by one or more computing devices, an initial candidate attitude. The method includes determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude. The method includes inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function. The cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values. The method includes minimizing, by the one or more computing devices, the cost function. The method includes selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.

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: 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: Systems and methods for providing a visualization of satellite sightline obstructions are provided. An example method includes identifying an approximate position of a receiver antenna. The method further includes providing a rendering of a physical environment surrounding the receiver antenna for display within a user interface. The user interface can be provided on a display. Satellite positional data associated with the position of a satellite is accessed and a sightline between the approximate position of the receiver antenna and the position of the satellite is determined. The method further includes presenting the sightline within the user interface in association with the rendering. An example system includes a data capture system and a computing device to provide a visualization of satellite sightline obstructions.

Abstract: Systems and methods for providing a visualization of satellite sightline obstructions are provided. An example method includes identifying an approximate position of a receiver antenna. The method further includes providing a rendering of a physical environment surrounding the receiver antenna for display within a user interface. The user interface can be provided on a display. Satellite positional data associated with the position of a satellite is accessed and a sightline between the approximate position of the receiver antenna and the position of the satellite is determined. The method further includes presenting the sightline within the user interface in association with the rendering. An example system includes a data capture system and a computing device to provide a visualization of satellite sightline obstructions.

Abstract: Systems and methods for estimating attitude using double differenced GPS carrier phase measurements are provided. An exemplary computer-implemented method includes obtaining, by one or more computing devices, an initial candidate attitude. The method includes determining, by the one or more computing devices, a plurality of expected double differenced carrier phase values based on the initial candidate attitude. The method includes inputting, by the one or more computing devices, the plurality of expected double differenced carrier phase values into a cost function. The cost function respectively compares the plurality of expected double differenced carrier phase values to a plurality of measured double differenced carrier phase values. The method includes minimizing, by the one or more computing devices, the cost function. The method includes selecting, by the one or more computing devices, a final candidate attitude associated with the minimized cost function as the attitude of the device.

Abstract: Camera pose optimization, which includes determining the position and orientation of a camera in three-dimensional space at different times, is improved by detecting a higher-confidence reference object in the photographs captured by the camera and using the object to increase consistency and accuracy of pose data. Higher-confidence reference objects include objects that are stationary, fixed, easily recognized, and relatively large. In one embodiment, street level photographs of a geographic area are collected by a vehicle with a camera. The captured images are geo-coded using GPS data, which may be inaccurate. The vehicle drives in a loop and captures the same reference object multiple times from the substantially same position. The trajectory of the vehicle is then closed by aligning the points of multiple images where the trajectory crosses itself. This creates an additional constraint on the pose data, which in turn improves the data's consistency and accuracy.