Abstract: The present invention relates to a method and an arrangement for providing a 3D model of an environment. The method comprises the step of forming a mesh modelling the environment in three dimensions, said mesh comprising nodes interconnected by edges and having surfaces boarded by the edges, wherein each node is associated to a 3D coordinate in a geographical coordinate system, determining for a plurality of the nodes and/or surfaces and/or edges in the mesh a mesh uncertainty and associating the determined mesh uncertainty to the corresponding node and/or surface and/or edge.

Abstract: The present disclosure relates to a position determining unit (800) for a land or sea based object and a method for determining a position. The position determining unit comprises or has access to a three dimensional map (802) comprising three dimensional geo-referenced position data. The position determining unit comprises further map part selector means (803) for selecting a part of the three dimensional map (802) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument (805) arranged to obtain bearing and/or distance information related to the land or sea based object, and a computing and control unit (804) arranged to relate each obtained bearing and/or distance information to a corresponding obtained geo-referenced position and to determine a geographical position of the land or sea based object based on the bearing and/or distance information and the corresponding obtained geo-referenced positions.

Abstract: The present disclosure relates to a position determining unit (800) for a land or sea based object and a method for determining a position. The position determining unit comprises or has access to a three dimensional map (802) comprising three dimensional geo-referenced position data. The position determining unit comprises further map part selector means (803) for selecting a part of the three dimensional map (802) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument (805) arranged to obtain bearing and/or distance information related to the land or sea based object, and a computing and control unit (804) arranged to relate each obtained bearing and/or distance information to a corresponding obtained geo-referenced position and to determine a geographical position of the land or sea based object based on the bearing and/or distance information and the corresponding obtained geo-referenced positions.

Abstract: The present invention relates to a method and arrangement for developing a 3D model of an environment. The method comprises steps of providing a plurality of overlapping images of the environment, each image associated of navigation data, providing distance information, said LIDAR information comprising a distance value and navigation data from a plurality of distance measurements, and developing the 3D model based on the plurality of overlapping images and the distance information. The step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process.

Abstract: The present invention relates to a method and arrangement for developing a 3D model of an environment. The method comprises steps of providing a plurality of overlapping images of the environment, each image associated of navigation data, providing distance information, said LIDAR information comprising a distance value and navigation data from a plurality of distance measurements, and developing the 3D model based on the plurality of overlapping images and the distance information. The step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process.

Abstract: A method is provided, which comprises generating at least three images of an area of interest from at least one imaging system, the generated images being provided from at least three different angles, establishing point correspondence between the provided images. The method further involves generating at least two sets of three-dimensional information based on the provided images, wherein the at least two sets of three-dimensional information are generated based on at least two different combinations of at least two of the at least three provided images of the area of interest. The method further includes comparing the at least two sets of three-dimensional information so as to determine discrepancies, and providing information related to the imaging system or errors in the images based on the determined discrepancies.

Abstract: The present disclosure relates to a method (1) and system for determining the position of a target. The method comprises a step of measuring (110) with a range and direction measuring device the position of at least one reference object relative to the position of the range and direction measuring device. The method further comprises a step of marking (120) the at least one reference object in a geo-referenced three-dimensional map so as to obtain a geo-referenced position of the at least one reference object. The method further comprises a step of measuring (130) with the range and direction measuring device the position of the target relative to the position of the range and direction measuring device.

Abstract: A method for estimating values for a set of parameters of an imaging system is presented. At least two pictures having an overlapping area are taken with the imaging system from different positions. Pulses are sent out to the area, the reflected pulses are detected and distances between a sender of the pulses and the respective point where the pulses were reflected are calculated based on the travel time of the pulses. First information about the area is calculated based on the pictures. Second information related to the calculated distances to the area is also calculated. Values for quantities contained in the first and second information are compared. If the value for a quantity obtained from the first information differs from the value obtained from the second information, values and/or an error estimate for the set of parameters of the imaging system is calculated based on the difference.

Abstract: The present disclosure relates to a position determining unit (800) for a land or sea based object and a method for determining a position. The position determining unit comprises or has access to a three dimensional map (802) comprising three dimensional geo-referenced position data. The position determining unit comprises further map part selector means (803) for selecting a part of the three dimensional map (802) so as to obtain a geo-referenced position associated to the selected part, at least one measurement instrument (805) arranged to obtain bearing and/or distance information related to the land or sea based object, and a computing and control unit (804) arranged to relate each obtained bearing and/or distance information to a corresponding obtained geo-referenced position and to determine a geographical position of the land or sea based object based on the bearing and/or distance information and the corresponding obtained geo-referenced positions.

Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.

Abstract: Various embodiments relate to a method (700) and system for geo-referencing at least one sensor image. The method comprises the steps of: generating at least one sensor image of a first scene with at least one sensor, accessing a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene, matching the sensor image with the 3D model find a section of the 3D model where there is a match between the first and the second scenes, geo-referencing the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model, and determining a measure related to an uncertainty in the matching between the sensor image and the 3D model.

Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.

Abstract: The present invention relates to a method and an arrangement for providing a 3D model of an environment. The method comprises the step of forming a mesh modelling the environment in three dimensions, said mesh comprising nodes interconnected by edges and having surfaces boarded by the edges, wherein each node is associated to a 3D coordinate in a geographical coordinate system, determining for a plurality of the nodes and/or surfaces and/or edges in the mesh a mesh uncertainty and associating the determined mesh uncertainty to the corresponding node and/or surface and/or edge.

Abstract: The present invention relates to a method and arrangement for developing a 3D model of an environment. The method comprises steps of providing a plurality of overlapping images of the environment, each image associated of navigation data, providing distance information, said LIDAR information comprising a distance value and navigation data from a plurality of distance measurements, and developing the 3D model based on the plurality of overlapping images and the distance information. The step of developing the 3D model comprises the steps of providing the 3D model based on the plurality of overlapping images; and updating the 3D model with the distance information using an iterative process.

Abstract: Various embodiments relate to a method (700) and system for geo-referencing at least one sensor image. The method comprises the steps of: generating at least one sensor image of a first scene with at least one sensor, accessing a 3D model of the environment comprising geo-coded 3D coordinate data and related to at least one second scene, said second scene encompassing said first scene, matching the sensor image with the 3D model find a section of the 3D model where there is a match between the first and the second scenes, geo-referencing the sensor image based on the geo-coded 3D coordinate data of the found section of the 3D model, and determining a measure related to an uncertainty in the matching between the sensor image and the 3D model.

Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.

Abstract: The present disclosure relates to a method (1) and system for determining the position of a target. The method comprises a step of measuring (110) with a range and direction measuring device the position of at least one reference object relative to the position of the range and direction measuring device. The method further comprises a step of marking (120) the at least one reference object in a geo-referenced three-dimensional map so as to obtain a geo-referenced position of the at least one reference object. The method further comprises a step of measuring (130) with the range and direction measuring device the position of the target relative to the position of the range and direction measuring device.

Abstract: The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.

Abstract: The present invention relates to a method for estimating values for a set of parameters of an imaging system 1. The method comprises taking at least two pictures with the imaging system (1), where the at least two pictures are taken from different positions and where the at least two pictures comprise an at least partially overlapping area. It also comprises sending out pulses to the at least partially overlapping area, and detecting the reflected pulses and calculating distances between a sender of the pulses and the respective point where the pulses were reflected based on the travel time of the pulses. Further, the method comprises associating positioning data to the pictures and to the calculated distance between the points where the pulses were reflected and the sender of the pulses. Said positioning data comprises a position and pointing direction of the imagining system 1 and the sender of the pulses.

Abstract: Various embodiments provide a method for analyzing images generated from at least one imaging system on at least one satellite. The method comprises providing at least three images of an area of interest from the at least one imaging system, the provided images being provided from at least three different angles, establishing point correspondence between the provided images, generating at least two sets of three-dimensional information based on the provided images, wherein the at least two sets of three-dimensional information are generated based on at least two different combinations of at least two of the at least three provided images of the area of interest, and comparing the at least two sets of three-dimensional information so as to determine discrepancies and providing information related to the imaging system and/or errors in the images based on the determined discrepancies. Associated systems, computer programs, and computer program products are also provided.