Abstract: Method and apparatus are provided for image based positioning comprising capturing a first image with an image capturing device. Wherein said first image includes at least one object. Moving the platform and capturing a second image with the image capturing device. The second image including the at least one object. Capturing in the first image an image of a surface; capturing in the second image a second image of the surface. Processing the plurality of images of the object and the surface using a combined feature based process and surface tracking process to track the location of the surface. Finally, determining the location of the platform by processing the combined feature based process and surface based process.

Abstract: A method of determining a tilt angle and a tilt direction of a survey instrument. The survey instrument has an imaging device that captures first images at a first location. The first images include features from an environment around the survey instrument. The imaging device also captures second images at a second location. The second images include a portion of the features. A pose of the imaging device is determined at the second location using observed changes in location of a common portion of the features between the first images and the second images. The tilt angle and the tilt direction of the survey instrument at the second location are determined using the pose of the imaging device.

Abstract: A survey instrument includes a surveying device configured to perform survey measurements and an imaging device coupled to the surveying device and having a known spatial relationship with the surveying device. The imaging device may be configured to obtain image information. The survey instrument also includes a processor in electrical communication with the imaging device. The processor may be configured to receive the image information from the imaging device, process the image information to determine a pose of the imaging device, and determine a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame. Tilt angle and the tilt direction of the survey instrument may be determined using the pose of the imaging device.

Abstract: Method and apparatus are provided for image based positioning comprising capturing a first image with an image capturing device. Wherein said first image includes at least one object. Moving the platform and capturing a second image with the image capturing device. The second image including the at least one object. Capturing in the first image an image of a surface; capturing in the second image a second image of the surface. Processing the plurality of images of the object and the surface using a combined feature based process and surface tracking process to track the location of the surface. Finally, determining the location of the platform by processing the combined feature based process and surface based process.

Abstract: A method of determining a tilt angle and a tilt direction of a survey instrument includes capturing first images at a first location that include features from an environment around the survey instrument and capturing second images at a second location that include a portion of the features. A pose of the imaging device is determined at the second location using observed changes in location of a common portion of the features between the first images and the second images. The tilt angle and the tilt direction of the survey instrument at the second location are determined using the pose of the imaging device.

Abstract: A survey instrument includes a surveying device configured to perform survey measurements and an imaging device coupled to the surveying device and having a known spatial relationship with the surveying device. The imaging device may be configured to obtain image information. The survey instrument also includes a processor in electrical communication with the imaging device. The processor may be configured to receive the image information from the imaging device, process the image information to determine a pose of the imaging device, and determine a tilt angle of the survey instrument and a tilt direction of the survey instrument in a reference frame. Tilt angle and the tilt direction of the survey instrument may be determined using the pose of the imaging device.