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: 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 system (200) and method for determining a relation between a first scene and a second scene. The method comprises the steps of generating at least one sensor image of a first scene with at least one sensor; accessing information related to at least one second scene, said second scene encompassing said first scene, and matching the sensor image with the second scene to map the sensor image onto the second scene. The step of accessing information related to the at least one second scene comprises accessing a 3D map comprising geocoded 3D coordinate data. The mapping involves associating geocoding information to a plurality of positions in the sensor image based on the coordinate data of the second scene.

Abstract: The present disclosure relates to a method (100) for rendering a simulated Synthetic Aperture Radar, SAR, image. The method comprises providing (110) a digital surface model or the like comprising 3D coordinate data in a geo-referenced coordinate system, determining (120) a sub-section of the digital surface model, and obtaining (130) the simulated SAR image based on the subsection of the digital surface model, wherein substantially each point in the simulated SAR image being associated to a 3D coordinate in the geo-referenced coordinate system.

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: A method for classifying a terrain type in an area is provided, which comprises the steps of obtaining a plurality of overlapping aerial images of the area, calculating at least one terrain type index for each part of each of the aerial images which lies in the area, where the at least one terrain type index represents the terrain type, determining at least one terrain type index for each part of the area based on the calculated at least one terrain type index for each part of each of the aerial images, and classifying the parts of the area for which at least one pre-determined conditions is met as containing the terrain type, wherein at least one of the at least one predetermined condition relates to a value of the determined at least one terrain type index. Also provided is a system and a computer program product.

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 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 (100) for rendering a simulated Synthetic Aperture Radar, SAR, image. The method comprises providing (110) a digital surface model or the like comprising 3D coordinate data in a geo-referenced coordinate system, determining (120) a sub-section of the digital surface model, and obtaining (130) the simulated SAR image based on the subsection of the digital surface model, wherein substantially each point in the simulated SAR image being associated to a 3D coordinate in the geo-referenced coordinate system.

Abstract: A method for classifying a terrain type in an area is provided, which comprises the steps of obtaining a plurality of overlapping aerial images of the area, calculating at least one terrain type index for each part of each of the aerial images which lies in the area, where the at least one terrain type index represents the terrain type, determining at least one terrain type index for each part of the area based on the calculated at least one terrain type index for each part of each of the aerial images, and classifying the parts of the area for which at least one pre-determined conditions is met as containing the terrain type, wherein at least one of the at least one predetermined condition relates to a value of the determined at least one terrain type index. Also provided is a system and a computer program product.

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: A method for classifying a terrain type in an area is provided, which method comprises the steps of: obtaining a plurality of overlapping aerial images of the area; calculating at least one terrain type index for each part of each of the aerial images which lies in the area, where the at least one terrain type index represents the terrain type; determining at least one terrain type index for each part of the area based on the calculated at least one terrain type index for each part of each of the aerial images; and classifying the parts of the area for which at least one pre-determined conditions is met as containing the terrain type, wherein at least one of the at least one predetermined condition relates to a value of the determined at least one terrain type index. An associated system and computer program product are also provided.

Abstract: A method for classifying a terrain type in an area is provided, which method comprises the steps of: obtaining a plurality of overlapping aerial images of the area; calculating at least one terrain type index for each part of each of the aerial images which lies in the area, where the at least one terrain type index represents the terrain type; determining at least one terrain type index for each part of the area based on the calculated at least one terrain type index for each part of each of the aerial images; and classifying the parts of the area for which at least one pre-determined conditions is met as containing the terrain type, wherein at least one of the at least one predetermined condition relates to a value of the determined at least one terrain type index. An associated system and computer program product are also provided.

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 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 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: 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 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.