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Machine translation
261. (WO2011143622) UNDERWATER ACQUISITION OF IMAGERY FOR 3D MAPPING ENVIRONMENTS
Note: Text based on automatic Optical Character Recognition processes. Please use the PDF version for legal matters

WHAT IS CLAIMED IS:

1. A panoramic imagery acquisition method comprising:

capturing a panoramic image underwater using a panoramic camera system; and associating the captured panoramic image with corresponding location data.

2. The method of claim 1, further comprising stabilizing the panoramic camera system to mechanically decouple movement of the panoramic camera system from movement of a support mount.

3. The method of claim 2, wherein the stabilizing comprises using active feedback from sensors to compensate from movement of the support mount.

4. The method of claim 1, further comprising telescoping an extendable arm to mechanically decouple movement of the panoramic camera system from movement of a support mount.

5. The method of claim 1, further comprising a waterproof case, wherein the panoramic camera system is enclosed in the waterproof case.

6. The method of claim 1, further comprising:

maintaining time logs of captured panoramic images and location data, wherein the time logs enable synchronizing the captured panoramic images with the location data.

7. The method of claim 1 , further comprising illuminating scenery for the panoramic camera system using a lighting system.

8. The method of claim 1, further comprising:

capturing topographic data underwater using a LIDAR system; and associating the captured panoramic image with corresponding topographic data.

9. The method of claim 8, further comprising:

capturing reflected laser spectra underwater; and

deriving biodiversity data based on the reflected laser spectra.

10. The method of claim 1, further comprising capturing the location data using a GPS system.

1 1. The method of claim 1, further comprising stabilizing the panoramic camera system using a stabilizing fin.

12. The method of claim 1, further comprising capturing the location data using a sonar system.

13. A panoramic imagery acquisition system comprising:

a panoramic camera system to capture a panoramic image underwater; and a controller operable to associate the captured panoramic image with corresponding location data.

14. The system of claim 13, further comprising a stabilizer to mechanically decouple movement of the panoramic camera system from movement of a support mount.

15. The system of claim 13, further comprising a telescoping unit to mechanically decouple movement of the panoramic camera system from movement of a support mount.

16. The system of claim 13, further comprising a waterproof case to enclose the panoramic camera system.

17. The system of claim 13, further comprising a balancer to mechanically decouple the panoramic camera system from the waterproof case.

1-8. The system of claim 13, further comprising a lighting system to illuminate scenery for the panoramic camera system.

19. The system of claim 13, further comprising:

a LIDAR system to capture topographic data underwater; and

a controller operable to associate the captured panoramic image with corresponding topographic data.

20. The system of claim 19, further comprising a receiver to capture reflected laser spectra underwater to derive biodiversity data based on the reflected laser spectra.

21. The system of claim 13, further comprising a GPS system to capture the location data.

22. The system of claim 13, further comprising sensors to account for offsets between a location of the panoramic camera system underwater and the GPS system, wherein the offset is incorporated into the location data associated with the captured panoramic image.

23. The system of claim 13, further comprising a stabilizing fin to stabilize the panoramic camera system.

24. The system of claim 13, further comprising a positioning system that uses sonar to capture the location data.

25. The system of claim 13, wherein the panoramic camera system is mounted to a remotely controlled submersible unit.

26. The system of claim 13, wherein the panoramic camera system comprises one or more lenses arranged to capture images in a panoramic field of view.

27. The system of claim 13, further comprising:

a submersible vehicle, wherein the panoramic camera system is mounted to the submersible vehicle underwater; and

a GPS device coupled to a control module via a tether, the control module being housed in the submersible vehicle, and the tether enabling the submersible vehicle to dive to various depths while maintaining a GPS signal.

28. The system of claim 13, wherein the GPS device is located at the control module and further coupled to a GPS antenna positioned in a GPS float.