![]() These are used for recording the actual dimensions of the space being photographed, for example the distance between the camera and the facades of the buildings. The laser range scanners measure up to 50 metres in the front of the vehicle with a 180 degree range. A third SICK LMS291 profiler measures the road surface in front of the vehicle. ![]() Once the pose is computed by Ceres, Google aligns or snaps the pose to a map of the road (or path) network in Google Maps.Ĭeres replaced the Google Pose Optimizer (GPO) incorrectly referenced in a previous iteration of this post.Īs mentioned in my history of the Street View camera, even the prototype Street View cars had side and front-facing laser scanners installed to measure depth.Īll Street View cameras since the R5 (2008) feature a pair of $6000 Sick AG LMS 291 laser profilers that are attached to the mast and continually measure a series of range or elevation profiles on either side of the mapping vehicle. ![]() Estimate satellite image sensor characteristics.Estimate the pose of Street View cars, aircrafts, and satellites.Street View imagery must be associated with accurate positioning.Įach camera is equipped with a combined DGPS (Differential Global Positioning System) / IMU (Inertial Measurement Unit) system from Topcon, together with a wheel mounted odometer that, in conjunction with the IMU (accelerometers and gyroscopes), can help establish a position where GPS coverage is poor or has been lost in tunnels or within high-rise urban areas.Īs part of the Street View processing pipeline Google uses Ceres Solver, open-source library for modeling and solving large, complicated optimization problems. Well, here’s more about the lasers, and the many other sensors that make up the Google Street View Camera rigs. Many of you followed up, asking me about the lasers I mentioned fleetingly in that post. Last month I looked at the history of the Street View camera, from the early versions in 2007, to the drastically improved cameras Google now uses. Lasers, gyroscopes, accelerometers… Street View camera rigs do much more than just take photos.
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