METHOD AND DEVICE FOR GENERATING A PHOTOGRAMMETRIC CORRIDOR MAP FROM A SET OF IMAGES

Method for generating a photogrammetric corridor map from a set of input images by recovering a respective pose of each image, wherein a pose comprises a position and an orientation information of the underlying camera and following steps are executed:a) Receiving a set of input images,b) Defining a working set,c) Initializing an image cluster:c1) Incrementally recovering pose for images,c2) Computing a similarity transformation transforming the recovered camera positions to the corresponding input camera positions,c3) Applying the similarity transformation to the recovered camera poses in the image cluster,d) Further growing the image cluster:d1) Selecting one image from the working set that features overlap with at least one image already in the cluster,d2) Adding the image to the cluster by recovering,d3) Performing a GNSS bundle adjustment algorithm,d4) Continuing with step d1), if there remain images in the working set that feature overlap with at least one image already in the cluster; if not, continuing with step e)e) Continuing with step b) if there remain images in the working set; if not, continuing with step f),f) Generating and providing as output the corridor map using the recovered camera poses.