US 2019034785241 cu») United States 2) Patent Application Publication Massaro oy ow 2 a @y on PROCESSING FULL MOTION VIDEO DATA FOR PHOTOGRAMMETRIC RECONSTRUCTION, Applicant: United States of America - US Army Alexandria, VA (US) Inventor: Richard D. Massaro, Burke, VA (US) Appl. No. 1877204133 Files Sep. 29, 2017 Publication Clasiieation i Goor 1710 Gost 1705: (2006.01) (2005.01) ao) Pub, No.: US 2019/0347852 Al (43) Pub. Date Nov. 14, 2019 G06K 1678 (200601) GO6F 167735 (200501), GOOF 1675 (2006.01) GO6E 17/10 (2013.01); GO6E 1705 (2013.01); GosF 16/75 (2019.01): GOOF 16/735 (201001); GO6E 16/78 (2019.01) on ABSTRACT This invention is a system for photogrammetric analysis of full motion video (FMV), which converts FMV to ima files, extracts metadata, and produces accurate 2-D and 3-D geospatial images in real time.Patent Application Publication Nov. 14,2019 Sheet 1 of 11 US 2019/0347852 Al Step 1: Receiving FMV data Step 2: Parsing FMV data to create image files and metadata files Step 3: Performing interpolation algorithm to complete metadata set Step 4: Iteratively calculating | | Step 5: Iteratively calculating and storing focal length values and storing angle values Step 6: Populating position value matrix data object eee Step 7: Filtering using a proximity threshold value ¥ Step 8: Filtering using a cluster count threshold | Step 9: Verifying cluster | identification I (optional) | Step 10: Associating | cluster index value with | each stored image file Fig. 1Patent Application Publication Nov. 14,2019 Sheet 2 of 11 US 2019/0347852 Al 30 Receiver , 20 30 Extractor ¥ 40 Focal length and |“ angle processor 50 Data matrix |“ object i ‘ey fitering Proximity filtering processor x y10 Cluster count filtering processor : Verification |“ ®° processor ¥ / 90 Indexing component Fig. 2Patent Application Publication Nov. 14,2019 Sheet 3 of 11 US 2019/0347852 Al 430k 310390 130n | } | 0b i Fig. 3Patent Application Publication Nov. 14,2019 Sheet 4 of 11 US 2019/0347852 Al Fig. 4APatent Application Publication Nov. 14,2019 Sheet 5 of 11 US 2019/0347852 Al ( f=1.058x, : fame : | tan| FOV) } tan FOV, f } \ . « \ fej) Fig. 4BPatent Application Publication Nov. 14,2019 Sheet 6 of 11 US 2019/0347852 A1 Fig. 5APatent Application Publication Nov. 14,2019 Sheet 7 of 11 US 2019/0347852 Al Fig. 5BPatent Application Publication Nov. 14,2019 Sheet 8 of 11 US 2019/0347852 Al Fig. 5CPatent Application Publication Nov. 14,2019 Sheet 9 of 11 US 2019/0347852 Al Fig. 6APatent Application Publication Nov. 14, 2019 Sheet 10 of 11 US 2019/0347852 Al Fig. 6BPatent Application Publication Nov. 14,2019 Sheet 11 of 11 US 2019/0347852 A1 Ahh ae 10.3, NS ” hf SN ae eZ x a we eo AN Spor 2708 oD , ne ine (7% Fig.7US 2019/0347852 Al METHOD OF PROCESSING FULL MOTION VIDEO DATA FOR PHOTOGRAMMETRIC RECONSTRUCTION STATEMENT REGARDING FEDERALLY ‘SPONSORED RESEARCH OR DEVELOPMENT [0001] The invention described hercin was made by aa ‘employee of the United States Goverament and may be ‘manufactured and used by tbe Government of the United States of America for governmental purposes without the payment of any royalties, FIELD OF INVENTION [0002] |The invention relates tothe fleld of photogrammet- ric image analysis, and more specifically 10 a system for rapidly processing full motion video in real-time. BACKGROUND OF THE INVENTION 10003] Photogrammetry i the science of making measure- ‘ments from photographs and for eeovering the exact posi- tions of surface points Photogrammetric computational methods draw upon optics, mathematics and projective eometry: [0004] The U.S. Army Comps of Engineers (USACE) is ‘conducting advanced research to meet the challenge of using photogrammetric techniques to transform millions of tera- bytes of Full Motion Video (FMV) data from unmanned vehicles, wireless cameras and other sensors ito usable 2-D tnd 3-D maps and models [0005] To apply photogrammetric computational models, EMV data gathered ffom airplanes, stellites, and other sources must be parsed into sil frame images. The stil frame images contain coordinates and meta data which are ‘exacted lor processing by computational moll. The exte- Flor orientation of the camera of sensor defines its locaton in space and its view direction, The innee orieatation defines the geometric parameters of the imging process, The focal Jength of the imaging lens isa component of these geometeic parameters. [0006] By feeding the measurements from each individu- ally processed image frame into a computational modal, its possible to rapidly’ and) accurately estimate 3-D relative ‘motions and other measurements for each frame, It curentiy js not possible Toto produce accurate 3-D models in real time, on a consistent basis, because of limitations inherent in the frame selection process. Frame selection is cosily and time-consuming process that is currently performed by manually by human techaicians 10007] "The current state of at requires human intervention to fier relevant the frames which contain tamget objects from frames are irrelevant ane should be excluded from ‘computational analysis [0008] There is an unmet need for inteligent, automated technologies which can rapidly select relevant image frames for processing from vast amounts of video data, 10009] Theres an unmet nee for automated technologies ‘which ean detect and filter frames which are distorted oF cthenvise of insulicent quality for accurate processing. [0010] Theresa further unmet need fora fully automated ‘method for processing FMV data that can address anomalies ‘in acquired date and fiter image frames which are unsuitable for processing in real-time. Nov. 14, 2019 SUMMARY OF THE INVENTION [0011] This invention is un intelligent system for rapidly processing full motion video (FMV) through interpolation racesses to rapidly replicate missing or comuptd data and Algorithmic selection of relevant image frames. Tis system includes processing components and memory storage for ‘metadata and image files. [0012] The system includes multiple viral processing ‘components which perform data parsing processes, metadata extraction processes, data interpolation processes and iter ing processes using data collected from other virtual pro- ‘essing components, [0013] Novel processing components iteratively perform ‘zcometric calculations of angle measurements and focal Tengths on extracted metadata associated with image files ‘Virnual processing components perform repid filtering pro- cesses. Other vimual processing components perform novel ‘threshold computation snd chister analysis, including cluster indexing, This method and system allow the rapid progne- tion ofhighly-accurate2-D and 3-D images in real time. The ‘increased processing speed of the system is achieved by conliguration of system components to perform novel eo ‘mettie calculations rather than by increased. processing capability. BRIEF DESCRIPTION OF DRAWINGS [0014] FIG. 1 illustrates an exemplary computerimple- sented method for processing FMV data for attomated photogrammetric reconsimetion. [0018] FIG. 2 illustrates an exemplary embodiment of @ real-time filtering sytem for rapid processing of FMV sill image frames, [0016] FIG. 3 iloseates an exemplary process of acquire ing data which is subject to metadata loss, which is eoreeted ‘rough interpolation processes, [0017] FIG. 4A illustrates an exemplary collection of sense data set whichis extracted and used by the system to Caleulate the focal length parameter [0018] FIG, 4B illustrates an exemplary process for eae culating the foal length fr each image file which suse by the system for calculating FOV postion coordinates {0019} FIG. 8A ilusirates an exemplary collection of @ sensed data Set use bythe sytem ealelate photogram- metric relevant angles. [0020] FIG. $B illustrates an exemplary process for cal- culating the effective photogrammetric yaw (or heading) angle ofthe seasor relative tothe FOV. [0021] FIG, SC illustrates an exemplary process for cal- culating the effective photogrammetric pitch angle of the sensor relative to the FOV: [0022] FIG. 6A itlastrates an exemplary process for eal- culating the distance between FOV position coordinates [0023]. FIG. 618 illustrates an. exemplary system outp hic sa 2-D cluster map depicting the location of clusters te system has identified {0024} "FIG. 7 illustrates an exemplary proces of sampling mage frames extemal tothe cluster to verity that the set of mage files associated with a cluster is correctly indexed. TERMS OF ART [0025] As used herein, the tem “angle” means an angles ‘of a sensor relative to a real-world coordinate plane.US 2019/0347852 Al 10026] _As used herein, the term tion of filtered image ‘when filed} 10027] As used herein, the tenn “cluster count threshold” ‘means the minimum number of image files which most be associated with a cluster, [0028] As used herein, the term “color threshold value" ‘means a minimum red green blue (RGB) valve that an image file must have to be inchaded in a cluster 10029] As usod herein, the term “Field of View" (FOV) means the ares recorded by the sensor in each Video Tame. 10030] "As used horen, the teem “Focal length means value used to determine image size or sale 10031] As used herein, the term “Full Motion Video (EMY) means video taken from a eamera or other sensor including and motion imagery at a minimum speed of approximately 25 frames per second with metadata, consis ‘wat with Department of Defense Motion Imagery Standards Board (MISB) format [0032] "As used herein, the tom “image file" means video frame that is sored in an image fle format as pixels having a red groen blue (RGB) color val, 10033] "As used herein, the tem “Key-Length-Value" (KLV) isa format for encoding data 10034) "As used herein, the term “metadata values” means measurements including field of view dimensions, and Iati- tude, Iongitude, and aliiude position coordinates of the sensor that collects the FMV data 10035] As used herein, the term "National Imagery Trans- mission Format” (NITF) means a US. Department of Defense (DoD) and Federal Ineligence Community (IC) suite of standards for the exchange, storage, and transmis- sion of digtal-imagery products and image-elated products. 10036] As used herein the term “object” means a process ‘ng component that contains both data and dats structures ‘and code which performs operations on the dala structures, 10037] As used herein, the term “position coordinates” means geographic location with variables selected from _aroup consisting of latitude, longitude, and alltde 10038) As used heron, the teem “processor” means hard- ‘ware or sofivate having processing capability which may be bound to non-modifiable values and funetions. 10039] As used herein, the term “proximity threshold means «maximum distance between image fle position ‘coordinates that determines which video frames will be Jncluded in a custr [0040] As used herein, the term “vietal processing com- ponent” refers to software which performs @ computational process and fnctions identically to the eieuitry of a physi- cal processor DETAILED DESCRIPTION OF THE INVENTION [0041] FIG. 1 illustrates an exemplary computerimple- mente! method for processing FMV’ data for automated photogrammetri reconstruction 100, 10042] In various embodiments, Method 100 can be used to produce two- or threedimensional geographic data that ‘correspond with the subject ofthe FMV or te location ofthe sensor that collects the FMV data, Method 100 automat- cally processes FMV data for delivering rapid two-dimen: sional (2-D) and three-dimensional 3-D) geospatial outputs [0043] In various embodiments, the datasource may be # ‘data fle or streaming data souree. The streaming data source Nov. 14, 2019 nay be continuous o aon-contiauous, The FMV can be reaming and does not have to be continuous [044] Method 100 calculates the focal length (f) and Photogrammetric angles for each video frame. These paran- ers are needed for automated photogrammetric eeonstruc- tion and includes a novel clustering algorithm to process filtered subset of FMV frames based on the geometry ofthe sensor trajectory 0045} In various embodiments, user input may’ include FMV Ile or steam, estimated elevation of the FMV subject if the frame center elevation is not present within the location metadata, and a desired the number of frames required to define a cluster (cluster count threshold). [0046] Method 100 calculates necessary angles and focal length required for automated photogrammetric reconsiric- ‘ion fom FMV sources. The clustering algorithm is per- {ormed using the data from the angle calculation and focal length calculation. Method 100 further may be automated ‘using various programming scripts and tools such asa novel Python script generator [047] Step 1 isthe step of receiving FMV dat, including Video files and metadata files. The system can roceive either ale or a steam and will process either dataset. Data may be received ina continuous oF non-continuous manner: ‘The system can process discontinuous data whieh aevommodates various points of view (eg, repositioning of the sensor). [0048] Step 2 is the step of parsing FMV data to ereate {mage files and metadata les associate wih each inage fie Image files and metadata files ate iteratively processed, stored aad indexed as data is extracted. In this sep, sensor positon coordinates and field of view (FOV) dimensions are extracted from metadata sets associate with each image fle 0049} Each image file includes, but, isnot limited to: 2 still image copied corresponding toa Video frame from aa FMV, having pixels and color (red green blve, or RGB values). The metadata set includes, but isnot limited to the following variables: latitude, longitude, and altitude of the sensor and vertical FOV dimension FOV, and horizoatal FOV dimension FOV, [0050] In various embodiments, metadata is encode into USS. Department of Defense (DoD) FMV data using the ‘Motion Imagery Standards Board (MISB) Key-Length- Value (KLV) format [0051] Step 3 is the step of pecforming an interpolation algorithm to complete the metadata set [0052] This step averages multiple sensor position coor ‘inates overtime and uses the average to populate missing ‘metadata values. [0053] Step 4 is the step of iteratively calculating and storing the focal length vale foreach image file from FOV simensions [0054] This step uses the following variables: vertical FOV dimension FOV, and borizontal FOV dimension FOV,, Focal length () is calculated by the following orm, which assumes thatthe sensor bas @ 4" Tom, esas [0055] Step 5 is the step of calculating and storing pho- togrummetrc relevant angle vals, In this sep, the systeUS 2019/0347852 Al calculates yaw (o) and pitch (@) angles for each image file fom sensor position coordinates 10056] This sep uses the following variables to caleulate ‘yaw angle (a): the Vertical change in positon of the sensor (ay), and the horizontal change in position of the sensor (4x). The yaw angle (0) Tommi 10057] This step uses the following variables to calculate Pitch angle (g): distance between sensor and field of view (R,) and altitude of sensor (h). The pitch angle (g) formula [0058] Step 6 is the step of populating a postion value matrix data object with position coordinates (longitude, latitude, and altitude) of the field of view (POV) in each image file 10089] The position value matrix data object ineludes bot ‘data structures and viewal processing capability which cal culates the distance (@) between longitude and latitude positon values (x, and y) foreach pair of image files. The Tollowing formula caltistes distance (2) based on position values x and y: Noa 10060}. Step 7 isthe step of filtering thresbod vale. 10061) This proximity threshold value is calelatd as a pereetage ofthe horizontal fed of view dimension (FOV,) nd vertical field of view dimension (FOV, {0962} This tp performs filtering proces by comparing Aistace (do the proxinty threshold value, Only image files which have @ distance smaller than the proximity threo vale ar filler and stored fr further processing Inthis step, a counter i incremented to track the number of stored files which meet the proximity vale threshold to ‘biain a count of stored image files. 10063}. Step 8 i the step of filtering using a closer count threshold, The cluster count threshold i user dined vale that determines the minimum number of eames which must be stor during the previous sep to determine i elise ‘exists. This frame count in the previous step is compar the euster eount tres 10064] Step 8 is the optional step of vesting eluser ‘Menifeation. In this tp, imoge files which suround iden- Ged elutes are sspled to ince all mage fs relevant tothe suse. This step samples image files having position ‘vores (4, y) exten (0 the cluster perimeter The Sampling pater is based on calculated yaw angle (0. 10065} Step 10 isthe step of iteratively associating @ ‘ster index value with eich stoned image [0066] In various embodiments, Method 100 creates @ Toldee for each clster and stores chsterassociated image files in the corresponding cluster olde. {0067} In various embodiments, Method 100 produces 2D and 3D geospatial proves rom FMY data a proxi y Nov. 14, 2019 [0068] FIG, 2 ilusteates an exemplary embodiment of a ‘computer system having hardware and software components and used for rpid processing of FMV still image frames 200. System 200 is a computer having a processor and ‘memory. In the exemplary embodiment shown, the user input of PMY file or strsam is require. la various embodi- ments, system 200 also requires user input ofthe estimated scene elevation if the frame center elevation is not present ‘within the metadata valves. [0069] In various embodiments system 200 autoenatically processes and delivers rapid 2-D and 3-D geospatial prod ‘cts derived from, eurrelly Hekded FMV platforms across the DoD, [0070] tn sill other embostiments, system 200 may be ted to process FMV data to create 2-D and 3-D geospatial ata from US. DoD (MISB-compliant) and international defense organizations’ sisbome FMV sources. Other poten- tial uses include underwater EMV bathymetric reconstruc- ‘ion and mobile video collection from ground vehicles, [0071] Receiver 10 is a processing component for receiv- ing, FMV data from ether a file or data stream [0072] Parser 20 a processing component which performs fan algorithm for parsing FMV data into image files and ‘metadata files [0073] Fxtractor 30 is @ processing component which extracts metadata valves [0074] Focal length and angle processer 40 is & virus processor which iteratively caleulates the focal length (0) and photogrammetric yaw angle («) and pitch angle (g) for tach image fle. [0078] Data matrix object $0 is a processing component Tor storing position coordinates associated with an image file ‘and calculating the distance between position eoonlinates for image file pair [0076] Proximity Filtering processor 60 is a viral pro- cessor for filtering image files by comparing the distance between pairs of image file position coordinates to the proximity thesbold value [0077] Cluster count processor 70 isa processing compo- rent which compares User-defined cluster count threshold value to the total image file couat w the cluster count threshold [0078] Verification processor 80 performs processes 10 verify inclusion of all relevant image files in cluster by sampling image files extemal to the cluster, s determined by position coordinates (x,y) and calculated yaw angle (o) [0079] Indexing component 90 isa processing component Which assoeiates a elnster index value with each stored image file. [0080] In various embodiments, System 200 rejects video Tames with clouds obseuring the target FOV through histogram analysis routine wherein the user sets @ minima color threshold that is compared (0 the RGB value of each image fie [0081] In other embodiments, System 200 exports cluster= associated image files and automatically generates @ novel sript fr use i photogrammetric reconstruction software, t0 automatically execute the photogrammetrie reconstruction ‘using eommane-line call Geospatial products (2-D and ¥D) Aare automatically exported, including position eoondinates ‘ofthe sensor path, clostr-assciated image files with meta- ata, and cluster center position coordinates. Upon eomple- tion, a notice is provided tothe user with the location of the eospatal product filesUS 2019/0347852 Al 10082] FIG. 3 illustrates an exemplary process of aque {ng data which is subject to metadata loss. Ths metadata loss js corrected through interpolation processes 10083] In the exemplary embodiment shown, an FMV metadata fle containing Sensor positional data is missing metadata packets 100-c, During Step 2b of Method 100, ritadata Values are extrated from FMV daa, Often meta ‘data isnot updated regularly and packets are missing. In this, ‘case, an interpolation funetion uses available metadata pack- ‘ets 10 calculate metadata valves for missing metadata pack= 10084) FIG. 3 illustrates sensor trajectory 120, field of View 140, available metsdata packets 130a-p, and lines of missing metadata packets 1a. 10085] FIG. 44 illustrates an exemplary collection of @ sensed data set which is exacted and used by System 200 to calculate the focal length parameter. The exemplary ‘embodiment shown inclides extracted data used for eae Jatin, focal length 150 10086] FIG. 4A further illustrates sensor 160, Focal length 150, field of view 140, horizontal field of view dimension (FOV,,) 180, and vertical field of view dimension (FOV ,) 170, ln Step 3a of Method 100, focal length 150 is ealeulted based on the horizontal Held of view dimension FOV) 180 ‘and verical field of view dimension (FOV,) 170. [0087] FIG. 4B illsrates an exemplary process for cal- ‘culating the focal length for each image ile which is used by the system for calculating FOV position coordinates. The ‘exemplary formula assumes that the sensor format is ‘The formula receives FOV horizontal and vertical dimen- sion variables (FOV, and FOV, as input and produces & cal Tength value (J) a output. (9108 rong * aaron 10088] FIG. 84 illustrates an exemplary collection of @ sensed dataset used by the system to ealeulate photogram- metric relevant angles. Specifically, this data ts usd for ‘calculating yaw angle («) 210 and pitch angle (7) 190 for ‘each image ile. Fach calculated yaw angle (0) 218 and pitch angle (7) 190 is associated with an image fle and required for ealeuating POV position eoontinates. Calculated yaw angle (0) 210i also use for verifying eluster identification. 10089] FIG. 8A further illustrates the position of sensor 160, field of view 140, distance between sensor an fekl oF view (R,) 220, altitude of sensor (h) 230, sensorelaive yaw angle (0) 210 and pitch angle (g) 190 Inthe embodiment shown, sensor 160 is mounted to ansircraft. Inthe embodi- ment shown, the FMV metadata information is used to ‘aleulate yaw angle () 210 and pitch angle (9) 199. In most ‘embodiments, the rol angle is negligible 10090] FIG. 81 illustrates an exemplary process for ale culating the horizontal angle of orientation of the sensor relative w the FOV: This angles refered 10 asthe yaw angle (0). Yaw angle (o) 210 js separately caleutated for each image file. Yaw angle (0) 240 5 used for calculating FOV Position coordinates, andi fanher sed for verifying cluster ‘Menification, In the exemplary embodiment shown, this Calculation receives extracted metadata parameters includ ing the change in altude 230 of sensor 160 (Ay) and the Nov. 14, 2019 change in lateral positon of sensor 160 (Ax) a input and produces a yaw angle (9) as ouput [0091] FIG. SC illustrates an exemplary process for eal- calating the vertical angle of orientation of the sensor relative to the FOV. This angle is referred to as the pitch ‘angle (g) 190 which is used for ealeuating POV position coordinates. The exemplary formula shown receives the ‘Variables distance between sensor an Held of view (R.), and lide of sensor (h) 28 inpot and proioce pitch angle (9) value as output [092] FIG. 6A illustrates an exemplary process for cal- ealatng the distance berween FOV position coordinates, (NTO 0093] FIG. 68 illustrates an exemplary system output is. 2-D cluster map depicting the location of clusters System 200 has ideatfiod. Te cluster map illustrates clus- {ers 240 and 2406, The cluster map identifies FOV position coordinates of image files associated with each cluster The clusters age associated with indexed individual image files [0094] In the exemplary embodiment shown, clusters are defined! based on to system thresholds: the proximity threshold value and the cluster count threshold [0095] The proximity threshold value is the maximum allowed distance between image file coordinates. This is Selermined as a percentage of extracted metadata values represent the horizontal field of view dimension (OV,,), and vertical fed of view dimension (FOV, ), [0096]. The cluster count threshold refers to 2 minimum ‘number of image files which moet the proimity threshold Tor a cluster to be recognized. [0097] An agglomerative clustering algorithm is used 10 Secide which image files to use for cach 3D reeonstnition ‘The clustering algorithm is based on ealelated FOV posi- tion enordinates of image files [0098] FIG. 7 ilusiates an exemplary process of sampling ‘mage frames extemal to the cluster to verify thatthe set of ‘mage files associated with a cluster is correctly indexed, 0099} FIG. 7 further illustrates cluster 240, user-defined sistance 260, FOV position coordinates of qualifying image files 270a-h, and cluster center 280. System 200 automa cally samples imuge files haying FOV position coordinates Jocsted within user-defined distance 260 of cluster center 280 in pattem based on the calculated yaw angle 210, ‘What is claimed is 1, A method! to transform Full Motion Video (EMV) 10 phoiognimmetric data Which is implemented on computer system having 4 memory and a processor and comprised of the steps of: receiving FMV data; parsing stid FMV data to create image files and metadata filesUS 2019/0347852 Al extracting meta data values from said including sensor position coordinate val view dimensions calculating focal Tengih values for each of said image files; calculating angles foreach of said image He calculating position value coordinates from sad angles; calculating the distance (8) for images image files pairs fiom said position vale cooedinates; creating filled image files by comparing distance (2) to ‘proximity value threshold; and ‘comparing the number of filtered image files filtered 10 3 cluster eount threshold to identify clusters 2. The method of claim 1 wherein said sensor postion ‘coordinate valves and field of view dimensions include values seleeted from a group consisting of latitude, longi- tude, and altitude ofthe sensor and vertical FOV dimension FOVY and horizontal FOV disension FOVH, 3. The method of elaim 1, wherein said metadata files are Key-Length-Value (KLV) files. ‘4 The method of elaim 1, which further inludes the step ‘of performing an interpolation algorithm, 5. The method of claim 4, whercin ssid interpolation algorithm is determined by computing averages of sensor Position coordinates over tine and populates said metadata values. 6. The method ofelaiy 1 which farther ineludes the step of calculating said proximity threshold by caleulating 3 Percentage of the POV horizontal and vertical dimension Variables (FOVH and FOVV), "7. The method of claim I wherein the step of ealewlating «distance () further includes the step of iteratively popula ing a position value matrix data object having processing ‘capability to calculate distance (4) and compare distance (@) to user defined thresholds.) 8, The method of elim 7 which farther incudes the step of iteratively comparing distance (@) 10 said proximity threshold valve 9, The method of claim 1, which further includes the steps ‘of incrementing a stored image file count, 10, The method of claim 1, which further includes the steps of comparing said stoned image file count 10 said cluster count threshold to detemmine if cluster exists 11. The method of claim I which further inclodes asso- iatng imoge files witha Value unique to a singlelusters. 12. The method of elaim 1 wherein the step of calculating ‘angles includes extracting values selected trom & group ‘consisting of one or more sensor altitude change values (AY), ‘one or snore lateral postion change Values of suid sensor (4x), and one or more values representing distance between said Sensor and said fleld of view (Re), and one or more values representing altitude of said sensor (h) 13. The method of claim wherein the sep of calculating angles incudes calculating one or more angles selected from 8 group consiting of yaw angle (opie angle) aad a Pitch angle Nov. 14, 2019 14, The method of claim 1, wherein said FMV data is imported from a group of FMV sources consisting ofa file and a live steam 10, The method of claim 1, sai live stream is selected from a group consisting of 4 continvous live stream, 3 continuous live sam and an intermittent live stream 16. The method of claim 1, where said method further includes the step of filtering sad image files having an RGR value below a User-defined color threshold value 17. The method of claim 1, which further includes the step of ereating a geographic dats set corresponding to said FMV sata, 18, The method of claim 1, which further includes the step creating a photogrammetric datafile which may be pro- cessed by photogmmmctric analysis software 19, A computer system having memory and processing ‘eomponents including: 1 receiver component for receiving FMV data; 4 parsing component for receiving FMV data and parsing said FMV data input to produce image files andl meta- data files a8 ouput ‘an extraction component for receiving suid metadata fles ‘a8 input extracting and storing si metadata values focal length processing component which receives FOV horizontal and vertical dimension variables (POV,, and FOV, ) as input and produces focal length value (3s ‘utp fn angle processing component which receives sensor ‘values as as input and produces yaw angle (o) value and pitch angle (¢) values as output; data matsix object which includes at least one data staucture for storing position coordinate values and a ‘virtual processing component for calculating distance {@) between position coordinate valves for image file pairs first virtual processor which iteratively roseives values for distance (J) as input for each image frame and ‘computes said distance () a proximity vale thrsh- ‘ld to filters said image files for futher processing: 4 cluster verification viral processing component which iteratively compares image file position coordinates to cluster center coordinates, of center of sad luster and said yaw angle (0); and ‘nd an indexing component for associating a caster index ‘value wih cach image ile to idenify the cluster with, which the image is associated 20. The method of claim 19 which further includes the step of calculating sensor position values selected from a ‘cup consisting of variables selected from a group of ‘Variables consisting of one oF more sensor altitude change values (Ay), one or more lateral position ehange values of ‘(4x one or more values representing distance sensor said field of view (R.) and one or more values representing altitude of suid sensor (h),