JP2004070475A - Topography observation system and its method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To precisely observe a geography or the like in an disaster by monitoring the ground in an optional range to be formed into a three-dimensional image. <P>SOLUTION: When the natural disaster such as an earthquake is generated, a high-altitude flying body 2 frying in the stratosphere in the sky of about 20 thousand meters of altitude photographs an image on the ground by a camera 2a while turning around a specified area where the disaster is occurred, so as to transmit it together with a camera parameter to a radio reception part 6 via a radio relay station 3. The received image and camera parameter are stored in a database 7, and the number is imparted to each frame photographed in an optional camera position in every time series. Frame images thereof are composed respectively by an image processing part 8 to generate the three-dimensional topographic image. The topographic image is distributed to image display terminals 5<SB>1</SB>to 5<SB>n</SB>by a control part 10 via communication line TL. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a terrain observation system and method, and more particularly, to a technology effective when applied to three-dimensional imaging of terrain at the time of a disaster or the like.
[0002]
[Prior art]
For example, in the event of a natural disaster such as an earthquake or a typhoon, when investigating the damage situation, it is common for investigators to go to the site and conduct on-site surveys, or to conduct visual inspections from above using a helicopter. I have.
[0003]
[Problems to be solved by the invention]
However, the present inventor has found that the above-described techniques for investigating the state of damage during a disaster have the following problems.
[0004]
That is, when an investigator goes to the site, if the road collapses due to an earthquake or the like, the transportation system becomes paralyzed, making it difficult to go to the site. In addition, even if an investigator arrives at the site, it will take a considerable amount of time to investigate the damage situation over a wide area, and there is a risk that the situation may be impaired.
[0005]
Further, in the investigation of the damage situation from the sky by a helicopter or the like, there is a problem that a reconnaissance aircraft such as a helicopter cannot fly in bad weather such as a typhoon or heavy rain.
[0006]
SUMMARY OF THE INVENTION An object of the present invention is to provide a terrain observation system and a method thereof capable of monitoring the terrain in an arbitrary range to produce a three-dimensional image and performing terrain observation at the time of disaster with high accuracy.
[0007]
[Means for Solving the Problems]
A terrain observation system according to the present invention is connected to a communication line, generates a three-dimensional terrain image from a received image and data parameters, provides a three-dimensional terrain image, and captures a terrain image. Means for capturing a terrain image by the photographing means while turning around a certain area in the atmosphere and transmitting the terrain image together with data parameters to the three-dimensional image generating means; and a communication line connected to a communication line. And a terminal for receiving and displaying the three-dimensional terrain image generated by the three-dimensional image generation means.
[0008]
Further, in the terrain observation system of the present invention, the three-dimensional image generation means may include a receiving unit that receives the terrain image transmitted from the flying object and the data parameter, and a database that stores the received terrain image and the data parameter. Among the received terrain images, a frame processing unit that extracts each frame image taken at an arbitrary position in time series, and performs image processing on each frame image extracted from the frame processing unit based on data parameters, An image processing unit that generates a three-dimensional topographic image.
[0009]
Furthermore, the terrain observation system of the present invention is characterized in that the flying height of the flying object is in the stratosphere.
[0010]
In addition, the terrain observation method of the present invention includes a step of transmitting an image of terrain photographed together with data parameters from a flying object that turns an arbitrary area, and an image processing unit that performs image processing using the data parameters. Processing, generating a three-dimensional terrain image, distributing the three-dimensional terrain image to a terminal via a communication line, and displaying the three-dimensional terrain image on the terminal.
[0011]
Further, in the terrain observation method according to the present invention, the step of generating the three-dimensional terrain image includes a step of, in a time series, a frame processing unit taking out each frame image photographed at an arbitrary position in the received video. And a step of generating a three-dimensional terrain image by performing an image processing on the extracted frame image for each time series using a data parameter.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0013]
FIG. 1 is a configuration diagram of a terrain observation system according to an embodiment of the present invention, and FIG. 2 is a flowchart showing operations in the terrain observation system of FIG.
[0014]
In the present embodiment, the terrain observation system 1 is a system for monitoring an arbitrary range of the ground and providing it as a three-dimensional image. Terrain observation system 1 includes, as shown in FIG. 1, a high altitude aircraft (aircraft) 2, the radio relay base 3,3-dimensional image generation unit 4, and a plurality of image display terminals (terminal) 5 ₁ to 5 _n, etc. It is composed of
[0015]
The high altitude flying vehicle 2 makes a round flight in a region with a stratosphere above an altitude of about 20,000 meters, for example. The high-altitude flying object 2 can realize a stable flight without being influenced by weather conditions by flying in the stratosphere at an altitude of about 20,000 meters, and can reduce the flight cost.
[0016]
The high-altitude flying vehicle 2 includes a camera (photographing means) 2a, a camera control unit, and a flying vehicle control unit. The camera 2a acquires a terrain image in an arbitrary range.
[0017]
The camera 2a is composed of a CCD (Charge Coupled Device) camera, a synthetic aperture radar, and the like. The CCD camera is used for photographing in the daytime or the like, and the synthetic aperture radar is used for photographing in bad weather or at night.
[0018]
The camera control unit collects information such as camera parameters (data parameters) of the camera 2a and transmits the information together with the video of the camera 2a to the wireless relay base 3. The flying object control unit manages all controls related to the flight of the high altitude flying object 2, and controls a turning area, a turning course, and the like.
[0019]
The radio relay base 3 is provided for each certain area, and performs information communication between the high-altitude flying vehicle 2 and the three-dimensional image generating means 4 and, at the same time, displays images of the terrain captured by the camera 2a of the high-altitude flying vehicle 2. Receive radio waves.
[0020]
The three-dimensional image generating means 4 includes a wireless receiving unit 6, a database 7, an image processing unit 8, a display 9, a control unit 10, and the like. The control unit 10 is connected to the wireless receiving unit 6 and transmits and receives information to and from the high-altitude flying object 2 via the wireless relay base 3.
[0021]
The control unit 10 is connected to the database 7, the image processing unit 8, and the display 9. The control unit 10 controls all controls in the three-dimensional image generation unit 4.
[0022]
The database 7 stores images captured from the camera 2a of the high altitude flying object 2, information used for image processing, and the like. The image processing unit 8 performs image processing on the video stored in the database 6 to generate a three-dimensional image. The display 9 displays a three-dimensional image or the like generated by the image processing unit 8.
[0023]
The image display terminal 5 ₁ to 5 _n, for example, communications, such as police or fire department, or is provided such as local government, Internet 3D terrain image 3-dimensional image generating unit 4 grounds delivery or dedicated line, Received via the line TL and displayed.
[0024]
In addition, when the Internet is used, a three-dimensional topographic image can be instantaneously distributed not only in Japan but also all over the world simply by providing an image display terminal.
[0025]
Next, the operation of the terrain observation system 1 according to the present embodiment will be described with reference to the flowcharts in FIGS.
[0026]
First, when a natural disaster such as an earthquake occurs, the high-altitude flying object 2 captures an image of the ground using the camera 2a while turning around a specific damaged area (step S101). The video is transmitted by the camera control unit 2b together with the camera parameters (Step S102).
[0027]
The camera parameters are composed of internal parameters, external parameters, and spherical distortion parameters.
[0028]
The internal parameter is a parameter representing the property of the projection conversion among the properties of the optical system in the camera 2a. The external parameter is a parameter representing the position of the camera among the properties of the optical system in the camera 2a. The spherical distortion parameter is a parameter indicating the degree of spherical distortion of the camera 2a.
[0029]
The video and camera parameters transmitted from the high-altitude flying vehicle 2 are received by the wireless receiving unit 6 via the wireless relay base 3. The control unit 10 stores the received video and camera parameters in the database 6 (Step S103).
[0030]
After that, the control unit 10 extracts, from the database 6, each frame captured at an arbitrary camera position from the video for each time series (step S104). For example, it is assumed that the circumference of a certain area where the high altitude flying object 2 turns is divided into about 16 to 64, and a frame image of a video photographed at the divided position is extracted. Therefore, in the case of 16 divisions, it is the same as when an image is captured from 16 fixed pseudo cameras.
[0031]
The division of the turning circle is arbitrary, and is appropriately changed according to the size of the circle around which the high altitude flying object 2 turns.
[0032]
Then, the control unit 10 assigns a frame number to the extracted frame image with the frame at a certain position as the head (step S105), and outputs the frame number to the image processing unit 8.
[0033]
The image processing unit 8 combines the input frame images to generate a three-dimensional topographic image (step S106).
[0034]
Here, image processing by the image processing unit 8 will be described.
[0035]
Corresponding points are extracted from the input frame image by a so-called multi-baseline stereo method or the like, and a distance image representing a distance to an object in a three-dimensional space calculated for each pixel from the positional relationship is output.
[0036]
Thereafter, the range images for each frame are fused in a voxel space obtained by discretizing the target volume space, and a voxel occupancy indicating a possibility that each voxel in the voxel space is occupied by an object is obtained.
[0037]
Then, a set of surfaces where the calculated voxel occupancy is zero is extracted as a three-dimensional polygon mesh as an object surface, and polygon reduction is performed to reduce the number of three-dimensional polygon meshes so as not to destroy the minute shape. To generate a three-dimensional model. The three-dimensional model is integrated for all triangular meshes and output as a texture map.
[0038]
Thereafter, a three-dimensional topographic image from an arbitrary viewpoint is generated from an interactive viewpoint image, a fixed viewpoint image, a super-resolution image, or the like.
[0039]
In the case of an interactive viewpoint image, the three-dimensional model and the texture map are respectively integrated, and a lettering image is synthesized by lettering in the virtual viewpoint.
[0040]
In the case of a fixed viewpoint image, the trajectory of the virtual camera viewpoint is calculated from the virtual camera viewpoint set for each frame by a supplementary process, and the virtual viewpoint image is calculated from the calculated trajectory.
[0041]
In the super-resolution image, a lettering into a three-dimensional shape is performed using the frame image itself without using the texture map, and a high-resolution lettering image that is not limited by the size of the texture map is synthesized.
[0042]
Thus three-dimensional terrain image image-processed by the image processing unit 8 is delivered to the image display terminal 5 ₁ to 5 _n through the communication line TL by the control unit 10 (step S107). Also, three-dimensional terrain images, high-altitude aircraft 2 is delivered to the image display terminal 5 ₁ to 5 _n is updated every turning one revolution.
[0043]
Three-dimensional image of the terrain, which is displayed on the image display terminal 5 ₁ ~5 _n is, for example, and shelter induction at the time of natural disasters such as earthquakes, collapsed cliffs, used in the bridge, such as the investigation of the damage situation such as roads of collapse be able to.
[0044]
Thus, according to the present embodiment, it is possible to provide a realistic three-dimensional topographic image in a short time and with high accuracy at the time of a natural disaster or the like. Can be observed in detail.
[0045]
In addition, since the image is updated periodically, the change of the damage situation can be immediately grasped, so that an evacuation route can be guided accurately.
[0046]
The present invention is not limited to the above-described embodiment, and it goes without saying that various changes can be made without departing from the scope of the invention.
[0047]
For example, in the above embodiment, the provision of the three-dimensional terrain image at the time of a natural disaster has been described. However, the three-dimensional terrain image obtained by the terrain observation system can be used for observing a nuclear power plant, etc. Damage situation), or various observations such as volcanic activity.
[0048]
【The invention's effect】
(1) According to the present invention, a three-dimensional topographic image of an arbitrary area can be distributed in a short time and with high accuracy, so that even information that changes every moment such as a disaster situation can be accurately provided. can do.
[0049]
(2) According to the above (1), changes in the damage situation can be grasped, so that an evacuation route can be accurately guided at the time of a natural disaster such as an earthquake.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a terrain observation system according to an embodiment of the present invention.
FIG. 2 is a flowchart showing an operation in the terrain observation system of FIG. 1;
[Explanation of symbols]
1 Terrain observation system 2 High altitude flying object (flying object)
2a Camera (photographing means)
3 radio relay base 4 3-dimensional image generating means ₅ 1 to 5 _n image display terminal (terminal)
6 wireless receiving unit 7 database 8 image processing unit 9 display 10 control unit TL communication line

Claims (5)

A three-dimensional image generating means connected to the communication line, generating a three-dimensional terrain image from the received video and data parameters, and providing the three-dimensional terrain image;
A shooting means for photographing a terrain image is provided, and while taking an orbit around an area in the atmosphere, the terrain image is captured by the photographing means, and the terrain image is transmitted to the three-dimensional image generation means together with data parameters; ,
And a terminal connected to the communication line and receiving and displaying the three-dimensional topographic image generated by the three-dimensional image generating means. The terrain observation system according to claim 1,
The three-dimensional image generating means includes:
A receiving unit that receives the terrain image and data parameters transmitted from the flying object,
A database for storing the received terrain images and data parameters,
A frame processing unit that takes out each frame image taken at an arbitrary position in the received terrain image in time series,
A terrain observation system comprising: an image processing unit that performs image processing on each frame image extracted from the frame processing unit based on a data parameter to generate a three-dimensional terrain image. 3. The terrain observation system according to claim 1, wherein the flying height of the flying object is a stratosphere. Transmitting an image of the terrain taken together with the data parameters from the flying object turning in an arbitrary area;
An image processing unit performs image processing on the received video using the data parameter to generate a three-dimensional terrain image,
Distributing the three-dimensional terrain image to a terminal via a communication line and displaying the three-dimensional terrain image on the terminal. The terrain observation method according to claim 4,
The step of generating the three-dimensional terrain image includes:
Of the received video, each frame image taken at an arbitrary position, the frame processing unit to take out a time series,
Using the data parameters to process the extracted frame images for each time series to generate a three-dimensional topographic image.

Images