JP2004085555A - Surveying system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To display survey information with a high level of visibility by associating the survey information obtained from a surveying device with image information on a survey site obtained from a camera easily and efficiently. <P>SOLUTION: An overview image of a survey site is taken by a digital still camera 20. Three reference points P<SB>1</SB>, P<SB>2</SB>and P<SB>3</SB>are specified on the overview image. Positions of the reference points P<SB>1</SB>, P<SB>2</SB>and P<SB>3</SB>are surveyed by a survey device such as a total station or the like. Position and inclination of the camera 20 against the device 10 are calculated from the positions of the points P<SB>1</SB>, P<SB>2</SB>and P<SB>3</SB>on the actual space and the positions of the points P<SB>1</SB>, P<SB>2</SB>and P<SB>3</SB>on the overview image. Arbitrary points Q<SB>1</SB>, Q<SB>2</SB>and Q<SB>3</SB>within the overview image are surveyed with the survey device 10. The points Q<SB>1</SB>, Q<SB>2</SB>and Q<SB>3</SB>are displayed on the overview image from the position and inclination of the camera 20. When a plurality of points overlap on the overview image, a display is provided with the area to indicate that points are overlapped in the area. <P>COPYRIGHT: (C)2004,JPO

Description

ここで行列｛Ｔ_ｊｋ｝は回転行列であり、各成分Ｔ_ｊｋは例えば次式で表される。
Ｔ_１１＝ｃｏｓφ・ｃｏｓκ
Ｔ_１２＝ｃｏｓω・ｓｉｎκ＋ｓｉｎω・ｓｉｎφ・ｃｏｓκ
Ｔ_１３＝ｓｉｎω・ｓｉｎκ−ｃｏｓω・ｓｉｎφ・ｃｏｓκ
Ｔ_２１＝−ｃｏｓφ・ｓｉｎκ
Ｔ_２２＝ｃｏｓω・ｃｏｓκ−ｓｉｎω・ｓｉｎφ・ｓｉｎκ
Ｔ_２３＝ｓｉｎω・ｃｏｓκ＋ｃｏｓω・ｓｉｎφ・ｓｉｎκ
Ｔ_３１＝ｓｉｎφ
Ｔ_３２＝−ｓｉｎω・ｃｏｓφ
Ｔ_３３＝ｃｏｓω・ｃｏｓφ
【００３９】
また基準点Ｐ_ｉに対応する像点Ｐ_ｉ’の内部定位要素による補正前のスクリーン座標（ｓｐ_ｉ’，ｔｐ_ｉ’）は、撮影された基準点、投影中心、およびその像点が同一直線上にあるという共線条件から外部標定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）、及び基準点Ｐ_ｉのカメラ座標（ｘｐ_ｉ，ｙｐ_ｉ，ｚｐ_ｉ）を用いて次の（２）式により求められる。
【数２】

【００４０】
補正前のスクリーン座標（ｓｐ_ｉ’，ｔｐ_ｉ’）は、ディスト−ション等の影響を受けているが、これらは、（３）式に、各々の像点のＰ_ｉ’のスクリーン座標（ｓｐ_ｉ’，ｔｐ_ｉ’）及び近似的な内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）を代入することにより補正される。すなわち、（３）式により補正後の近似的なスクリーン座標（ｓｃｐ_ｉ’，ｔｃｐ_ｉ’）が算出される。
【数３】

【００４１】
像点Ｐ_ｉ’の近似的な画像座標（ｘｐ_Ｇｉ’，ｙｐ_Ｇｉ’）は補正された近似的なスクリーン座標（ｓｃｐ_Ｇｉ’，ｔｃｐ_Ｇｉ’）を次の（４）式に代入することにより求められる。
【数４】

ここで、Ｐｘ、ＰｙはそれぞれＣＣＤの水平、垂直方向の画素ピッチであり、Ｗ、Ｈはそれぞれ画像の水平、垂直方向のピクセル数である。
【００４２】
ステップＳ２０３では、近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）及び内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）の値が適切か否かを判定するためのメリット関数Φが計算される。メリット関数Φは例えば（５）式で定義される。
【数５】

すなわち、本実施形態においてメリット関数Φは概観画像上で指定された基準点Ｐ_ｉの像点Ｐ_ｉ’の画像座標（ｘｐ_ｉ’，ｙｐ_ｉ’）と、測量により求められた基準点Ｐ_ｉの測量座標（Ｘｐ_ｉ，Ｙｐ_ｉ，Ｚｐ_ｉ）および近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）及び内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）から求められた像点Ｐ_ｉ’の近似的な画像座標（ｘｐ_Ｇｉ’，ｙｐ_Ｇｉ’）との間の距離の２乗に対応している。
【００４３】
次にステップＳ２０４において、メリット関数Φが所定値よりも小さいか否かが判定される。すなわち、近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）及び内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）による像点Ｐ_ｉ’の近似的な画像座標（ｘｐ_Ｇｉ’，ｙｐ_Ｇｉ’）が、概観画像上で指定された基準点Ｐ_ｉの像点Ｐ_ｉ’の画像座標（ｘｐ_ｉ’，ｙｐ_ｉ’）に十分近いか否かが判定される。Φ＜所定値の場合にはこの処理は終了し、現在与えられている外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）及び内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）の値を、概観画像撮影時のカメラの位置、傾き、及び内部定位を表す外部標定要素であるとする。
【００４４】
一方、ステップＳ２０４においてΦ≧所定値であると判定された場合には、ステップＳ２０５において近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）及び内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）に対する補正量（δＸ，δＹ，δＺ，δω，δφ，δκ，δｆ，δＤ_２，δＤ_４，δＤ_６，δＮ_１，δＮ_２，δＸ_Ｃ，δＹ_Ｃ）が例えば最小二乗法により求められる。すなわち、共線条件である（２）式の（ｓｐ_ｉ’，ｔｐ_ｉ’）に（３）式の（ｓｃｐ_ｉ’，ｔｃｐ_ｉ’）を代入し、近似値である外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）及び内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）の周りにテイラー展開し高次の項を省いて線形化する。この線形化された式において補正量（δＸ，δＹ，δＺ，δω，δφ，δκ，δｆ，δＤ_２，δＤ_４，δＤ_６，δＮ_１，δＮ_２，δＸ_Ｃ，δＹ_Ｃ）を未知量とする正規方程式を作成し、適正な補正量（δＸ，δＹ，δＺ，δω，δφ，δκ，δｆ，δＤ_２，δＤ_４，δＤ_６，δＮ_１，δＮ_２，δＸ_Ｃ，δＹ_Ｃ）を求める。
【００４５】
ステップＳ２０６では、ステップＳ２０５において算出された補正量（δＸ，δＹ，δＺ，δω，δφ，δκ，δｆ，δＤ_２，δＤ_４，δＤ_６，δＮ_１，δＮ_２，δＸ_Ｃ，δＹ_Ｃ）に基づいて近似値である外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）及び内部定位要素（ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）の値が更新される。すなわち、（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ，ｆ_Ｇ，Ｄ_２Ｇ，Ｄ_４Ｇ，Ｄ_６Ｇ，Ｎ_１Ｇ，Ｎ_２Ｇ，Ｘ_ＣＧ，Ｙ_ＣＧ）の各値は、それぞれ（Ｘ_ＧＯ＋δＸ，Ｙ_ＧＯ＋δＹ，Ｚ_ＧＯ＋δＺ，ω_Ｇ＋δω，φ_Ｇ＋δφ，κ_Ｇ＋δκ，ｆ_Ｇ＋δｆ，Ｄ_２Ｇ＋δＤ_２，Ｄ_４Ｇ＋δＤ_４，Ｄ_６Ｇ＋δＤ_６，Ｎ_１Ｇ＋δＮ_１，Ｎ_２Ｇ＋δＤ_２，Ｘ_ＣＧ＋δＸ_Ｃ，Ｙ_ＣＧ＋δＹ_Ｃ）に置き換えられカメラの位置及び内部定位が更新される。その後処理はステップＳ２０２へ戻り、ステップＳ２０４においてΦ＜所定値と判定されるまでステップＳ２０２〜ステップＳ２０６が繰り返し実行される。
【００４６】
空間後方交会法により撮影時のデジタルスチルカメラ２０の位置および傾きを示す外部標定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）と内部定位要素（ｆ，Ｄ_２，Ｄ_４，Ｄ_６，Ｎ_１，Ｎ_２，Ｘ_Ｃ，Ｙ_Ｃ）が算出されると、図２、４のステップＳ１０５、Ｓ１１０で測量される測点に対応する像点の画像座標は、測量された斜距離および高度角から算出された測点の測量座標と、空間後方交会法により算出された外部標定要素及び内部定位要素の値とから（１）式〜（５）式を用いて求められる。ステップＳ１０６、Ｓ１１６では、この画像座標に基づいて概観画像上の測点に対応する位置（画素）に測点を示すマークまたは測定値を表示する。また、算出された内部定位要素は例えば記録媒体４２（図１参照）に記憶される。
【００４７】
次に図７〜図９を参照して、図２、３のステップＳ１０６、Ｓ１１６における測量支援装置４０の画像表示装置４３への測点の表示方法について説明する。
【００４８】
図７は、測点表示を行なうウィンドウＷＮ０の基本となる表示状態を示したものである。ウィンドウＷＮ０の最上部のタイトルバーＴＢには、最小化ボタン、最大化ボタン、クローズボックスの３つのボタンが右隅に配置されており、タイトルバーＴＢの下にはメインメニュＭＭが配置されている。更にメインメニュＭＭの下には、複数のボタンを有するボタンメニュＢＭが配置されており、ボタンメニュＢＭの下には、テキストボックスＴＸ１〜ＴＸ８が配置されている。
【００４９】
テキストボックスＴＸ１〜ＴＸ８は、測点に関する測量データを表示するためのボックスであり、上側のテキストボックスＴＸ１〜ＴＸ４は下側のテキストボックスＴＸ５〜ＴＸ８に表示される内容の項目を表わしている。テキストボックスＴＸ５には測点名が表示され、テキストボックスＴＸ６〜ＴＸ８には、テキストボックスＴＸ５に表示された測点のＸ座標値、Ｙ座標値、Ｚ座標値等の測量データが表示される。
【００５０】
テキストボックスＴＸ５〜ＴＸ８の下には、概観画像を表示するための画像表示領域ＩＭが配置されている。画像表示領域ＩＭの右側には、概観画像を上下方向にスクロールするためのスクロールバーＳＣ１が画像表示領域ＩＭの辺に沿って配置されている。また、画像表示領域ＩＭの下側には、概観画像を左右方向にスクロールするためのスクロールバーＳＣ２が下辺に沿って配置されている。
【００５１】
画像表示領域ＩＭ内の概観画像上には、測量された測点Ｑ−１〜Ｑ−１１が例えば黒丸として表示される。しかし、複数の測点が略同一視線方向に存在する場合、各測点の概観画像上の位置が１つの画素に集中してしまい判別し難くなる。また、例えば測点Ｑ−１〜Ｑ−３のように各測点が密集する場合にも、それぞれの測点が例えば隣接、あるいは近接する画素に対応するため、各測点を判別することは困難となる。すなわち、３次元の測量データとしては、異なる値をもつ複数の測点であっても、２次元に射影された概観画像上では複数の測点（あるいは測点を表すマーク）が重なってしまい（以下このような状態を縮退と呼ぶ）、その一部が画像上から消失してしまう。
【００５２】
以上のことから、第１の実施形態では、図８のフローチャートに示される手順で縮退された測点の表示を行なう。
【００５３】
まず、ステップＳ３０１において、オペレータはポインティングデバイス（入力装置４１）を用いて画像表示領域ＩＭ内の一点（例えば一画素）を指定し、ボタンメニュＢＭの縮退ボタンＤＢをＯＮ状態とする。例えばポインティングデバイスとしては、タッチパネルとポインティングペンが用いられ、オペレータが、画像表示領域ＩＭ内の１つの画素をポインティングペンでタップすることによりその画素が選択される。その後縮退ボタンＤＢがポインティングペンでタップされるとステップＳ３０２以下の処理が実行される。
【００５４】
ステップＳ３０２では、ポインティングペンで指定・選択された画素から一定の範囲にある画素に対応する測点を検索する。ステップＳ３０３では、検索された測点名とその３次元座標値のリストを図９のようなリストボックスとして画像表示装置４３に表示する（測点に係る他の情報も合わせて表示してもよい）。３次元座標値としては、測量座標系やカメラ座標系等の座標値が用いられる。座標値の表示に用いられる座標系は、所定の操作により切換可能であり、リストに表示される測点の順序は、選択された座標系における測点の奥行き方向の座標値に応じて決定される。また、各座標系毎に別々のリストに表示することも可能である。ステップＳ３０４では、オペレータによりポインティングペンを用いてリストボックスの中から所望の測点が選択される。ステップＳ３０５では、図７の画像表示領域ＩＭにおいてステップＳ３０４で選択された測点に対応するマークのみが表示され、テキストボックスＴＸ５〜ＴＸ８には、ステップＳ３０４で選択された測点の測点名と３次元座標値が表示される。これにより、この処理は終了する。
【００５５】
なお、図９のリストボックスやテキストボックスＴＸ５〜ＴＸ８に記載された座標値は説明の便宜上記載されたものであり、画像表示領域ＩＭに示された測点の位置に幾何学的に対応するものではない。このことは、以下の各実施形態における測点の位置や座標値等の各値についても同様である。
【００５６】
以上のように、第１の実施形態によれば、複数の測点が密集あるいは同一視線方向に存在し、複数の測点が概観画像上において縮退する場合にも、縮退した領域の画素をオペレータが指定すると、その近傍に射影される測点のリストが表示されるので、測点の見落としや測量忘れなどが防止される。また、リストで選択された測点の位置が概観画像上に示され、その３次元座標値も表示されるので、概観画像上において複数の測点が縮退されている場合にも、視覚的かつ計量的に測点の位置を正確に把握することができる。
【００５７】
次に図７、図１０を参照して本発明の第２の実施形態について説明する。第２の実施形態の構成は、第１の実施形態と略同様であり、縮退された測点の表示方法のみが第１の実施形態と異なる。
【００５８】
第２の実施形態では、図７の画面において、オペレータが縮退ボタンＤＢをタップすると、画像表示領域ＩＭは、図１０のように、各測点の配置を水平面に射影して表現する。なお、各測点の水平面への射影は、測点の３次元座標に基づいて行なわれる。概観画像上では縮退している測点でも、水平面内では縮退していないので（特に複数の測点が同一視線方向にあって縮退している場合）、各測点の存在を正確に把握することが可能となる。また、水平面図において、任意の測点が指定されると、その測点の測点名と３次元座標値がテキストボックスＴＸ５〜ＴＸ８に表示される。
【００５９】
以上により第２の実施形態においても、第１の実施形態と略同様な効果が得られる。また、第２の実施形態では、測点が水平面上に表示されるので、概観画像上において縮退された測点の配置をより視覚的に把握することができる。
【００６０】
なお、水平面の換わりに任意に指定された平面（例えば鉛直面）に測点を射影して表示してもよい。
【００６１】
次に図７、図１１を参照して本発明の第３の実施形態について説明する。第３の実施形態の構成は、第１の実施形態と略同様であり、縮退された測点の表示方法のみが第１の実施形態と異なる。
【００６２】
第３の実施形態では、オペレータは図７の画面において縮退された測点を含む領域を例えばポインティングペンを用いて指定する。指定される領域は、例えば四辺形や円形である。図１１には、指定される領域が四辺形の場合を示している。例えばオペレータがポインティングペンを用いて画像表示領域ＩＭ内の２点を指定するとこの２点を対角線とする四辺形領域Ａが画定される。
【００６３】
縮退された測点（例えば白丸で表示）を含む領域Ａが画定されるとその領域を囲む枠が表示される。その後縮退ボタンＤＢがタップされると、スクロールバーＳＣ２の下に領域Ａを拡大して表示するダイアログボックスＤＧ１が現れる。ダイアログボックスＤＧ１の拡大画像内において測点が選択されると、その測点の表示が他の測点とは異なる表示に変更される。これと連動して、テキストボックスＴＸ５〜ＴＸ８には選択された測点の測点名と３次元座標値が表示され、画像表示領域ＩＭの概観画像の対応する測点の表示も変更される（例えば白丸内に黒丸を表示）。
【００６４】
以上のように、第３の実施形態によれば、第１の実施形態と略同様の効果を得ることができる。また、第３の実施形態では、指定された領域が拡大表示されるので実空間において測点が密集している場合などにも有効である。
【００６５】
なお、枠により画定された領域Ａはドラッグできるようにしてもよい。また、第１の実施形態のように指定された画素の周りの所定の範囲を拡大してもよく、この場合領域を画定する枠はなくともよい。
【００６６】
次に図７、図１２を参照して本発明の第４の実施形態について説明する。第４の実施形態の構成は、第３の実施形態と略同様であり、縮退された測点の表示方法のみが第１の実施形態と異なる。
【００６７】
第３の実施形態では、領域Ａを指定した後縮退ボタンＤＢをＯＮすると、領域Ａの拡大画像を表示するダイアログボックスＤＧ１が現れたが、第４の実施形態では、領域Ａを指定して縮退ボタンＤＢをＯＮすると、第３の実施形態のダイアログボックスＤＧ１の位置にダイアログボックスＤＧ２が表示される。ダイアログボックスＤＧ２には、指定された領域Ａ内に存在する測点を画像の奥行き方向の距離（座標値）に応じてバーグラフＢＧでその位置を表わす。バーグラフＢＧの上側には、バーに沿って、奥行き方向の距離（例えば５ｍ、６ｍ等）が表示される。バーグラフＢＧ内には、領域Ａ内に存在する測点に対応するボックス状のマーク（例えばＭ１、Ｍ２、Ｍ３）が表示される。バーグラフＢＧの下側には、バーグラフＢＧ内に表示された測点のマークＭ１、Ｍ２、Ｍ３に対して、それぞれの測点の測点名（例えばＱ−１、Ｑ−２、Ｑ−３）が表示される。
【００６８】
バーグラフＢＧ内の斜線で示された領域は、ダイアログボックスＤＧ２の表示の対象となる奥行き方向の範囲を示している。すなわち、バーグラフＢＧ内には、奥行き方向の座標値が斜線で示された範囲内にある測点のみが表示される。この範囲（斜線領域）は、例えばバーグラフＢＧの下に配置されたスクロールバーＳＣ３により設定される。図１２では、表示の対象となる範囲（斜線領域）の上限をスクロールバーＳＣ３で指定しているが、範囲の下限を指定してもよい。なお、テキストボックス等での数値入力により、表示の対象となる範囲（斜線領域）の上限・下限を指定することも可能である。また、バーグラフＢＧが参照するスケールを拡大／縮小可能としてもよい。すなわち、図１２では、略５ｍ弱〜８ｍ強の範囲がバーグラフＢＧとして表示されているが、これを例えば６ｍ〜７ｍの範囲に拡大表示してもよい。
【００６９】
バーグラフＢＧに表示されたマークの中から所望の測点（例えばＱ−３）に対応するマーク（例えばＭ２）を選択すると、そのマーク（Ｍ２）の表示が他のマーク（Ｍ１、Ｍ３）とは異なる表示に変更される（本実施形態では、白抜きのボックス中央に横棒が追加される）。また、これに連動して、テキストボックスＴＸ５〜ＴＸ８には選択された測点の測点名と３次元座標値が表示され、画像表示領域ＩＭに表示された概観画像の対応する測点の表示も変更される。
【００７０】
以上のように、第４の実施形態においても、第１の実施形態と略同様の効果を得ることができる。
【００７１】
次に図７、図１３及び図１４を参照して第５の実施形態について説明する。第５の実施形態の構成は、第１〜第４の実施形態と略同様であり、縮退された測点の表示方法のみが第１の実施形態と異なる。
【００７２】
第５の実施形態では、画像表示領域ＩＭの概観画像上において測点の縮退を明示的に表示する方法を提供する。例えば図７の画面において、縮退ボタンＤＢがオンされると、画像表示領域ＩＭの概観画像が、図１３に示されるように変更される。
【００７３】
測点は、画像の奥行き方向の座標値に対応した径を持つ円で表される。例えば、測点を表わす円の直径は測点の奥行き方向の座標値の大きさに比例して大きく、又は小さくなり、２つ以上の円が重なる場合には、図１３に示されるように径の小さい円が径の大きい円の上に張付けられて表示される。また、同一視線上に複数の測点が存在する場合には、図１４のように、複数の同心円によって表わされる。例えば、第１の実施形態のようにオペレータが概観画像上の縮退した領域付近の画素を選択すると、選択された画素から所定の画素範囲にある測点が検索されシステムコントロール回路４４内のメモリに保持されるとともに、例えば最もカメラに近い測点が選択される。すなわち、テキストボックスＴＸ５〜ＴＸ８には指定領域の内のカメラに最も近い測点の測点名と３次元座標値が表示される。オペレータが更に選択した領域の画素をタップすると、メモリに保持された測点の中から順次遠方の測点が選択されテキストボックスＴＸ５〜ＴＸ８に表示される。この処理は循環的に行なわれ、選択が最も遠方の測点に達すると、次にタップされたときには、最も近い測点が再び選択される。
【００７４】
次に第５の実施形態に対する変形例について図１５、図１６を参照して説明する。図１５の表示では、縮退により複数の円が重なっている場合には、円を異なる色で塗りつぶし、複数の測点が同一視線方向にある場合には、図１６のような表示となる。このとき、円を塗りつぶす色は、例えば所定のグラディエーションで行なわれ、例えば、測点の奥行き方向の座標値に対応して遠い測点ほど暗い色で表示する。なお、その他の点に関しては、第５の実施形態の説明と同様である。
【００７５】
以上のように、本発明の第５の実施形態においても第１〜第４の実施形態と略同様の効果を得ることができる。また、第５の実施形態では、概観画像上において縮退領域が明示的に示されるので、オペレータは、より簡単に測点の縮退位置を概観画像上で確認することが可能となる。また、変形例では、それぞれの円が異なる色で表示されるので、それぞれの測点をより容易に識別することが可能となる。
【００７６】
なお、第５の実施形態においては、メモリに保持された測点が順次繰り返し選択されたが、ポインティングペン等のポインティングデバイスで個々の円を選択可能な場合には、ポインティングデバイスを用いてオペレータが直接所望の測点を選択してもよい。
【００７７】
次に図１７を参照して本発明の第６の実施形態について説明する。第６の実施形態は、第５の実施形態と略同様であり、図１７は第５の実施形態の図１３又は図１５に対応する。第５の実施形態では、大きさの異なる円を用いて縮退している複数の測点を概観画像上に表わしたが、第６の実施形態では、異なる形状の図形を用いて縮退した状態を表わしている。例えば図１７に示すように、第６の実施形態では、縮退していない測点（単点）は円で表わし、２つの測点が近接し、そのマークが重なる（縮退する）場合には、×印を表示し、３つ以上の測点が縮退する場合には、縮退した測点の数に対応した頂点を持つ正多角形を表示する。多角形の各頂点はその領域で縮退した各測点に対応しており、オペレータがポインティングデバイスを用いて所望の頂点を指定すると、その頂点に対応した測点に対応する測点名と３次元座標値がテキストボックスＴＸ５〜ＴＸ８に表示される。また、各辺の位置に測点の位置を対応（上側から時計周りに各辺を、近距離側からの測点に対応させ、辺選択により測点番号、３次元座標を表示）させてもよい。なお、図１７は、本実施形態における表示方法を例示すものであり図７の測点の数とは一致しない。
【００７８】
図１８は、第６の実施形態の表示方法の変形例である。図１７では、異なる図形を用いて縮退した測点を概観画像上に表わしたが、変形例では、図１８のように、縮退している測点を代表する位置（例えば測点の２次元座標値の平均値に対応する位置）を円形で表わし、その円形に縮退した測点の数に対応する引出線を設け、その端に縮退している各測点名を表示する。オペレータが引出線の何れかを指定すると、その測点の測点名と３次元座標値がテキストボックスＴＸ５〜ＴＸ８に表示される。また、代表する位置で表示された測点の表示は、選択された時点で選択された測点の表示に変更してもよい。また、単点（縮退していない測点）は測点名を表示させてもよいし、させなくてもよい。
【００７９】
以上により、第６の実施形態においても、第５の実施形態と略同様の効果を得ることができる。
【００８０】
次に図１９、図２０を参照して本発明の第７の実施形態について説明する。第７の実施形態では、縮退ボタンＤＢがタップされると、図１９のように概観画像上の測点と測点の間の距離が所定の範囲内にあり、複数の測点が例えば縮退した１つのクラスターと判定される場合に、例えば縮退した複数の測点の中心位置に、縮退した測点の数に対応する大きさのマーク（例えば円）を表示する。なお、縮退の有無に基づいて２種類の大きさのマークを表示しても良い。また、変形例としては、図２０のように、縮退している位置に表示するマークの色と、縮退していない測点のマークの色とを異なる色で表示する。図２０では縮退している部分を複数の点で表示しているが、変形例では、縮退している測点を代表する位置（例えば測点の２次元座標値の平均値に対応する位置）を１つの円形で表わしてもよい。（図示せず）また、別の変形例としては、測点の近くに測点名を表示する場合に、表示名の違いにより単点と縮退点（複数の測点が縮退している点）を区別してもよい。例えば単点はｍ_１〜ｍ_ｎ、縮退点はＭ_１〜Ｍ_ｎ（番号は測点番号）などのように、小文字と大文字とで単点と縮退点を区別することも可能である。
【００８１】
以上により第７の実施形態においても、第６の実施形態と略同様の効果を得ることができる。
【００８２】
なお、本実施形態では、概観画像上においてポインティングデバイスを用いて任意に基準点を指定したが、撮影範囲内に例えば寸法が既知の基準尺や、任意に配置できる基準マーク等を配置し、これらを基準点として外部標定要素を求めてもよい。この場合、概観画像上において基準尺や基準マークの位置がポインティングデバイス等を用いて選択される。また基準尺や基準マークが用いられる場合には、例えば画像処理を用いて基準点の概観画像上の位置を自動的に検出してもよい。
【００８３】
本実施形態では、測量機として斜距離と（高度、水平）角度を測定可能なトータルステーションをあげたが、セオドライトに光波測距儀等組み合わせた装置等の所定の座標系における測点の３次元座標を算出可能な測量機であれば他の測量機であってもよく、例えばＧＰＳ（ｇｌｏｂａｌ　ｐｏｓｉｔｉｏｎｉｎｇ　ｓｙｓｔｅｍ）等を利用した測量機であってもよい。また、測量機において測定される角度は、高度角、水平角以外の角度であってもよく、例えば斜平面内の２点の間の角度であってもよい。
【００８４】
本実施形態では携帯端末を例に説明を行なったが、このような機能を測量機やデジタルカメラに一体的に持たせてもよい。また、本実施形態においては、デジタルスチルカメラで撮影したデジタル画像で説明したが、デジタル画像得られるものであればビデオカメラ等でもかまわない。
【００８５】
なお、第１の実施形態において、指定された画素近傍の領域に複数の測点が縮退していると判定された場合、測点のリストを表示する替わりに警告音や、測点が縮退していることを知らせるメッセージを表示してもよい。また、第１〜第６の実施形態の各表示方法を様々に組み合わすことも可能である。
【００８６】
本実施形態では、測点に関わる測量情報は測量機を用いて測量された例で説明したが、測点として、既知の地理データや、測設測量のための測設点の位置情報、入力手段により概観画像上で任意に決めた測定設定点を表示させた場合に発生した縮退に使用してもよい。また測量機で測定した測点及び上記各点を混合して表示した場合に発生した縮退に使用してもよい。
【００８７】
但し、座標系の違う測量情報を使用する場合には測量情報を座標変換により１つの座標系に統一して行なうことがよい。これは、測点を概観画像上に表示する場合や基準点の測量情報により対応づけを行なう場合も同様である。（例えば、座標系の違う測点を表示させる場合。例えば基準点として、一部所与の測量デ−タを使用する場合などは測量現場での測量座標と違う場合があり、その場合には所与の測量デ−タを座標変換して測量現場の座標値に変換して使用する。又逆を行ってもよい）
【００８８】
本実施形態では、デジタルスチルカメラ位置からの距離により、測点表示の大きさ、色等を変更したが、測量機からの距離に応じて変更してもよい。また任意座標値での値に変換してもよい。
【００８９】
【発明の効果】
以上のように、本発明によれば、測量機で得られる測量情報をカメラで得られる測量現場の画像情報に簡便かつ効率的に関連付けるとともに、関連付けられた測量情報に関して視認性の高い表示を行なうことができる。
【図面の簡単な説明】
【図１】本発明における第１の実施形態である測量システムの構成を概略的に示すブロック図である。
【図２】第１の実施形態の測量システムにおける測量手順を示すフローチャートである。
【図３】第１の実施形態の測量システムにおける測量機およびカメラの配置を概念的に示す図である。
【図４】第１の実施形態の測量システムにおける測量手順の変形例を示すフローチャートである。
【図５】３つの基準点Ｐ_１、Ｐ_２、Ｐ_３と撮像面Ｓにおける像点Ｐ_１’、Ｐ_２’、Ｐ_３’との関係を模式的に示す図である。
【図６】デジタルスチルカメラの位置および傾きを表す外部標定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）及びカメラの内部定位要素（ｆ，Ｄ_２，Ｄ_４，Ｄ_６，Ｎ_１，Ｎ_２，Ｘ_Ｃ，Ｙ_Ｃ）を算出する空間後方交会法のプログラムのフローチャートである。
【図７】概観画像を表示するウィンドウの基本的な表示例である。
【図８】第１の実施形態において縮退された測点の表示を行なうときの作業手順を示すフローチャートである。
【図９】第１の実施形態の縮退表示における測点のリスト表示である。
【図１０】第２の実施形態の縮退表示における測点の水平面表示である。
【図１１】第３の実施形態において縮退部を拡大表示するウィンドウである。
【図１２】第４の実施形態における縮退表示を行なうウィンドウである。
【図１３】第５の実施形態において概観画像上に縮退表示を行なったときのウィンドウの一例である。
【図１４】図１３において、測点が同一視線上に存在するときの測点マークの表示例である。
【図１５】第５の実施形態の変形例において概観画像上に縮退表示を行なったときのウィンドウの一例である。
【図１６】図１５において、測点が同一視線上に存在するときの測点マークの表示例である。
【図１７】第６の実施形態において概観画像上に縮退表示を行なったときのウィンドウの一例である。
【図１８】第６の実施形態の縮退した測点の表示方法の変形例である。
【図１９】第７の実施形態において概観画像上に縮退表示を行なったときのウィンドウの一例である。
【図２０】第７の実施形態の縮退した測点の表示方法の変形例である。
【符号の説明】
１０　測量機
２０　デジタルスチルカメラ
４０　測量支援装置（携帯端末）
４１　入力装置
４２　記録媒体
４３　画像表示装置
４４　システムコントロール回路[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a surveying system that involves processing surveying information.
[0002]
[Prior art]
2. Description of the Related Art In a conventional survey, a surrounding scene including a point to be surveyed (a survey point) is photographed, and a photographed image is sometimes stored together with measurement data. In such a case, for example, a method of recording a schematic landscape around the survey target using a normal camera, a method of photographing the surrounding landscape for each measurement point using an imaging device built in the surveying instrument, and the like. Is known (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-11-337336
[0004]
[Problems to be solved by the invention]
However, when photographing is performed using a normal camera, the position of the measurement point is not displayed on the photographed image, and therefore, it is not possible to know which position on the image the measurement point corresponds to. On the other hand, in the method described in Patent Literature 1, one or more images are recorded for each measurement point, so that a large-capacity recording device is required, and the handling becomes complicated.
[0005]
SUMMARY OF THE INVENTION It is an object of the present invention to easily and efficiently associate survey information obtained by a surveying instrument with image information of a survey site obtained by a camera, and to perform display with high visibility on the associated survey information.
[0006]
[Means for Solving the Problems]
The surveying system according to the present invention includes a positional relationship calculating unit configured to calculate a positional relationship between a coordinate system based on surveying information of a surveying point and an overview image of a surveying site including the surveying point. Associating means for associating survey information with position information on the position on the overview image corresponding to the survey point; image display means for displaying the overview image; and measuring based on the association between the survey information and the position information of the overview image. Measurement point display means for displaying the position of a point on the overview image displayed by the image display means; and, when a plurality of measurement points are degenerated on the overview image displayed by the image display means, And a degeneration notification unit for notifying the position of the point.
[0007]
The surveying system is provided with, for example, surveying means for obtaining surveying information of a surveying point, and the positional relationship is determined, for example, by using three or more arbitrarily set reference points (hereinafter, arbitrary setting points used for calculating the positional relationship). It is calculated from the relationship between the survey information of the reference point (expressed as a reference point) and the position of the reference point on the overview image. This eliminates the need to provide a separate sensor or the like for specifying the position of the camera, and eliminates the need to measure the internal positioning element of the camera using a jig or the like. The user can know the correspondence between the surveying means and the overview image simply and at low cost with high accuracy.
[0008]
The surveying system preferably includes input means for designating a position on the image on the image display means, and the position of the reference point is preferably determined by designating an arbitrary position on the overview image by the input means. Thereby, for example, the positional relationship can be obtained by the surveying means using the surveying information of the arbitrarily designated reference point.
[0009]
Still further, the three-dimensional survey information of the reference point is, for example, given geographic data. In this case, by designating a given point as a reference point in a triangular point of the Geographical Survey Institute or in commercially available map data, the positional relationship between the coordinate system and the overview image and the camera can be obtained without using a surveying instrument. Can be calculated. Moreover, you may use it, mixing with the value measured by the surveying instrument.
[0010]
The positional relationship between the coordinate system and the overview image is preferably represented by an external orientation element representing the position and inclination of the camera at the time of shooting the overview image with respect to the coordinate system. , Or given geographic data. Further, it is preferable that the surveying system includes a data recording unit capable of recording surveying information relating to the survey point and image data of the overview image in association with each other. In addition, the surveying system includes, for example, a digital camera for capturing an overview image.
[0011]
It is preferable that the degeneration notifying means performs a display at a position where the degenerated measurement point is displayed on the overview image to notify that the measurement point is degenerated. At this time, the degeneration notification unit may change the color of the mark representing the position of the measurement point based on the presence or absence of degeneration, or a mark having a size corresponding to the coordinate value in the depth direction with respect to the overview image of the measurement point. Or by using a mark having a color corresponding to the coordinate value in the depth direction with respect to the overview image of the measurement point, or by changing the shape of the mark representing the position of the measurement point based on the presence or absence of the reduction The present measurement point is displayed, and a display notifying the degeneration is performed. Thereby, the operator can visually recognize the degenerated measurement point on the overview image, and can easily determine the degenerated measurement point.
[0012]
To change the shape of the mark indicating the position of the measurement point based on the presence or absence of degeneration, for example, provide a leader line corresponding to the number of degenerated measurement points at a position representing the measurement point where the mark is degenerated. Alternatively, the names of the degenerated measuring points may be displayed at the end of the leader line. Further, the shape of the mark may be made to correspond to the number of degenerated measurement points. For example, when the number of degenerated measurement points is three or more, a polygon corresponding to the number of measurement points may be used as a mark. Thereby, the number of degenerated measurement points can be quantitatively grasped. Also, for example, the degeneration notifying means changes the size of the mark representing the position of the measurement point based on the presence or absence of the degeneration, thereby performing display for notifying degeneration, and changes the size of the mark to, for example, the degraded measurement point. It is also possible to correspond to the number.
[0013]
For example, when an area including the degenerated measurement point is designated by the input means, the degeneration notification means displays information related to the measurement point included in this area. At this time, the information relating to the measurement points is, for example, a list of measurement point names and measurement information of the measurement points in the area. Further, for example, the information relating to the measurement points is image information obtained by enlarging and displaying the area. This makes it possible to refer to more detailed information on the degenerated measurement points. Further, for example, the information related to the measurement point is displayed on the bar graph in correspondence with the coordinate value in the depth direction with respect to the overview image of the measurement point in the area, and the measurement point is displayed on the bar graph. According to this method, when the measurement points are on the same line of sight, detailed information regarding the measurement points can be obtained visually.
[0014]
Further, for example, the degeneration notification unit displays a measurement point displayed on the overview image as a plan view projected on a predetermined plane, and this plane is preferably a horizontal plane. According to this display method, the spatial arrangement of each measurement point can be grasped more easily.
[0015]
The surveying support apparatus according to the present invention includes: a positional relationship calculating unit configured to calculate a positional relationship between a coordinate system based on surveying information of a surveying point and an overview image of a surveying site including the surveying point; An associating unit for associating survey information of a point with position information on a position on the overview image corresponding to the survey point, an image display unit for displaying the overview image, and associating the survey information with the position information of the overview image. When a plurality of measurement points are degraded on the overview image displayed by the measurement point display means and the overview image displayed by the image display means, based on the measurement point based on the overview image displayed by the image display means, And a degeneration notification unit for notifying the position of the degenerated measurement point.
[0016]
Further, the surveying support program of the present invention provides a computer with a procedure for calculating a positional relationship between a coordinate system based on surveying information of a surveying point and an overview image of a surveying site including the surveying point, and a surveying method based on the positional relationship. A step of associating the survey information of the point with the position information about the position on the overview image corresponding to the survey point, a procedure of displaying the overview image, and a method of measuring the survey point based on the correspondence between the survey information and the position information of the overview image. A procedure for displaying the position on the overview image displayed by the image display means, and, when a plurality of measurement points are degenerated on the overview image displayed by the image display means, notification of the position of the degenerated measurement point. And performing the following steps.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram schematically showing a surveying system using a surveying instrument and a camera according to one embodiment of the present invention.
[0018]
The surveying instrument 10 is, for example, a total station or the like, and includes a distance measuring unit 11 and an angle measuring unit 12. The distance measuring unit 11 detects an oblique distance to the collimated measuring point by, for example, lightwave distance measurement, and the angle measuring unit 12 detects a horizontal angle, an altitude angle, and the like at this time. The distance measuring unit 11 and the angle measuring unit 12 are connected to a system control circuit 13 and are controlled based on a command from the system control circuit 13. For example, the distance measuring unit 11 measures the distance based on a command from the system control circuit 13 and sends the measured value to the system control circuit 13. On the other hand, the angle measuring unit 12 constantly measures the angle, and sends a measured value to the system control circuit 13 in response to a request from the system control circuit 13. The measured values of the detected oblique distance, horizontal angle, altitude angle and the like are processed in the system control circuit 13. An interface circuit 16 is connected to the system control circuit 13, and the interface circuit 16 is connected to a surveying support device 40 such as a notebook personal computer (PC) or a personal digital assistant (PDA) via an interface cable. The oblique distance, horizontal angle, altitude angle, and the like detected by the distance unit 11 and the angle measurement unit 12 are transferred as survey information. The interface circuit 16 can also be connected to peripheral devices such as a data collector (not shown). When a portable terminal is used as the surveying support device 40, surveying information (surveying data) may be transferred using radio waves or optical communication.
[0019]
The digital still camera 20 is, for example, a commercially available digital still camera. The digital still camera 20 is provided with an imaging device 21 such as a CCD, and can capture an image of a subject via an imaging lens 22. That is, the image of the subject is detected as an image signal by the image sensor 21 and output to the image signal processing circuit 23. The image signal processing circuit 23 performs predetermined image processing such as RGB gain correction, white balance correction, gamma correction and superimposition on the input image signal. The image signal subjected to the image processing is transmitted to, for example, a display unit (for example, LCD) 24 and displayed as a see-through image. When a shutter button (not shown) provided on a switch group 29 connected to the system control circuit 26 is pressed, the image of the subject is temporarily stored in the image memory 25 as a digital image.
[0020]
The digital image stored in the image memory 25 can be displayed on the display unit 24 via the image signal processing circuit 23 and can be recorded on a recording medium via the system control circuit 26. The image recorded on the recording medium 27 can be displayed on the display unit 24 by the system control circuit 26. The digital still camera 20 is connected to the surveying support device 40 via the interface circuit 28, and the captured image is transferred to the surveying support device 40 as image data.
[0021]
The surveying support device 40 includes, for example, an input device 41, a recording medium 42, an image display device 43, and the like, mainly including a system control circuit 44. As the input device 41, for example, a keyboard, a mouse, a cross key, a trackball, a joystick, a touch screen, and the like are used. An LCD, a CRT, or the like is used as the image display device 43, and an arbitrary position on the screen can be designated using the input device 41. As the recording medium 42, for example, a hard disk, a DVD, an MO, an IC card, or the like can be used. For example, survey data transferred to the survey support device 40 or image data of an overview image can be recorded.
[0022]
The surveying support device 40 also includes an interface circuit and the like, but the description is omitted. In the surveying support device 40, a surveying support program (described later) installed in the recording medium 42 is executed.
[0023]
Next, with reference to FIG. 1, FIG. 2, and FIG. 3, a description will be given of a survey point display process in the survey system of the first embodiment. FIG. 2 is a flowchart showing a surveying procedure in the surveying system of the first embodiment, and FIG. 3 is a diagram conceptually showing an arrangement of surveying instruments and cameras in the surveying system of the first embodiment.
[0024]
First, in step S101, the operator takes an overview of the survey site using the digital still camera (DSC) 20. One taken digital image (overview image) includes a plurality of measurement points to be measured. In step S102, the image data of the photographed overview image is transferred to the surveying support device 40 and displayed on the image display device 43. In the overview image displayed on the image display device 43, a plurality of points (pixels) three-dimensionally arranged in the real space are selected by the operator using the input device 41, and correspond to the selected pixels. Object point in real space is reference point P _i (I = 1, 2,..., N). Each reference point P specified at this time _i Image point P on the imaging surface corresponding to _i 'Are two-dimensional image coordinates (xp _i ', Yp _i ') Is required. The image coordinate system is a two-dimensional coordinate system in which the y-axis downward with the origin at the upper left of the image is positive. The number n of reference points is, for example, 11 or more arranged three-dimensionally.
[0025]
In step S103, each reference point P specified in step S102 _i The oblique distance and the (altitude, horizontal) angle are measured by the operator using the surveying instrument 10, and the measured values are transmitted to the system control circuit 44 of the surveying support apparatus 40 via the interface. In the system control circuit 44, each reference point P _i Three-dimensional coordinates (Xp _i , Yp _i , Zp _i ) Is calculated in a predetermined survey coordinate system. At this time, each reference point P _i Survey coordinates (Xp _i , Yp _i , Zp _i ) Indicates the image point P _i 'Image coordinates (xp _i ', Yp _i '). As the survey coordinate system, for example, the center of rotation of the altitude angle and the horizontal angle of the collimating telescope 10a (see FIG. 3) provided in the surveying instrument 10 may be used as the origin, or may be defined by the Geographical Survey Institute or the like. Absolute coordinates may be used. Further, coordinates set arbitrarily at the survey site may be used. Alternatively, the surveying instrument may perform survey coordinate calculation, and the value may be transmitted to the system control circuit 26 of the digital camera 20.
[0026]
In step S104, as described later, each reference point P _i , An external orientation element representing the position and inclination of the digital still camera 20 when an overview image is taken from the correspondence between the survey coordinates and the image coordinates with respect to, and collinear conditions due to the eccentricity of the lens distortion and principal point from the image center. Is calculated by, for example, the spatial rear resection method. That is, the position (X in the survey coordinate system of the origin of the three-dimensional camera coordinate system fixed to the digital still camera 20) _O , Y _O , Z _O ) And the rotation angles (ω, φ, κ) about the x-axis, y-axis, and z-axis of the camera coordinate system at the time of shooting are obtained as external orientation elements, and the camera's internal orientation elements (f: from the lens projection center) Distance to image plane (image distance); D ₂ , D ₄ , D ₆ : 2nd, 4th and 6th order components of distortion; N ₁ , N ₂ : Asymmetric component of distortion; X _C , Y _C : Eccentricity of the principal point from the center of the image). Thereby, the projection relationship between the image coordinates and the survey coordinates is established. Note that the internal localization element is represented by (f, D ₂ , D ₄ , D ₆ , N ₁ , N ₂ , X _C , Y _C ), The number of reference points required to calculate the external orientation elements and the internal orientation elements is 7 or more. Of these, the external orientation element (X _O , Y _O , Z _O , Ω, φ, κ) are three or more. In the present embodiment, 11 (or more) reference points are designated as reference points for performing the external orientation and the internal orientation.
[0027]
The camera coordinate system is a left-handed coordinate system having the origin at the lens center (projection center) O. The z-axis and the y-axis are parallel to the s′-axis and the t′-axis of the screen coordinate system, and the x-axis is an imaging surface. And perpendicular to the image plane. That is, a point on the imaging surface is represented by (−f, y, z). Here, the screen coordinate system is a two-dimensional coordinate system on the imaging surface with the principal point as the origin, and the s ′ axis corresponds to the horizontal line direction of the image sensor 21 and the t ′ axis corresponds to the vertical line direction.
[0028]
In step S105, the operator uses the surveying instrument 10 to ₁ Survey. The measured values are transmitted to the survey support device 40 via the interface. At this time, the system control circuit 44 of the survey support device 40 ₁ Are calculated. In step S106, the calculated measurement point Q ₁ Survey coordinates and the external orientation element (X _O , Y _O , Z _O , Ω, φ, κ) and internal localization elements (f, D ₂ , D ₄ , D ₆ , N ₁ , N ₂ , X _C , Y _C Station Q based on ₁ Image point Q corresponding to ₁ 'Image coordinates Q on the overview image ₁ '(Xq ₁ ', Yq ₁ ') Is obtained and the image coordinates Q ₁ '(Xq ₁ ', Yq ₁ ') Measurement point Q at the position corresponding to ₁ (A point number may be displayed like P1, P2,...) Or a measured value is superimposed and displayed on the image display device 43 of the surveying support device 40.
[0029]
When the surveying is continued in step S107, the processing of step S105 and subsequent steps is repeatedly executed. ₂ , Q ₃ Is surveyed, the overview image displayed on the image display device 43 of the survey support device 40 includes the survey point Q ₂ , Q ₃ Image point Q ₂ ', Q ₃ 'At each position corresponding to' ₂ , Q ₃ Is displayed. On the other hand, when the surveying is to be ended, in step S108, the image data of the overview image, the internal localization element of the camera, the external localization element, and the image point Q ₁ ', Q ₂ ', Q ₃ Image coordinates (position information indicating a position on the overview image, for example, data indicating a pixel position), ₁ , Q ₂ , Q ₃ The survey data (survey information) such as the oblique distance, the altitude angle, the horizontal angle, and the survey coordinates are recorded on the recording medium 42 in association with each other, and the survey point display process using the survey system of the present embodiment ends. Note that the image data of the overview image, the image coordinate data (or the data indicating the pixel position) corresponding to the survey point, the survey data, and the like may be recorded in separate files or may be recorded in the same file. Good.
[0030]
Further, a modified example of the survey point display processing in the survey system of the first embodiment will be described with reference to FIG. FIG. 4 is a flowchart of a survey procedure in this modified example.
[0031]
In the surveying procedure of FIG. 2, after calculating the position and the inclination of the digital still camera 20 with respect to the surveying coordinate system by the spatial rear intersection method (S104), the surveying of each surveying point is performed, and each time the surveying point is displayed on the overview image. did. On the other hand, in the modified example shown in the flow of FIG. 4, the position and inclination of the digital still camera 20 with respect to the survey coordinate system are calculated after the surveying of the surveying points by the surveying instrument 10, and then the positions of all the surveying points are changed. They are displayed all at once on the overview image.
[0032]
That is, in steps S110 and S111, the measurement for a plurality of measurement points is performed continuously using the surveying instrument 10. When the surveying of the survey points is completed, an overview image of the survey site including the survey points measured in step S110 is photographed using the digital still camera 20 in step S112. In step S113, among the measurement points displayed on the overview image, 11 measurement points (pixels) are _i Is designated by the operator using the input device 41. In step S114, the reference point P specified in step S113 _i Three-dimensional coordinates (Xp _i , Yp _i , Zp _i ) Is associated, for example, by an operator.
[0033]
In step S115, the reference point P _i The position and inclination of the digital still camera 20 and the internal localization elements are calculated in the same manner as in step S104 in FIG. In step S116, the image coordinates on the overview image for all the measurement points measured in step S110 are obtained using the external orientation elements and the internal orientation elements calculated in step S115, and their positions are indicated on the overview image. The mark or the measured value is superimposed and displayed on the image display device 43. In step S117, each data is recorded on the recording medium 42 as in step S108. With the above, the surveying in the modified example ends.
[0034]
In FIGS. 2 and 4, the survey site is photographed in steps S101 and S112, but an overview image photographed in the past may be used. Further, a system in which photographing and surveying are performed simultaneously may be adopted. This can be performed, for example, by adopting a method in which a survey start switch in the switch group 14 and a DSC photographing switch in the switch group 29 are linked. Alternatively, steps S101 to S104 may be performed in advance, and steps S105 to S108 may be performed at a later date. In this case, the installation location of the surveying instrument is the same. Also, as shown in the flow chart of FIG. 4, the surveying in step S110 may be performed first, and the image may be fused later. Instead of performing the survey in step S110, previously surveyed data or known geographic data (triangular points of the Geographical Survey Institute, geographic data of a commercially available map, etc.) may be used.
[0035]
Next, with reference to FIGS. 5 and 6, a method of calculating the external orientation elements and the internal orientation elements of the digital still camera 20 according to the embodiment using the spatial rear intersection method (steps S104 and S115), and converting the measurement points to the overview image The principle of the display method (steps S106 and S116) will be described.
[0036]
FIG. 5 shows three reference points P ₁ , P ₂ , P ₃ And the image point P on these imaging surfaces S ₁ ', P ₂ ', P ₃ 'Schematically shows the relationship with'. FIG. 6 shows an external orientation element (X) representing the position and inclination of the digital still camera 20 in steps S104 and S115 in FIGS. _O , Y _O , Z _O , Ω, φ, κ) and the camera's internal localization elements (f, D ₂ , D ₄ , D ₆ , N ₁ , N ₂ , X _C , Y _C 4) is a flow chart of a program of a spatial rear intersection method for calculating the following method, in which a successive approximation method using a least square method is used. In this embodiment, as described above, the number of reference points may be any number as long as it is 7 or more. However, here, the case where 11 reference points are designated will be described as an example. FIG. 5 shows three points P among them. ₁ , P ₂ , P ₃ Only shown.
[0037]
First, in step S201, an external orientation element (X _O , Y _O , Z _O , Ω, φ, κ) and internal localization elements (f, D ₂ , D ₄ , D ₆ , N ₁ , N ₂ , X _C , Y _C ), An initial value (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG )give. Next, in step S202, the given external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Using 11 reference points P _i (I = 1, 2,..., 11) survey coordinates (Xp _i , Yp _i , Zp _i ) To each reference point P _i Image point P corresponding to _i 'Image coordinates (xp _Gi ', Yp _Gi ').
[0038]
That is, the reference point P _i (I = 1, 2,..., 11) in the camera coordinate system (xp _i , Yp _i , Zp _i ) Indicates coordinates (Xp) in the survey coordinate system. _i , Yp _i , Zp _i ) Can be obtained from the following equation (1), so that the approximate external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And reference point P _i Survey coordinates (Xp _i , Yp _i , Zp _i ) Into equation (1), the reference point P _i Approximate camera coordinates (xp _Gi , Yp _Gi , Zp _Gi ).
(Equation 1)

Where the matrix ｛T _jk ｝ Is a rotation matrix, and each component T _jk Is represented, for example, by the following equation.
T ₁₁ = Cosφ · cosκ
T ₁₂ = Cosω · sinκ + sinω · sinφ · cosκ
T _Thirteen = Sinω · sinκ−cosω · sinφ · cosκ
T ₂₁ = −cosφ · sinκ
T ₂₂ ＝ cosω ・ cosκ-sinω ・ sinφ ・ sinκ
T ₂₃ ＝ sinω ・ cosκ + cosω ・ sinφ ・ sinκ
T ₃₁ = Sinφ
T ₃₂ = −sinω · cosφ
T ₃₃ ＝ cosω ・ cosφ
[0039]
The reference point P _i Image point P corresponding to _i 'Screen coordinates (sp _i ', Tp _i ') Indicates the external orientation element (X _O , Y _O , Z _O , Ω, φ, κ) and the reference point P _i Camera coordinates (xp _i , Yp _i , Zp _i ) Is obtained by the following equation (2).
(Equation 2)

[0040]
Screen coordinates before correction (sp _i ', Tp _i ') Are affected by distortion and the like, and these are given by the equation (3). _i 'Screen coordinates (sp _i ', Tp _i ') And an approximate internal localization element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Is corrected. That is, the approximate screen coordinates (scp _i ', Tcp _i ') Is calculated.
[Equation 3]

[0041]
Image point P _i 'Image coordinates (xp _Gi ', Yp _Gi ') Is the corrected approximate screen coordinates (scp _Gi ', Tcp _Gi ') Into the following equation (4).
(Equation 4)

Here, Px and Py are the horizontal and vertical pixel pitches of the CCD, respectively, and W and H are the horizontal and vertical pixel numbers of the image, respectively.
[0042]
In step S203, the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Is calculated to determine whether the value of () is appropriate. The merit function Φ is defined by, for example, equation (5).
(Equation 5)

That is, in the present embodiment, the merit function Φ is the reference point P specified on the overview image. _i Image point P _i 'Image coordinates (xp _i ', Yp _i ') And the reference point P obtained by surveying _i Survey coordinates (Xp _i , Yp _i , Zp _i ) And approximately given external orientation elements (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Obtained from the image point P _i 'Image coordinates (xp _Gi ', Yp _Gi ') Corresponds to the square of the distance between
[0043]
Next, in step S204, it is determined whether the merit function Φ is smaller than a predetermined value. That is, the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) The image point P _i 'Image coordinates (xp _Gi ', Yp _Gi ') Is the reference point P specified on the overview image _i Image point P _i 'Image coordinates (xp _i ', Yp _i It is determined whether it is close enough to '). If Φ <predetermined value, this processing ends, and the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Is an external orientation element indicating the position, inclination, and internal orientation of the camera at the time of capturing the overview image.
[0044]
On the other hand, if it is determined in step S204 that Φ ≧ predetermined value, the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ), The correction amounts (δX, δY, δZ, δω, δφ, δκ, δf, δD ₂ , ΔD ₄ , ΔD ₆ , ΔN ₁ , ΔN ₂ , ΔX _C , ΔY _C ) Is obtained by, for example, the least squares method. That is, (sp) of the equation (2), which is the collinear condition, _i ', Tp _i ') In (3) _i ', Tcp _i ') And substitute the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Is linearized without Taylor expansion around higher order terms. In this linearized equation, the correction amounts (δX, δY, δZ, δω, δφ, δκ, δf, δD ₂ , ΔD ₄ , ΔD ₆ , ΔN ₁ , ΔN ₂ , ΔX _C , ΔY _C ) Is defined as an unknown quantity, and appropriate correction amounts (δX, δY, δZ, δω, δφ, δκ, δf, δD ₂ , ΔD ₄ , ΔD ₆ , ΔN ₁ , ΔN ₂ , ΔX _C , ΔY _C ).
[0045]
In step S206, the correction amounts calculated in step S205 (δX, δY, δZ, δω, δφ, δκ, δf, δD ₂ , ΔD ₄ , ΔD ₆ , ΔN ₁ , ΔN ₂ , ΔX _C , ΔY _C ), An external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And the internal orientation element (f _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Is updated. That is, (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G , F _G , D _2G , D _4G , D _6G , N _1G , N _2G , X _CG , Y _CG ) Is (X _GO + ΔX, Y _GO + ΔY, Z _GO + ΔZ, ω _G + Δω, φ _G + Δφ, κ _G + Δκ, f _G + Δf, D _2G + ΔD ₂ , D _4G + ΔD ₄ , D _6G + ΔD ₆ , N _1G + ΔN ₁ , N _2G + ΔD ₂ , X _CG + ΔX _C , Y _CG + ΔY _C ) Is updated and the camera position and the internal orientation are updated. Thereafter, the process returns to step S202, and steps S202 to S206 are repeatedly executed until it is determined in step S204 that Φ <predetermined value.
[0046]
An external orientation element (X) indicating the position and inclination of the digital still camera 20 at the time of photographing by the spatial rear intersection method _O , Y _O , Z _O , Ω, φ, κ) and internal localization elements (f, D ₂ , D ₄ , D ₆ , N ₁ , N ₂ , X _C , Y _C ) Is calculated, the image coordinates of the image point corresponding to the survey point measured in steps S105 and S110 in FIGS. 2 and 4 are the same as the survey coordinates of the survey point calculated from the measured oblique distance and altitude angle. , And the values of the external orientation element and the internal orientation element calculated by the spatial rear intersection method, and are obtained using the equations (1) to (5). In Steps S106 and S116, a mark indicating the measurement point or a measurement value is displayed at a position (pixel) corresponding to the measurement point on the overview image based on the image coordinates. The calculated internal localization element is stored in, for example, the recording medium 42 (see FIG. 1).
[0047]
Next, a method of displaying the measurement points on the image display device 43 of the survey support device 40 in steps S106 and S116 in FIGS. 2 and 3 will be described with reference to FIGS.
[0048]
FIG. 7 shows a basic display state of a window WN0 for performing measurement point display. In the title bar TB at the top of the window WN0, three buttons of a minimize button, a maximize button, and a close box are arranged at the right corner, and a main menu MM is arranged below the title bar TB. . Further, below the main menu MM, a button menu BM having a plurality of buttons is arranged, and below the button menu BM, text boxes TX1 to TX8 are arranged.
[0049]
The text boxes TX1 to TX8 are boxes for displaying survey data related to measurement points, and the upper text boxes TX1 to TX4 represent items of contents displayed in the lower text boxes TX5 to TX8. In the text box TX5, the name of the survey point is displayed, and in the text boxes TX6 to TX8, survey data such as the X coordinate value, the Y coordinate value, and the Z coordinate value of the survey point displayed in the text box TX5 are displayed.
[0050]
Below the text boxes TX5 to TX8, an image display area IM for displaying an overview image is arranged. On the right side of the image display area IM, a scroll bar SC1 for scrolling the overview image in the vertical direction is arranged along the side of the image display area IM. A scroll bar SC2 for scrolling the overview image in the left-right direction is arranged below the image display area IM along the lower side.
[0051]
On the overview image in the image display area IM, the measured measurement points Q-1 to Q-11 are displayed as, for example, black circles. However, when a plurality of measurement points exist in substantially the same line-of-sight direction, the positions of the measurement points on the overview image are concentrated on one pixel, making it difficult to determine. Further, even in a case where the measurement points are dense as in the case of the measurement points Q-1 to Q-3, for example, since each measurement point corresponds to, for example, an adjacent or close pixel, it is difficult to determine each measurement point. It will be difficult. That is, as the three-dimensional survey data, even if there are a plurality of measurement points having different values, the plurality of measurement points (or marks representing the measurement points) overlap on the two-dimensionally projected overview image ( Hereinafter, such a state is referred to as degeneration), and a part thereof disappears from the image.
[0052]
From the above, in the first embodiment, the degenerated measurement points are displayed according to the procedure shown in the flowchart of FIG.
[0053]
First, in step S301, the operator specifies a point (for example, one pixel) in the image display area IM using the pointing device (input device 41), and turns on the degeneration button DB of the button menu BM. For example, a touch panel and a pointing pen are used as a pointing device, and an operator taps one pixel in the image display area IM with the pointing pen to select the pixel. Thereafter, when the degeneration button DB is tapped with the pointing pen, the processing in step S302 and subsequent steps is executed.
[0054]
In step S302, a search is made for a measurement point corresponding to pixels within a certain range from the pixel designated and selected by the pointing pen. In step S303, a list of the searched station names and their three-dimensional coordinate values is displayed on the image display device 43 as a list box as shown in FIG. 9 (other information relating to the station may also be displayed). . As the three-dimensional coordinate value, a coordinate value of a survey coordinate system, a camera coordinate system, or the like is used. The coordinate system used for displaying the coordinate values can be switched by a predetermined operation, and the order of the measuring points displayed in the list is determined according to the coordinate values in the depth direction of the measuring points in the selected coordinate system. You. Further, it is also possible to display each coordinate system in a separate list. In step S304, the operator selects a desired measurement point from the list box using a pointing pen. In step S305, only the mark corresponding to the measuring point selected in step S304 is displayed in the image display area IM of FIG. 7, and the text box TX5 to TX8 displays the measuring point name of the measuring point selected in step S304 and 3 The dimensional coordinate values are displayed. Thus, this processing ends.
[0055]
Note that the coordinate values described in the list box and text boxes TX5 to TX8 in FIG. 9 are described for convenience of description, and geometrically correspond to the positions of the measurement points shown in the image display area IM. is not. This is the same for each value such as the position and coordinate value of the measurement point in each of the following embodiments.
[0056]
As described above, according to the first embodiment, even when a plurality of measurement points are densely located or in the same line-of-sight direction and a plurality of measurement points are degenerated on the overview image, the pixels of the degenerated area are determined by the operator. Is designated, a list of measurement points projected in the vicinity is displayed, so that oversight of measurement points and forgetting of measurement are prevented. In addition, the position of the measurement point selected in the list is shown on the overview image, and its three-dimensional coordinate value is also displayed. Therefore, even when a plurality of measurement points are degenerated on the overview image, visual and The position of the measurement point can be accurately grasped quantitatively.
[0057]
Next, a second embodiment of the present invention will be described with reference to FIGS. The configuration of the second embodiment is substantially the same as that of the first embodiment, and differs from the first embodiment only in the method of displaying the degenerated measurement points.
[0058]
In the second embodiment, when the operator taps the degeneration button DB on the screen in FIG. 7, the image display area IM expresses the arrangement of each measurement point on the horizontal plane as shown in FIG. The projection of each measurement point on the horizontal plane is performed based on the three-dimensional coordinates of the measurement point. Even if the measurement points are degenerated on the overview image, they are not degenerated on the horizontal plane (especially when multiple measurement points are in the same line-of-sight direction and degenerated), so that the existence of each measurement point can be accurately grasped. It becomes possible. In addition, when an arbitrary measuring point is designated in the horizontal plane view, the measuring point name and the three-dimensional coordinate value of the measuring point are displayed in text boxes TX5 to TX8.
[0059]
As described above, in the second embodiment, substantially the same effects as in the first embodiment can be obtained. In the second embodiment, the measurement points are displayed on the horizontal plane, so that the arrangement of the degenerated measurement points on the overview image can be grasped more visually.
[0060]
The measurement points may be projected and displayed on an arbitrarily designated plane (for example, a vertical plane) instead of the horizontal plane.
[0061]
Next, a third embodiment of the present invention will be described with reference to FIGS. The configuration of the third embodiment is substantially the same as that of the first embodiment, and only the method of displaying the degenerated measurement points is different from that of the first embodiment.
[0062]
In the third embodiment, the operator specifies a region including the degenerated measurement point on the screen of FIG. 7 using, for example, a pointing pen. The designated area is, for example, a quadrilateral or a circle. FIG. 11 shows a case where the designated area is a quadrilateral. For example, when the operator specifies two points in the image display area IM using a pointing pen, a quadrilateral area A having these two points as diagonal lines is defined.
[0063]
When the area A including the degenerated measurement points (for example, indicated by white circles) is defined, a frame surrounding the area is displayed. Thereafter, when the degeneration button DB is tapped, a dialog box DG1 for enlarging and displaying the area A appears below the scroll bar SC2. When a measurement point is selected in the enlarged image of the dialog box DG1, the display of the measurement point is changed to a display different from other measurement points. In conjunction with this, in the text boxes TX5 to TX8, the station name and the three-dimensional coordinate value of the selected station are displayed, and the display of the corresponding station in the overview image in the image display area IM is also changed (for example, A black circle is displayed inside a white circle.)
[0064]
As described above, according to the third embodiment, substantially the same effects as those of the first embodiment can be obtained. Further, in the third embodiment, the designated area is displayed in an enlarged manner, which is also effective when the measurement points are densely arranged in the real space.
[0065]
Note that the area A defined by the frame may be draggable. Further, as in the first embodiment, a predetermined range around a designated pixel may be enlarged, and in this case, a frame defining an area may not be provided.
[0066]
Next, a fourth embodiment of the present invention will be described with reference to FIGS. The configuration of the fourth embodiment is substantially the same as that of the third embodiment, and only the method of displaying the degenerated measurement points is different from that of the first embodiment.
[0067]
In the third embodiment, when the contraction button DB is turned on after designating the region A, a dialog box DG1 for displaying an enlarged image of the region A appears. In the fourth embodiment, the contraction is performed by designating the region A. When the button DB is turned on, a dialog box DG2 is displayed at the position of the dialog box DG1 of the third embodiment. In the dialog box DG2, the position of a measurement point existing in the designated area A is represented by a bar graph BG according to the distance (coordinate value) in the depth direction of the image. Above the bar graph BG, the distance in the depth direction (for example, 5 m, 6 m, or the like) is displayed along the bar. Box-shaped marks (for example, M1, M2, M3) corresponding to the measurement points existing in the area A are displayed in the bar graph BG. Below the bar graph BG, the measurement point names (for example, Q-1, Q-2, Q-3) of the respective measurement points are displayed on the measurement point marks M1, M2, M3 displayed in the bar graph BG. ) Is displayed.
[0068]
The hatched area in the bar graph BG indicates the range in the depth direction to be displayed in the dialog box DG2. That is, in the bar graph BG, only measurement points whose coordinate values in the depth direction are within the range indicated by oblique lines are displayed. This range (shaded area) is set by, for example, a scroll bar SC3 arranged below the bar graph BG. In FIG. 12, the upper limit of the range to be displayed (the hatched area) is specified by the scroll bar SC3, but the lower limit of the range may be specified. Note that it is also possible to specify the upper and lower limits of the range to be displayed (shaded area) by inputting a numerical value in a text box or the like. Further, the scale referred to by the bar graph BG may be able to be enlarged / reduced. That is, in FIG. 12, the range of approximately 5 m to 8 m is displayed as the bar graph BG, but this may be enlarged and displayed in the range of 6 m to 7 m, for example.
[0069]
When a mark (for example, M2) corresponding to a desired measuring point (for example, Q-3) is selected from the marks displayed on the bar graph BG, the display of the mark (M2) is changed to the other marks (M1, M3). Is changed to a different display (in the present embodiment, a horizontal bar is added at the center of the white box). In conjunction with this, in the text boxes TX5 to TX8, the station name and the three-dimensional coordinate value of the selected station are displayed, and the corresponding station of the overview image displayed in the image display area IM is also displayed. Be changed.
[0070]
As described above, in the fourth embodiment, substantially the same effects as in the first embodiment can be obtained.
[0071]
Next, a fifth embodiment will be described with reference to FIGS. 7, 13 and 14. FIG. The configuration of the fifth embodiment is substantially the same as the first to fourth embodiments, and only the method of displaying the degenerated measurement points is different from that of the first embodiment.
[0072]
The fifth embodiment provides a method for explicitly displaying the degeneration of a measurement point on the overview image in the image display area IM. For example, when the degeneration button DB is turned on on the screen in FIG. 7, the overview image in the image display area IM is changed as shown in FIG.
[0073]
The measurement point is represented by a circle having a diameter corresponding to the coordinate value in the depth direction of the image. For example, the diameter of a circle representing a measuring point increases or decreases in proportion to the magnitude of the coordinate value in the depth direction of the measuring point, and when two or more circles overlap, as shown in FIG. Small circles are displayed over the large diameter circles. When there are a plurality of measurement points on the same line of sight, they are represented by a plurality of concentric circles as shown in FIG. For example, when the operator selects a pixel near the degenerated area on the overview image as in the first embodiment, a measurement point within a predetermined pixel range from the selected pixel is searched and stored in the memory in the system control circuit 44. The measurement point that is held and is closest to the camera is selected, for example. That is, in the text boxes TX5 to TX8, the station name and the three-dimensional coordinate value of the station closest to the camera in the designated area are displayed. When the operator further taps the pixel in the selected area, the farther measuring points are sequentially selected from the measuring points stored in the memory and displayed in the text boxes TX5 to TX8. This process is performed cyclically, and when the selection reaches the farthest station, the next time the tap is performed, the closest station is selected again.
[0074]
Next, a modified example of the fifth embodiment will be described with reference to FIGS. In the display of FIG. 15, when a plurality of circles are overlapped due to degeneration, the circles are painted in different colors, and when a plurality of measurement points are in the same line-of-sight direction, the display is as shown in FIG. 16. At this time, the color for filling the circle is determined, for example, by a predetermined gradation. For example, a farther measuring point is displayed in a darker color corresponding to the coordinate value in the depth direction of the measuring point. The other points are the same as in the description of the fifth embodiment.
[0075]
As described above, in the fifth embodiment of the present invention, substantially the same effects as those in the first to fourth embodiments can be obtained. Further, in the fifth embodiment, since the degenerated area is explicitly shown on the overview image, the operator can more easily check the degenerated position of the measurement point on the overview image. Further, in the modified example, each circle is displayed in a different color, so that each measurement point can be more easily identified.
[0076]
In the fifth embodiment, the measurement points stored in the memory are sequentially and repeatedly selected. However, when individual circles can be selected with a pointing device such as a pointing pen, the operator can use the pointing device to select the circle. A desired measurement point may be directly selected.
[0077]
Next, a sixth embodiment of the present invention will be described with reference to FIG. The sixth embodiment is substantially the same as the fifth embodiment, and FIG. 17 corresponds to FIG. 13 or FIG. 15 of the fifth embodiment. In the fifth embodiment, a plurality of degenerate measurement points are represented on the overview image using circles having different sizes. However, in the sixth embodiment, the degenerate state is represented by using figures having different shapes. It represents. For example, as shown in FIG. 17, in the sixth embodiment, a measurement point (single point) that is not degenerated is represented by a circle, and when two measurement points are close to each other and their marks overlap (degenerate), An X mark is displayed, and when three or more measurement points are degenerated, a regular polygon having vertices corresponding to the number of degenerated measurement points is displayed. Each vertex of the polygon corresponds to each degenerated station in the area, and when the operator specifies a desired vertex using a pointing device, the station name and three-dimensional coordinates corresponding to the station corresponding to the vertex are designated. The value is displayed in text boxes TX5 to TX8. Further, the position of the measuring point may correspond to the position of each side (corresponding to each measuring point from the short distance side clockwise from the upper side, and the measuring point number and three-dimensional coordinates are displayed by selecting the side). Good. FIG. 17 shows an example of the display method in the present embodiment, and does not match the number of measurement points in FIG.
[0078]
FIG. 18 is a modification of the display method according to the sixth embodiment. In FIG. 17, the degenerated measurement points are represented on the overview image using different figures, but in a modified example, as shown in FIG. 18, a position representing the degenerated measurement points (for example, the two-dimensional coordinates of the measurement points) is used. The position corresponding to the average of the values) is represented by a circle, and a leader line corresponding to the number of degenerated measuring points is provided in the circle, and the name of each degenerated measuring point is displayed at the end. When the operator designates one of the leader lines, the measurement point name and the three-dimensional coordinate value of the measurement point are displayed in text boxes TX5 to TX8. In addition, the display of the measurement point displayed at the representative position may be changed to the display of the measurement point selected at the time of selection. In addition, a single point (a measurement point that is not degenerated) may or may not display a measurement point name.
[0079]
As described above, substantially the same effects as in the fifth embodiment can be obtained in the sixth embodiment.
[0080]
Next, a seventh embodiment of the present invention will be described with reference to FIGS. In the seventh embodiment, when the degeneration button DB is tapped, the distance between the measurement points on the overview image is within a predetermined range as shown in FIG. 19, and the plurality of measurement points are degenerated, for example. When it is determined that the cluster is one, for example, a mark (for example, a circle) having a size corresponding to the number of degenerated measurement points is displayed at the center position of a plurality of degenerated measurement points. Note that two types of size marks may be displayed based on the presence or absence of the degeneration. As a modification, as shown in FIG. 20, the color of the mark displayed at the degenerated position and the color of the mark of the measurement point which is not degenerated are displayed in different colors. In FIG. 20, the degenerated portion is displayed by a plurality of points, but in a modified example, a position representing the degenerated measurement point (for example, a position corresponding to the average value of the two-dimensional coordinate values of the measurement point) May be represented by a single circle. (Not shown) Further, as another modified example, when a station name is displayed near a station, a single point and a degenerate point (points at which a plurality of points are degenerated) are determined due to a difference in display name. You may distinguish them. For example, a single point is m ₁ ~ M _n , The degenerate point is M ₁ ~ M _n It is also possible to distinguish between a single point and a degenerate point using lowercase and uppercase letters, such as (the number is a station number).
[0081]
As described above, also in the seventh embodiment, substantially the same effects as in the sixth embodiment can be obtained.
[0082]
In the present embodiment, the reference point is arbitrarily specified on the overview image using a pointing device. May be used as a reference point to determine an external orientation element. In this case, the position of the reference scale or the reference mark on the overview image is selected using a pointing device or the like. When a reference scale or a reference mark is used, the position of the reference point on the overview image may be automatically detected using, for example, image processing.
[0083]
In the present embodiment, a total station capable of measuring an oblique distance and an (altitude, horizontal) angle has been described as a surveying instrument. Any other surveying instrument may be used as long as the surveying instrument can calculate, for example, a surveying instrument using a GPS (global positioning system) or the like. Further, the angle measured by the surveying instrument may be an angle other than the altitude angle and the horizontal angle, and may be, for example, an angle between two points on an oblique plane.
[0084]
In the present embodiment, a description has been given by taking a portable terminal as an example, but such a function may be integrally provided in a surveying instrument or a digital camera. Further, in the present embodiment, a description has been given of a digital image captured by a digital still camera, but a video camera or the like may be used as long as a digital image can be obtained.
[0085]
In the first embodiment, when it is determined that a plurality of measurement points are degenerated in an area near the designated pixel, a warning sound or a degeneration of the measurement points is performed instead of displaying the list of the measurement points. May be displayed. Further, it is also possible to variously combine the display methods of the first to sixth embodiments.
[0086]
In the present embodiment, the example in which the surveying information related to the surveying point is surveyed using a surveying instrument has been described, but as the surveying point, known geographic data, position information of the surveying point for surveying surveying, input, It may be used for degeneration that occurs when a measurement set point arbitrarily determined on the overview image by means is displayed. Further, it may be used for degeneration that occurs when a measurement point measured by a surveying instrument and the above points are mixed and displayed.
[0087]
However, when using surveying information with a different coordinate system, it is preferable that the surveying information be unified into one coordinate system by coordinate conversion. The same applies to the case where the survey points are displayed on the overview image and the case where the correspondence is made based on the survey information of the reference points. (For example, when a survey point with a different coordinate system is displayed. For example, when some given survey data is used as a reference point, the survey coordinates may differ from the survey coordinates at the survey site. The given survey data is coordinate-transformed and converted to the coordinates of the survey site and used, or vice versa.)
[0088]
In the present embodiment, the size, color, and the like of the measurement point display are changed according to the distance from the position of the digital still camera, but may be changed according to the distance from the surveying instrument. Further, it may be converted to a value at an arbitrary coordinate value.
[0089]
【The invention's effect】
As described above, according to the present invention, survey information obtained by a surveying instrument is easily and efficiently associated with image information of a survey site obtained by a camera, and a display with high visibility is associated with the associated survey information. be able to.
[Brief description of the drawings]
FIG. 1 is a block diagram schematically showing a configuration of a survey system according to a first embodiment of the present invention.
FIG. 2 is a flowchart illustrating a survey procedure in the survey system according to the first embodiment.
FIG. 3 is a diagram conceptually showing an arrangement of a surveying instrument and a camera in the surveying system of the first embodiment.
FIG. 4 is a flowchart illustrating a modification of the surveying procedure in the surveying system of the first embodiment.
FIG. 5 shows three reference points P ₁ , P ₂ , P ₃ And image point P on imaging surface S ₁ ', P ₂ ', P ₃ FIG. 6 is a diagram schematically showing the relationship with '.
FIG. 6 shows an external orientation element (X) representing the position and inclination of the digital still camera. _O , Y _O , Z _O , Ω, φ, κ) and the camera's internal localization elements (f, D ₂ , D ₄ , D ₆ , N ₁ , N ₂ , X _C , Y _C 4 is a flowchart of a program of a spatial backcrossing method for calculating (i).
FIG. 7 is a basic display example of a window displaying an overview image.
FIG. 8 is a flowchart showing a work procedure when displaying degenerated measurement points in the first embodiment.
FIG. 9 is a list display of measurement points in the reduced display according to the first embodiment;
FIG. 10 is a horizontal plane display of a measurement point in the reduced display according to the second embodiment.
FIG. 11 is a window for enlarging and displaying a contracted portion in the third embodiment.
FIG. 12 illustrates a window for performing degraded display according to the fourth embodiment.
FIG. 13 is an example of a window when a reduced display is performed on an overview image in the fifth embodiment.
FIG. 14 is a display example of a measurement point mark when the measurement points are on the same line of sight in FIG.
FIG. 15 is an example of a window when a reduced display is performed on an overview image in a modification of the fifth embodiment.
FIG. 16 is a display example of a measurement point mark when the measurement points are on the same line of sight in FIG.
FIG. 17 is an example of a window when a reduced display is performed on an overview image in the sixth embodiment.
FIG. 18 is a modified example of the method for displaying degenerated measurement points according to the sixth embodiment.
FIG. 19 is an example of a window when a reduced display is performed on an overview image in the seventh embodiment.
FIG. 20 is a modified example of the method for displaying the degenerated measurement points according to the seventh embodiment.
[Explanation of symbols]
10 Surveying instrument
20 Digital Still Camera
40 Surveying support equipment (mobile terminal)
41 Input device
42 Recording medium
43 Image display device
44 System control circuit

Claims (27)

Positional relationship calculating means for calculating the positional relationship between the coordinate system used as the reference by the surveying information of the surveying point and the overview image of the surveying site including the surveying point,
From the positional relationship, associating means for associating survey information of the survey point with position information on a position on the overview image corresponding to the survey point,
Image display means for displaying the overview image,
Survey point display means for displaying the position of the survey point on the overview image displayed by the image display means based on the correspondence between the survey information and the position information of the overview image,
A surveying system comprising: a degrading notifying unit that, when a plurality of measuring points are degenerated on the overview image displayed by the image display unit, notifies a position of the degenerated measuring point. The surveying system according to claim 1, further comprising surveying means for obtaining surveying information of the surveying points. The surveying system according to claim 1, wherein the positional relationship is calculated from a relationship between surveying information of three or more arbitrarily set reference points and a position of the reference point on the overview image. . The surveying system includes input means for designating a position on an image in the image display means, and the position of the reference point is determined by designating an arbitrary position on the overview image by the input means. The surveying system according to claim 3, wherein: The survey system according to claim 3, wherein the three-dimensional survey information of the reference point is given geographic data. 2. The surveying system according to claim 1, wherein a positional relationship between the coordinate system and the overview image is represented by an external orientation element representing a position and an inclination of the camera at the time of capturing the overview image with respect to the coordinate system. 3. . The surveying system according to claim 1, wherein the surveying information of the surveying point includes surveying point data for surveying surveying or given geographic data. 2. The surveying system according to claim 1, further comprising a data recording unit capable of recording surveying information on the survey points and image data of the overview image in association with each other. 3. The surveying system according to claim 1, further comprising a digital camera for photographing the overview image. The surveying system according to claim 1, wherein the degeneration notification unit performs a display at a position where the degenerated measurement point is displayed on the overview image to notify that the measurement point is degenerated. 11. The surveying system according to claim 10, wherein the degeneration notification unit performs a display for notifying the degeneration by changing a color of a mark representing a position of a measurement point based on the presence or absence of the degeneration. The degeneration notifying unit performs a display for notifying the degeneration by expressing the degenerated measurement point using a mark having a size corresponding to a coordinate value in the depth direction with respect to the overview image of the measurement point. The surveying system according to claim 10, characterized in that: The degeneration notifying unit performs a display for notifying the degeneration by indicating the degenerated measurement point by using a mark having a color corresponding to a coordinate value in the depth direction of the survey point with respect to the overview image. The surveying system according to claim 10, wherein: 11. The surveying system according to claim 10, wherein the shrinkage notifying unit changes the shape of a mark indicating a position of a measurement point based on the presence or absence of the shrinkage to perform a display for notifying the shrinkage. Leading lines corresponding to the number of degenerated measuring points are provided at positions representing the degenerated measuring points, and the names of the degenerated measuring points are displayed at the ends of the drawing lines. The surveying system according to claim 14. The surveying system according to claim 14, wherein the shape of the mark corresponds to the number of degenerated survey points. 17. The surveying system according to claim 16, wherein, when the number of degenerated survey points is three or more, the shape of the mark is a polygon corresponding to the number of the survey points. 11. The surveying system according to claim 10, wherein the shrinkage notifying unit changes the size of a mark indicating a position of a measurement point based on the presence or absence of the shrinkage to perform a display for notifying the shrinkage. 19. The surveying system according to claim 18, wherein the size of the mark corresponds to the number of degenerated survey points. The surveying system includes input means for specifying a position on an image in the image display means, and when an area including a degenerated survey point is specified by the input means, the degeneration notification means sets The surveying system according to claim 1, wherein information related to the included survey points is displayed. 21. The surveying system according to claim 20, wherein the information related to the surveying points is a list of surveying point names of surveying points in the area and surveying information. 21. The surveying system according to claim 20, wherein the information relating to the survey points is image information obtained by enlarging and displaying the area. The information relating to the measurement point is displayed in a bar graph corresponding to the coordinate value in a depth direction corresponding to a coordinate value in a depth direction with respect to an overview image of the measurement point in the area. The surveying system according to claim 20. The surveying system according to claim 1, wherein the degeneration notification unit displays a survey point displayed on the overview image as a plan view projected on a predetermined plane. The surveying system according to claim 24, wherein the plane is a horizontal plane. Positional relationship calculating means for calculating the positional relationship between the coordinate system used as the reference by the surveying information of the surveying point and the overview image of the surveying site including the surveying point,
From the positional relationship, associating means for associating survey information of the survey point with position information on a position on the overview image corresponding to the survey point,
Image display means for displaying the overview image,
Survey point display means for displaying the position of the survey point on the overview image displayed by the image display means based on the correspondence between the survey information and the position information of the overview image,
A survey support device, comprising: a degeneration notification unit that notifies a position of a degenerated measurement point when a plurality of measurement points are degenerated on the overview image displayed by the image display unit. A procedure for calculating the positional relationship between the coordinate system based on the surveying information of the surveying point and the overview image of the surveying site including the surveying point, and the surveying information on the surveying point and the A step of associating position information with respect to a position on the overview image corresponding to, a step of displaying the overview image, and the position of the survey point based on the correspondence between the survey information and the position information of the overview image. A procedure of displaying on the overview image displayed by the image display means, and a position of the reduced measurement point when a plurality of measurement points are reduced on the overview image displayed by the image display means. A survey support program for executing a procedure for notifying the user.

Images