JP2007147422A - Measurement system, image processor, and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently perform three-dimensional measurement using a measuring instrument with a total station and cameras incorporated therein. <P>SOLUTION: The measuring instrument 1 includes a stereo camera 11 equipped with the plurality of digital cameras and the total station (hereinafter referred to as TS) 13 equipped for the stereo camera 11 in a prescribed positional relation therewith. A controller 3 for processing a stereo image taken by the measuring instrument 1 is, includes: a 2D-3D converting/processing part 334 for acquiring, from the measuring instrument 1, image data of the stereo image taken by the stereo camera 11 and TS data on measurement acquired by the TS13 when taking the stereo image, and producing three-dimensional data on a measuring object in the stereo image in a site coordinate system on a photographing site based on the acquired image data and TS data; and a display control part 337 for outputting a three-dimensional image on the measuring object, based on the produced three-dimensional data. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a three-dimensional measurement technique, and more particularly to a three-dimensional measurement technique using a measurement apparatus in which a total station and a camera are integrated.

  Conventionally, there is a stereo device that is a three-dimensional measuring device using an image photographed by a stereo camera. In this stereo apparatus, since the positions of the base camera and the reference camera are fixed, the position and direction of the captured image are determined in advance. Accordingly, by performing stereo processing on this image, the relative coordinates (photograph coordinates) of each measurement point with respect to the stereo apparatus can be easily obtained. Furthermore, since the stereo apparatus does not allow a slight shift in the positional relationship between the cameras, the distance between the cameras cannot be increased too much. Therefore, it has a feature that it is suitable for surveying at a relatively short distance.

  However, since the stereo device does not have a function of knowing the position in the field coordinate system at the measurement site, each measurement point cannot be output in the field coordinates.

On the other hand, as a stereo apparatus that can be used for long-distance surveying and can also be output in a field coordinate system, for example, a total station and a camera integrated is described in Patent Document 1.
JP 2005-91298 A

  However, in the case of the stereo device disclosed in Patent Document 1, it is necessary to install stereo devices at a plurality of installation locations and photograph measurement points at the respective installation locations. Therefore, when installing a stereo device at each installation location, it is necessary to level the so-called total station at each installation location and to perform positioning by the backward intersection method.

  However, the effort required for leveling and positioning occupies most of the time spent for surveying. Therefore, it is required to reduce this labor in order to perform surveying efficiently.

  Accordingly, an object of the present invention is to efficiently perform three-dimensional measurement using a measurement device in which a total station and a camera are integrated.

  A measurement system according to an embodiment of the present invention includes a measurement apparatus including a stereo camera including a plurality of digital cameras, and a total station (hereinafter referred to as TS) provided with a predetermined positional relationship with the stereo camera. And an image processing device for processing a stereo image photographed by the measuring device. The image processing device is configured to acquire, from the measurement device, image data of a stereo image captured by the stereo camera, means for acquiring TS data measured by the TS when the stereo image is captured, the acquired image data, Based on the TS data, means for generating three-dimensional data in the field coordinate system at the shooting site of the measurement object reflected in the stereo image, and based on the generated three-dimensional data, the measurement object And a means for outputting a three-dimensional image.

  An image processing apparatus according to an embodiment of the present invention includes a stereo camera having a plurality of digital cameras and a total station (hereinafter referred to as TS) provided with a predetermined positional relationship with the stereo camera. From the stereo image image data captured by the stereo camera, means for acquiring TS data measured by the TS when the stereo image was captured, and the stereo image based on the acquired image data and TS data Means for generating three-dimensional data in the field coordinate system at the shooting site of the measurement object reflected in the image, and means for outputting a three-dimensional image of the measurement object based on the generated three-dimensional data; .

  In a preferred embodiment, the measurement device further includes a posture control unit that controls a posture of the TS and the stereo camera, and the image processing device includes a unit that receives designation of a photographing range, and the designated Based on the imaging range, it may further comprise means for outputting a signal for controlling the attitude of the TS and the stereo camera to the attitude control means.

  Hereinafter, a three-dimensional shape measurement system according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram showing an overall configuration of a three-dimensional shape measurement system according to an embodiment of the present invention.

  This system includes a measuring device 1 and a controller 3 connected to an input device 7 and a display device 5.

  The measuring apparatus 1 can use, for example, a motor-driven stereo camera integrated total station. That is, the measuring apparatus 1 includes a stereo camera 11, a total station (hereinafter referred to as “TS”) 13, a motor 15 for changing the orientation of the stereo camera 11 and TS 13, and a support frame 17.

  The stereo camera 11 includes a plurality of digital still cameras (hereinafter simply referred to as cameras), which are arranged in a predetermined distance and facing the same direction. One of the plurality of cameras is referred to as a reference camera 111, and the other camera is referred to as a reference camera 112. An image captured by the standard camera is referred to as a standard image, and an image captured by the reference camera is referred to as a reference image.

  TS13 is a measuring device that measures a distance to a survey target point and a direction represented by a horizontal angle and a vertical angle with respect to a predetermined basic direction where horizontal angle = 0 and vertical angle = 0. The TS 13 outputs data indicating the measured distance and direction (hereinafter referred to as “TS data”).

  The stereo camera 11 is fixed with a certain positional relationship with respect to the TS 13. Accordingly, the camera 11 and the TS 13 are integrally changed in direction with respect to the support frame 17.

  Here, at least the position of the reference camera 111 from the TS 13 and the deviation between the direction of the reference camera 111 and the direction of the TS 13 (hereinafter referred to as “the correction amount of the reference camera with respect to the TS”) are obtained in advance by measurement. As a result, when the orientation of the stereo camera 11 is changed, the measurement position of the reference camera 111 and the shooting direction with respect to the basic direction can be obtained based on the TS data output from the TS 13 and the correction amount of the reference camera with respect to the TS.

  Note that the relative position and direction between the base camera 111 and the reference camera 112 are fixed, and the relationship between each position and direction is known. Therefore, if the measurement position of the reference camera 111 and the shooting direction with respect to the basic direction are known, the measurement position of the reference camera 112 and the shooting direction with respect to the basic direction can also be known.

  The direction of the stereo camera 11 and the TS 13 is changed by driving the motor 15. The motor 15 is driven by the controller 3 as will be described later. In addition, when the motor 15 is not mounted on the measuring device 1, the operator may manually change the directions of the stereo camera 11 and the TS 13.

  Here, the modification of the measuring device 1 is shown in FIG.

  In FIG. 5A, the stereo camera 11 is coupled to a TS rotating body 13A by a coupling member 19A. In this case, when the weight of the stereo camera 11 is increased, the coupling strength may not be sufficient. Therefore, as shown in FIG. 7B, the TS rotating body support portion 13B may be coupled by a coupling member 19B.

  Note that the coupling members 19A and 19B may couple the stereo camera 11 to the TS 13 with a predetermined inclination. For example, if the connecting members 19A and 19B inclined downward are used, the three-dimensional shape of the ground near the measuring device 1 can be photographed.

  Referring to FIG. 1 again, the controller 3 acquires data of an image captured by the stereo camera 11 of the measuring device 1 and TS data that is a measurement result by the TS 13 from the measuring device 1, and based on these, a predetermined image is obtained. Processing is performed to measure the three-dimensional shape of the measurement object.

  In order to measure the three-dimensional shape of the measurement object with this system, first, the measurement device 1 is installed at an arbitrary position where the measurement object can be seen. Two or more reference points A and B that can be seen from the position where the measuring device 1 is installed are determined in advance.

  FIG. 3 is a diagram illustrating a detailed functional configuration of the controller 3.

  The controller 3 is configured by a general-purpose computer system, for example, and each component or function in the controller 3 described below is realized by executing a computer program, for example.

  First, the controller 3 includes an attitude control unit 311 that controls the directions of the stereo camera 11 and the TS 13, and a range setting unit 312 that sets a shooting range.

  The attitude control unit 311 drives the motor 15 to control the direction of the stereo camera 11 and the TS 13 integrated with the motor 15. For example, when the orientation control unit 311 receives an instruction input regarding the rotation direction of the motor from the input device 7, the posture control unit 311 controls the motor 15 based on the instruction input, or causes the camera 11 to point in a predetermined direction according to the instruction from the range setting unit 312. The motor 15 is controlled.

  The range setting unit 312 accepts specification of a measurement range. Then, the designated measurement range is divided into a plurality, and each divided photographing range is set. The measurement range designation includes, for example, designation of a measurement start area and end point area, a range designation with the area in between as a measurement range, and a 360 degree range designation centered on the installation position of the measurement apparatus 1. .

  Here, FIG. 4 is an example of the measurement range designation screen 100 that the range setting unit 312 displays on the display device 5. The measurement range designation screen 100 includes shooting mode selection buttons for 360 degree measurement 110 and range designation measurement 120 as shown in FIG.

  The 360-degree measurement means that 360 degrees around the position of the measuring device is divided and photographed by the stereo camera 11, and the three-dimensional shape around the measurement position is measured.

  In the range designation measurement, when a start point and an end point to be measured are designated, divided shooting is performed with the stereo camera 11 between the start point and the end point as a measurement range, and a three-dimensional shape of the measurement range is measured.

  FIG. 5 shows an example of a measurement range designation screen 200 that the range setting unit 312 displays on the display device 5 when the range designation measurement 120 is selected.

  The measurement range designation screen 200 includes an image display area 210 of the reference camera 111, a direction instruction button 220, a start point setting button 240, and an end point setting button 250.

  In the display area 210, an image captured by the reference camera 111 at that time is displayed in real time.

  The direction instruction button 220 has up / down / left / right instruction buttons. When these instruction buttons are operated by the input device 7, the motor 15 is rotated in the direction in which the attitude control unit 311 is operated. As the motor 15 rotates, the orientation of the stereo camera 11 also changes, so that the image shown in the reference camera 111 displayed in the display area 210 also moves. While looking at the display area 210, the user searches for a desired shooting start area and end point area, and uses the start point setting button 240 and the end point setting button 250 to define a shooting start area and an end point area, respectively.

  Referring to FIG. 3 again, the controller 3 further includes the following configuration for image processing. That is, the controller 3 includes a calibration processing unit 331 that performs calibration for obtaining the installation position of the measurement device 1, a measurement position storage unit 332 that stores the measurement position of the measurement device 1 obtained by calibration, and the stereo camera 11. An image data storage unit 333 that stores data of captured standard images and reference images, a 2D-3D processing unit 334 that performs stereo processing of image data captured by the stereo camera 11, and three-dimensional data calculated by stereo processing 3D data storage unit 335 and a display control unit 337 for displaying a captured image, a 3D image, and the like on the display device 5.

  The calibration processing unit 331 acquires TS data when the TS 13 measures the reference points A and B, and obtains a measurement position where the measuring device 1 is installed with respect to the reference points A and B (so-called positioning). That is, the calibration processing unit 331 obtains the three-dimensional site coordinates of the measurement position at the measurement site with reference points A and B as references, and stores them in the measurement position storage unit 332 as measurement position data.

  The 2D-3D processing unit 334 performs stereo processing based on the two pieces of image data of the measurement target imaged simultaneously by the stereo camera 11. Based on the distance image of the measurement object obtained by this stereo process, the measurement position data stored in the measurement position storage unit 332, and the correction amount of the reference camera for the TS, 3 in the field coordinate system of the measurement range. Dimension data is obtained and stored in the three-dimensional data storage unit 335. When the measurement range is divided and photographed, stereo processing is performed on the corresponding image data to obtain three-dimensional data for each of the divided photographing regions, and these are combined to obtain the three-dimensional data of the entire photographing range. obtain.

  The display control unit 337 causes the display device 5 to display a 3D image based on the 3D data stored in the 3D data storage unit 335. Further, the display control unit 337 causes the display device 5 to display the measurement range specification screen 100 and the measurement range specification screen 200 described above in accordance with the instruction of the range setting unit 312.

  Next, when measurement is performed by the measurement system having the above-described configuration, first, the measurement device 1 is installed at a desired measurement position, and the TS 13 is set. That is, the so-called TS 13 is leveled, the reference points A and B are collimated, and the calibration processing unit 331 positions the measuring device 1 by the backward intersection method. And after performing this positioning, a process is performed in the following procedures.

  FIG. 6 is a flowchart showing a processing procedure for 360-degree measurement.

  First, when the 360-degree measurement button 110 is selected on the measurement range designation screen 100 shown in FIG. 4, the attitude control unit 311 controls the motor 15 to point the stereo camera 11 and the TS 13 in a predetermined reference direction (S11). . When the stereo camera 11 captures an image, the image data of the standard image and the reference image is stored in the image data storage unit 333 (S12, 13).

  Here, it is determined whether or not 360-degree shooting has been completed (S14). If 360-degree shooting has been completed (S14: Yes), the 2D-3D processing unit 334 performs three-dimensional processing and ends the processing (S16).

  On the other hand, when the 360-degree shooting is not completed (S14: No), the posture control unit 311 rotates the motor 15 by a predetermined rotation angle determined by the angle of view of the camera and the distance to the measurement object, and the step S12 and subsequent steps are repeated (S15).

  Thereby, 360 degree panoramic measurement can be easily performed. For example, if a golf course green, ruins, or the like is used as a measurement object, the three-dimensional shape can be grasped very easily by this embodiment.

  FIG. 7 is a flowchart showing a processing procedure of range designation measurement. The range designation measurement will be described with reference to FIG.

  First, when the range designation measurement button 120 is selected on the measurement range designation screen 100 shown in FIG. 4, the measurement range designation screen 200 shown in FIG. 5 is displayed on the display device 5, and the input of the measurement range is accepted (S21).

  When the start area and the end area are set on the measurement range designation screen 200, the range setting unit 312 determines the shooting range and divides the shooting range to determine the shooting order (S22).

  For example, the range setting unit 312 acquires TS data when the start point setting button 240 and the end point setting button 250 are pressed. Then, as shown in FIG. 8, the start area 310 determined by the horizontal and vertical angles of the TS data when the start point setting button 240 is pressed, and the horizontal angle and the TS data when the end point setting button 250 is pressed. A rectangular imaging region 300 is defined such that the end point region 320 determined by the vertical angle is at a diagonal position. Further, the range setting unit 312 uses the horizontal angle and vertical angle of the TS 13 when shooting each divided shooting area 330 based on the horizontal angle and vertical angle of the start area 310 and the horizontal angle and vertical angle of the end area 320. And the shooting order (numbers in parentheses in the figure).

  Here, the range setting unit 312 sequentially notifies the posture control unit 311 of information indicating the direction (horizontal angle and vertical angle) of each divided shooting region 330, and the posture control unit 311 controls the motor 15 according to this, The stereo camera 11 and the TS 13 are directed in the shooting direction of each divided shooting area 330 (S23). When the stereo camera 11 performs shooting, the image data of the standard image and the reference image is stored in the image data storage unit 333 (S24, 25).

  Step S23 and subsequent steps are repeated until shooting of all divided shooting areas is completed. When shooting of all divided shooting areas is completed (S26: Yes), the 2D-3D processing unit 334 performs three-dimensional processing and ends the processing (S27). ).

  According to this embodiment, it is possible to easily measure a three-dimensional shape of a measurement object at a relatively short distance by a measurement device in which a TS and a stereo camera are integrated. In particular, once the measuring device is installed, the three-dimensional shape can be easily measured without moving the measuring device in the range that can be captured by the stereo camera from that position. Therefore, it is possible to complete the positioning operation required when the measuring apparatus is moved.

  The above-described embodiments of the present invention are examples for explaining the present invention, and are not intended to limit the scope of the present invention only to those embodiments. Those skilled in the art can implement the present invention in various other modes without departing from the gist of the present invention.

  For example, the controller, the input device, and the display device may be configured integrally with the measurement device.

1 shows an overall configuration of a three-dimensional shape measurement system according to an embodiment of the present invention. The modification of the measuring device 1 is shown. A detailed functional configuration of the controller 3 is shown. An example of the measurement range designation screen 100 is shown. An example of the measurement range designation screen 200 is shown. It is a flowchart which shows the process sequence of 360 degree | times measurement. It is a flowchart which shows the process sequence of range designation | designated measurement. An imaging area 300 and a divided imaging area 330 are shown.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Measuring device, 3 ... Controller, 11 ... Stereo camera, 13 ... Total station, 15 ... Motor, 17 ... Support frame, 100 ... Measurement range designation screen, 200 ... Measurement range designation screen

Claims (5)

A measuring device including a stereo camera including a plurality of digital cameras, and a total station (hereinafter referred to as TS) provided in a predetermined positional relationship with the stereo camera;
An image processing device that processes a stereo image captured by the measurement device;
The image processing apparatus includes:
Means for acquiring, from the measurement device, image data of a stereo image captured by the stereo camera, and TS data measured by the TS when the stereo image is captured;
Based on the acquired image data and TS data, means for generating the three-dimensional data in the field coordinate system at the shooting site of the measurement object reflected in the stereo image;
A measurement system comprising: means for outputting a three-dimensional image of the measurement object based on the generated three-dimensional data. Stereo image captured by the stereo camera from a measuring device including a stereo camera having a plurality of digital cameras and a total station (hereinafter referred to as TS) having a predetermined positional relationship with the stereo camera. Means for acquiring data and TS data measured by the TS when the stereo image is captured;
Based on the acquired image data and TS data, means for generating the three-dimensional data in the field coordinate system at the shooting site of the measurement object reflected in the stereo image;
An image processing apparatus comprising: means for outputting a three-dimensional image of the measurement object based on the generated three-dimensional data. The measuring device further includes posture control means for controlling the posture of the TS and the stereo camera,
The image processing apparatus includes:
Means for accepting specification of the shooting range;
3. The apparatus according to claim 2, further comprising means for outputting a signal for controlling the attitude of the TS and the stereo camera to the attitude control means based on the designated photographing range. Image processing apparatus. Stereo image captured by the stereo camera from a measuring device including a stereo camera having a plurality of digital cameras and a total station (hereinafter referred to as TS) having a predetermined positional relationship with the stereo camera. Obtaining data and TS data measured by the TS when the stereo image is captured;
Based on the acquired image data and TS data, the step of generating the three-dimensional data in the field coordinate system at the shooting site of the measurement object shown in the stereo image;
And outputting a three-dimensional image of the measurement object based on the generated three-dimensional data. When executed on a computer,
Stereo image captured by the stereo camera from a measuring device including a stereo camera having a plurality of digital cameras and a total station (hereinafter referred to as TS) having a predetermined positional relationship with the stereo camera. Obtaining data and TS data measured by the TS when the stereo image is captured;
Based on the acquired image data and TS data, the step of generating the three-dimensional data in the field coordinate system at the shooting site of the measurement object shown in the stereo image;
And a step of outputting a three-dimensional image of the measurement object based on the generated three-dimensional data.

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