JP7169940B2 - Drawing superimposing device and program - Google Patents

Description

The present invention relates to a drawing superimposition system for superimposing and displaying drawing data on a captured real space image.

Errors in the finished form of civil engineering structures including steel structures (forgetting to build structures, incorrect positions, etc.) are passed on to subsequent processes without being noticed, and it takes time and money to recover from them. Conventionally, in the inspection process, the structure is manually measured using a measuring tool such as a tape measure, and compared with the design drawing to confirm the alignment.

However, the root cause of this problem is that this method includes many elements that induce human error. In other words, the measurement position (target) must be selected by the user himself/herself, but whether or not the measurement target is suitable for the measurement result to be secured depends on the ability of the user himself/herself. Also, the certainty of the reference point at the time of measurement is the decisive factor for accuracy, but this is also entrusted to the ability of the measurer himself. In addition, simple measurement errors (misreading of measured values) and simple measurement omissions can occur.

As another aspect, despite the fact that measurement often depends on the skills and motivation of the measurers as described above, the shortage of manpower and the decline in skills due to labor shortages are spurring the emergence of these issues.

Therefore, in recent years, several error detection methods using computers and the like have been proposed as methods for solving these problems.

Conventional methods include, for example, photogrammetry. This is a method in which a target structure is photographed as a two-dimensional optical photograph, and a three-dimensional CAD (Computer Aided Design)-based design is superimposed on the object to detect it. In this method, the problem is how to acquire the coordinates and angles of the camera that is shooting the structure, but basically it is established by physically measuring the coordinates in the real world. There are many.

As another method, a case of adopting MR (Mixed Reality) technology has been proposed. Patent Document 1 describes a device using HOLOLENS (registered trademark) of Microsoft (registered trademark). The HOLOLENS® is goggle-like hardware designed to cover the eyes of a human head with a translucent screen. It is roughly divided into an optical system, an environment recognition system, and a system system.

The optical system superimposes and displays stereoscopic digital information including 3D CAD on the scene actually seen by the wearer. In order to display 3D information, different data are projected for the right eye and the left eye so that the wearer can perceive the depth.

The environment recognition system is responsible for distance recognition by comparison of two-dimensional image shifts by a stereo lens, distance recognition by irradiating an infrared laser, movement amount estimation by an inertial sensor (IMU), and the like.

Patent No. 6438995

However, although the above-described error detection method based on photogrammetry has the advantage that it does not require special equipment, it takes considerable time and effort to acquire the photographing position of the camera. In addition to the distortion of the lens, it takes time and effort to adjust the appearance on the 3D CAD. For this reason, in order to implement this, the measurer needs skills including image processing, and it takes a certain amount of time for implementation, so it cannot be said that the problem can be fully solved.

On the other hand, the method described in Patent Literature 1 does not require any special skill for the measurer, and the superimposition is automatically adjusted and displayed, so it is a technology that can solve the problem without taking much time. However, the device described in Patent Document 1 is used by being worn on the head of a measurer, and there is a problem that the measurement work is limited to one person, and other people cannot grasp the measurement situation. be.

Therefore, it is conceivable to separately connect an external device such as a tablet to the goggles for the purpose of allowing a person other than the measurer to observe and record the measurement situation. In this case, the external device acquires, from the goggles, image data captured by a camera provided in the goggles, and right-eye or left-eye data calculated from the stereoscopic digital information. Then, the external device superimposes the right-eye or left-eye data on the image data obtained from the goggles for display, and stores the superimposed image in a predetermined storage means as necessary. However, in the goggles described in Patent Document 1, the imaging camera is arranged in the vicinity of the middle position between the right eye and the left eye of the measurer, while the data for superimposition is calculated for the right eye position or the left eye position. . Therefore, there is a problem that the image data captured by the camera and the calculated data for superimposition are deviated from each other. In the measurement of a civil engineering structure, even if the object to be measured is a large-scale structure exceeding several tens of meters, the measurement accuracy must be in units of mm. Therefore, the occurrence of deviation as described above is a very serious problem.

Further, the device described in Patent Document 1 is worn on the head of the measurer, and the measurer needs to visually observe the measurement target in a semi-proximity state. However, civil engineering structures are not always visible to the naked eye from locations easily accessible to surveyors. That is, there is a problem that it is often possible to check only from a high place where it is impossible to check without providing a scaffold or from a place where the floor level is low. Further, in the goggles described in Patent Document 1, since the goggles are susceptible to shock and vibration during shooting, the captured image and measurement signals may be blurred, which may interfere with space recognition processing and position recognition processing.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its object is to provide a highly convenient drawing superimposition device that can superimpose drawing data with high precision and can easily and reliably inspect construction errors in civil engineering structures. is to provide

In order to achieve the above object, the present invention provides a drawing superimposing device for superimposing drawing data on a captured real space image and displaying the drawing superimposing device main body and a wired or wireless connection to the drawing superimposing device main body. and a position for acquiring position calculation information for detecting the focus position and direction of the camera. Calculation information acquisition means is provided, and the drawing superimposition device main body includes a drawing data storage unit that stores drawing data that is a design drawing of a structure, and based on the position calculation information acquired by the position calculation information acquisition means a position calculation unit for calculating the focal position and direction of the camera; and rendering the drawing data stored in the drawing data storage unit based on the current focal position and direction of the camera calculated by the position calculation unit as a rendered image. is superimposed on the physical space image captured by the camera and output to a display device.

A preferred aspect of the present invention further includes an elongate support member held by a user and supporting the imaging device. Another preferable aspect of the present invention includes a stabilizer that absorbs shock and vibration applied to the imaging device. Further, another preferred aspect of the present invention includes a correction unit that corrects the physical space image or the rendered image based on the lens distortion information of the camera. In another preferred aspect of the present invention, the position calculation information acquisition means acquires distance information between each pixel corresponding to the real space image captured by the camera and existing in the real space. and an inertia measurement unit that measures inertia information of the imaging device as the position calculation information.

According to the present invention, since the main body of the drawing superimposing device and the imaging device are separated, it is possible to easily move only the imaging device to near the object to be inspected. This makes it possible to easily and reliably inspect construction errors in civil engineering structures. Also, according to the present invention, since the image of the physical space is captured by a single camera included in the imaging device, the superimposition accuracy of the drawing data in the superimposition display control unit is improved.

In particular, according to the drawing superimposing device provided with the support member, it is possible to easily move only the image pickup device to the near vicinity of the inspection object. This makes it possible to easily and reliably inspect construction errors in civil engineering structures. In addition, according to the drawing superimposing device equipped with a stabilizer, the blurring of the imaging device is small and the position is stable. and a superimposed image can be obtained. Further, according to the drawing superimposition device, the correction unit for correcting lens distortion is reduced in deviation between the rendered image obtained by rendering the drawing data and the real space image, so that the accuracy of superimposing the drawing data is improved.

1 is an overall configuration diagram of a drawing superimposing device according to a first embodiment; FIG. Functional block diagram of the depth camera Functional block diagram of the main body of the drawing superimposing device Flowchart for explaining the operation of the position calculator An example of a real space image An example of a superimposed image Functional block diagram of the main body of the drawing superimposing device according to the second embodiment Functional block diagram of the main body of the drawing superimposing device according to the second embodiment

(First embodiment)
A drawing superimposition device according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall configuration diagram of a drawing superimposing device according to the first embodiment, FIG. 2 is a functional block diagram of a depth camera, and FIG. 3 is a functional block diagram of the main body of the drawing superimposing device.

The drawing superimposing device 1 according to the present embodiment, as shown in FIG. 1, includes a drawing superimposing device body 100 and a depth camera 200 as an imaging device, which are provided as separate housings. The drawing superimposition apparatus main body 100 and the depth camera 200 are connected by a predetermined communication cable 300 so that data can be exchanged. The drawing superimposing device 1 according to the present embodiment also includes a support 400 that is a long support member that is held by a user and supports the depth camera 200 .

The drawing superimposition apparatus main body 100 is configured by installing a program in a computer carried by a user. The drawing superimposing device main body 100 includes at least a display device such as a liquid crystal display or an organic EL display. Typically, the drawing superimposing device main body 100 is configured by a high-performance mobile communication terminal called a tablet terminal. The configuration of the drawing superimposing device main body 100 will be described in detail later.

The depth camera 200 is an imaging device that is called a depth camera and capable of capturing image information including depth data. As shown in FIG. 2, the depth camera 200 includes a single-lens optical camera 210 that captures a two-dimensional image of the physical space, and a camera that corresponds to the physical space image captured by the optical camera 210 and exists in the physical space. depth data generating unit 220 for generating depth data having distance information between each pixel, an inertia measuring unit 230 for measuring inertial information of the depth camera 200, and a communication interface unit 240. .

The optical camera 210 includes a well-known imaging element 211 such as a CCD image sensor or a CMOS image sensor and a single-lens optical lens 212, acquires a two-dimensional image of the real space in the visible light region, and transmits the real space image to the communication interface. The image is output to the drawing superimposing device main body 100 via the face unit 240 at a predetermined frame rate. The optical camera 210 may include, as illumination means, a visible light irradiation section that irradiates an object with light in the visible light region.

The depth data generation unit 220 includes a pair of left and right imaging elements 221 such as a CCD image sensor or a CMOS image sensor and an optical lens 222, and acquires images in the infrared region. The depth data generation unit 220 generates depth data, that is, distance data to the object for each pixel using the parallax of the image acquired by each image sensor 221 and/or the arrival time of infrared rays, and the communication interface unit 240 to the drawing superimposition apparatus main body 100 at a predetermined frame rate. The imaging direction, angle of view, lens magnification, etc. of the depth data generator 220 match those of the optical camera 210 . Also, the resolution (number of pixels) of the depth data output by the depth data generation unit 220 matches the resolution (number of pixels) of the physical space image output by the optical camera 210 . This depth data is used as one piece of position calculation information for detecting the focal position of the optical camera 210 (the focal position of the optical lens 212) and the direction.

The depth data generation unit 220 also includes an infrared irradiation unit 223 that irradiates an object with infrared rays. The depth data generator 220 can irradiate the object with a predetermined pattern (for example, dot pattern) using the infrared ray irradiator 223 . The depth data generation unit 220 can consider the situation of the pattern included in the captured image when generating the depth data.

The inertial measurement unit 230 is called an IMU (Inertial Measurement Unit) device, and is a device that detects the direction and movement status of the depth camera 200 . The inertial measurement unit 230 includes an acceleration sensor for three directions of up/down, left/right, and front/rear, and an angular velocity sensor of three axes, XYZ axes, and can detect three-dimensional angular velocity and acceleration. The inertial measurement unit 230 outputs the detected data as inertial information to the drawing superimposing device main body 100 via the communication interface unit 240 . This inertial information is used as one of position calculation information for detecting the focal position of the optical camera 210 (the focal position of the optical lens 212) and the direction. Inertial measurement unit 230 may include other types of sensors such as pressure gauges, flow meters, and GNSS (Global Navigation Satellite System) sensors to improve accuracy and reliability.

The communication interface section 240 is an interface section with the drawing superimposition apparatus main body 100 . The communication standard of the communication interface unit 240 does not matter, and it may be wireless communication or wired communication.

As shown in FIG. 3, the drawing superimposition device main body 100 includes a drawing data storage unit 110, a position calculation unit 120, a superimposition display control unit 130, a history storage unit 140, an input device 150, a display device 160, and a communication interface unit 170 .

The drawing data storage unit 110 stores drawing data that is a design drawing of a structure to be inspected. The drawing data is generated by another CAD device or the like (not shown) and installed in the drawing superimposition device main body 100 . The standard and format of the drawing data are irrelevant. In this embodiment, the drawing data can be displayed on the display device 160 as a wire frame of the structure. The drawing data can include additional information such as the name, model number, and dimensions of the structure. The drawing data can also include textures of structures as additional information.

The position calculation unit 120 uses the SLAM (Simultaneously Localization and Mapping) technology for simultaneously estimating the self-position and creating a map. The current position and direction of the depth camera 200, more specifically, the focal position and direction of the optical camera 210 of the depth camera 200 are calculated based on the obtained drawing data. The operation of the position calculator 120 will be described with reference to the flowchart of FIG.

As shown in FIG. 4, the position calculation unit 120 first calculates the current position and direction of the depth camera 200 based on the inertial information acquired from the depth camera 200, more specifically, the current focal position and direction of the optical camera 210 of the depth camera 200. A direction is calculated (step S1). Here, the position calculation unit 120 calculates the current position and direction based on the origin position and direction input by the user using the input device 150 and the relative position and direction from the origin position calculated based on the inertia information. calculate.

Next, based on the drawing data stored in the drawing data storage unit 110, the position calculation unit 120 calculates a virtual space image based on the current focal position and direction of the optical camera 210 of the depth camera 200 calculated in step S1. That is, a virtual image of the structure related to the drawing data viewed from the current focal position and direction is calculated (step S2).

Next, the position calculation unit 120 compares feature point positions based on the virtual space image calculated in step S2 and the real space image and depth data acquired from the depth camera 200, and , and based on this amount of deviation, the current position and direction calculated in step S1 are corrected (step S3).

The superimposed display control unit 130 renders the drawing data stored in the drawing data storage unit 110 based on the current focal position and direction of the optical camera 210 of the depth camera 200 calculated by the position calculation unit 120, and creates a rendered image. The image is superimposed on the physical space image and output to the display device 160 . Here, the manner of superimposed display is irrelevant. The drawing data to be superimposed may include drawing data that is behind the structure in the real image and cannot be viewed from the current position, or may include only drawing data that can be viewed, or the two may be switched as appropriate. good too. In addition, in the present embodiment, the structure is superimposed and displayed in a wire frame. Further, when the drawing data includes additional information, the additional information may also be superimposed and displayed.

FIG. 5 shows an example of real space imaging, and FIG. 6 shows an example of a superimposed image. As shown in FIGS. 5 and 6, a physical space image 900 includes structures 901 and 902. FIG. In the superimposed image, as shown in FIG. 6, the drawing data is superimposed on the physical space image 900 as a wire frame. FIG. 6 shows an example in which part of the wireframe does not match the actual structure. That is, in FIG. 6, the structural part 901 shown in FIG. 5 matches the wire frame 161 based on the drawing data. On the other hand, the structure 902 shown in FIG. 5 does not match the wireframe 162 based on the drawing data. This means that the actual structure 902 differs from the design drawing due to some construction error.

The history storage unit 140 records at least one or both of the physical space image acquired from the depth camera 200 and the superimposed image output from the superimposed display control unit 130 as history information. The history storage unit 140 can further record depth data and inertia information acquired from the depth camera 200 as history information.

The input device 150 is a well-known device for inputting various information from the user. The input device 150 includes pointing devices such as a touch panel, a mouse, and a trackball. The display device 160 is well-known display means for displaying various information, and is configured by, for example, an LCD display or an organic EL display. The communication interface unit 170 is an interface unit with the depth camera 200 and has the same communication standard as the communication interface unit 240 of the depth camera 200 . For the input device 150, the display device 160, and the communication interface unit 170, when the drawing superimposing device main body 100 is configured by a high-performance mobile communication terminal such as a tablet terminal, those provided in the terminal can be used.

The communication cable 300 is a communication medium for enabling data transmission/reception between the drawing superimposing device main body 100 and the depth camera 200 , and is a communication interface between the communication interface unit 170 of the drawing superimposing device main body 100 and the depth camera 200 . It conforms to the communication standard of the face section 240 .

The support 400 has a long rod-like member configured to be detachably attachable to the depth camera 200 at its distal end. In this embodiment, depth camera 200 is attached to support 400 via stabilizer 450 . The stabilizer 450 has a function to stabilize the focus position and direction of the depth camera 200 by absorbing shock and vibration applied to the depth camera 200 via the support 400 and the support 400 . Stabilizer 450 may be mechanical or electric. By using the stabilizer 450 , it is possible to prevent the physical space image, the depth data, and the inertial information from the depth camera 200 from blurring and sudden changes. As described above, the position calculation unit 120 of the drawing superimposing apparatus main body 100 calculates positions using SLAM technology. ing. Therefore, if there is a sudden change in data, there may be a case where the calculation of the correct position and direction fails. Therefore, stabilizer 450 is effective for accurate and stable measurement.

Alternatively, the support 400 may be configured to attach the depth camera 200 using, for example, a well-known camera platform without providing the stabilizer 450 . Further, the support 400 may be configured to change the orientation of the depth camera 200 by a driving means such as a motor. In this case the drive means may be part of the stabilizer 450 .

A handle 401 is provided at the other end of the support 400 so that the user can easily grip it. Support 400 can be configured to vary its length. When using the drawing superimposing device 1 , the depth camera 200 may be attached to the support 400 or may be removed from the support 400 .

According to the drawing superimposing device 1 according to the present embodiment, since the drawing superimposing device main body 100 and the depth camera 200 are separated, it is possible to easily move only the depth camera 200 to near the inspection object. This makes it possible to easily and reliably inspect construction errors in civil engineering structures.

Further, according to the drawing superimposing device 1 according to the present embodiment, when calculating the focal position and direction of the depth camera 200, not only the real space image, the depth data, and the inertia information acquired from the depth camera 200 but also the drawing data is also used, the superimposition accuracy of the drawing data is improved.

Further, according to the drawing superimposing device 1 according to the present embodiment, since the image of the real space is captured by the single optical camera 210 included in the imaging device, the accuracy of superimposing the drawing data in the superimposed display control unit 130 is improves.

(Second embodiment)
A drawing superimposing device according to a second embodiment of the present invention will be described with reference to the drawings. FIG. 7 is a functional block diagram of the drawing superimposing device body according to the second embodiment. This embodiment differs from the first embodiment in that correction processing is performed according to lens distortion of the camera. Since other points are the same as those of the first embodiment, only the points of difference will be described here.

In general, image data obtained by imaging with a camera is distorted due to distortion inherent in the camera lens. In a typical example, when an image of a rectangular object is imaged, the ridge lines of the object are distorted into a barrel shape in the image data due to lens distortion. Therefore, as shown in FIG. 7, the drawing superimposition apparatus main body 100a according to the present embodiment includes a correction processing unit 180 that corrects the distortion of the real space image caused by the distortion of the optical lens 212 of the optical camera 210 of the depth camera 200. , and a calibration processing unit 190 that generates correction data used in the correction processing unit 180 .

The calibration processing unit 190 uses the optical camera 210 of the depth camera 200 to capture an image of a physical space including a predetermined imaging target for calibration under predetermined imaging conditions. Then, the calibration processing unit 190 generates correction data for the physical space image based on the physical space image obtained by imaging and known various information regarding the imaging object and the imaging conditions. The calibration processing unit 190 also generates correction data for the depth data together with correction data for the physical space image. In this case, the calibration processing unit 190 causes the depth data generation unit 220 to generate depth data including the imaging target for calibration in parallel with the process of generating correction data for the physical space image, and the depth data and Data for correcting the depth data may be generated based on various types of known information regarding the object to be imaged and the imaging conditions. The correction data generated by the calibration processing unit 190 is stored in a predetermined storage unit (not shown).

The calibration work by the calibration processing unit 190 may be performed at least when the depth camera 200 is used for the first time, and may be performed periodically or at any time as necessary.

The correction processing unit 180 corrects the physical space image captured by the optical camera 210 of the depth camera 200 using the correction data for the physical space image generated by the calibration processing unit 190 . Similarly, the correction processing unit 180 corrects the depth data generated by the depth data generation unit 220 using the correction data for the depth data generated by the calibration processing unit 190 . The corrected physical space image is sent to the position calculator 120 and the superimposed display controller 130 . Also, the corrected depth data is sent to the position calculator 120 .

According to the drawing superimposing device according to the present embodiment, since the real space image captured by the optical camera 210 of the depth camera 200 is corrected according to the distortion inherent in the camera lens, the accuracy of superimposing the drawing data is improved. do. Further, according to the drawing superimposing device according to the present embodiment, the depth data generated by the depth data generation unit 220 of the depth camera 200 is also corrected according to the distortion inherent to the camera lens. The detection accuracy of the focal position and direction of the camera 200 is improved. This further improves the superimposition accuracy of the drawing data. Other functions and effects are the same as those of the first embodiment.

In this embodiment, the calibration processing unit 190 is mounted in the drawing superimposition apparatus main body 100a, but the calibration processing unit 190 is mounted in another computer, and the depth camera 200 according to this embodiment is implemented in the other computer. The calibration process may be performed by connecting to a computer. In this case, the correction data may be stored in a predetermined storage unit (not shown) of the drawing superimposition apparatus main body 100a via a predetermined communication medium or storage medium.

(Third Embodiment)
A drawing superimposing device according to a third embodiment of the present invention will be described with reference to the drawings. FIG. 8 is a functional block diagram of the drawing superimposing device body according to the third embodiment. This embodiment differs from the first embodiment in that, like the second embodiment, correction processing is performed according to lens distortion of the camera. However, the target of correction is different from that of the second embodiment. Since other points are the same as those of the first and second embodiments, only the points of difference will be described here.

As shown in FIG. 8, the drawing superimposition apparatus main body 100b according to the present embodiment includes a calibration processing unit 190b that generates correction data used in correction processing.

As in the second embodiment, the calibration processing unit 190b uses the optical camera 210 of the depth camera 200 to capture an image of a physical space including a predetermined imaging target for calibration under predetermined imaging conditions. Then, the calibration processing unit 190b generates correction data for the real space image obtained by imaging and known various information regarding the object to be imaged and the imaging conditions. The correction data generated by the calibration processing unit 190b is stored in a predetermined storage unit (not shown) and sent to the position calculation unit 120b and the superimposed display control unit 130b.

The main functions of the position calculator 120b are the same as in the first embodiment. However, the position calculation unit 120b according to the present embodiment, based on the drawing data stored in the drawing data storage unit 110, creates a virtual space image at the current position and direction, that is, the drawing data viewed from the current position and direction. The first feature is that when a virtual image of such a structure is calculated, the correction data is used to correct the virtual space image so that it is distorted in the same way as the distortion of the real space image. Different from the embodiment.

The main functions of the superimposed display control unit 130b are the same as in the first embodiment. However, the superimposed display control unit 130b according to the present embodiment uses the correction data when rendering the drawing data stored in the drawing data storage unit 110 based on the calculated current focus position and direction. , is different from the first embodiment in that it has a processing function of correcting the rendering image so that it is distorted in the same manner as the distortion of the real space image.

According to the drawing superimposing device according to the present embodiment, since the drawing data is rendered in accordance with the distortion specific to the camera lens, the drawing data superimposing accuracy is improved. Other functions and effects are the same as those of the first embodiment.

Note that in the present embodiment, the calibration processing unit 190b is mounted in the drawing superimposition apparatus main body 100b, but the calibration processing unit 190b is mounted in another computer, and the depth camera 200 according to the present embodiment is implemented in the other computer. It may be connected to a computer for calibration processing. In this case, the correction data may be stored in a predetermined storage unit (not shown) of the drawing superimposition apparatus main body 100b via a predetermined communication medium or storage medium.

The drawing superimposing devices according to the first to third embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments, and within the scope of the present invention, Various improvements and modifications may be made.

For example, in the above-described embodiment, the drawing superimposition apparatus main body 100 and the depth camera 200 are connected through wired communication, but they may be connected through wireless communication.

Reference Signs List 1 Drawing superimposing device 100, 100a, 100b Drawing superimposing device body 110 Drawing data storage unit 120, 120b Position calculation unit 130, 130b Superimposed display control unit 140 History storage unit 150 Input device 160 Display device 170 Communication interface section 180 Correction processing section 190, 190b Calibration processing section 200 Depth camera 210 Optical camera 211 Imaging device 212 Optical lens 220 Depth data generating unit 221 Imaging device 222 Optical lens 222 Infrared Irradiation unit 230 Inertial measurement unit 240 Communication interface unit 300 Communication cable 400 Support 401 Handle 450 Stabilizer

Claims (7)

A drawing superimposition device for superimposing and displaying drawing data on a captured real space image,
A drawing superimposing device main body, an imaging device connected to the drawing superimposing device main body by wire or wirelessly, and a long support member held by a user and supporting the imaging device,
The imaging device includes a single-lens camera that captures a two-dimensional image of the real space, and position calculation information acquisition means that acquires position calculation information for detecting the focus position and direction of the camera,
The main body of the drawing superimposition device includes:
a drawing data storage unit that stores drawing data that is a design drawing of a structure;
a position calculation unit that calculates the focal position and direction of the camera based on the position calculation information acquired by the position calculation information acquisition means;
The drawing data stored in the drawing data storage unit is rendered based on the current focal position and direction of the camera calculated by the position calculation unit, and the rendered image is displayed superimposed on the real space image captured by the camera. A drawing superimposing device, comprising: a superimposing display control unit for outputting to the device. 2. The drawing superimposing device according to claim 1, wherein the imaging device is attached to the supporting member via a stabilizer. A drawing superimposition device for superimposing and displaying drawing data on a captured real space image,
A drawing superimposing device main body, an imaging device connected to the drawing superimposing device main body by wire or wirelessly, and a stabilizer that absorbs shock and vibration applied to the imaging device,
The imaging device includes a single-lens camera that captures a two-dimensional image of the real space, and position calculation information acquisition means that acquires position calculation information for detecting the focus position and direction of the camera,
The main body of the drawing superimposition device includes:
a drawing data storage unit that stores drawing data that is a design drawing of a structure;
a position calculation unit that calculates the focal position and direction of the camera based on the position calculation information acquired by the position calculation information acquisition means;
The drawing data stored in the drawing data storage unit is rendered based on the current focal position and direction of the camera calculated by the position calculation unit, and the rendered image is displayed superimposed on the real space image captured by the camera. A drawing superimposing device, comprising: a superimposing display control unit for outputting to the device. 4. The drawing superimposing device according to claim 1, wherein the drawing superimposing device body includes a correcting unit that corrects the real space image or the rendered image based on lens distortion information of a camera. A drawing superimposition device for superimposing and displaying drawing data on a captured real space image,
A drawing superimposing device main body and an imaging device connected to the drawing superimposing device main body by wire or wirelessly,
The imaging device includes a single-lens camera that captures a two-dimensional image of the real space, and position calculation information acquisition means that acquires position calculation information for detecting the focus position and direction of the camera,
The main body of the drawing superimposition device includes:
a drawing data storage unit that stores drawing data that is a design drawing of a structure;
a position calculation unit that calculates the focal position and direction of the camera based on the position calculation information acquired by the position calculation information acquisition means;
The drawing data stored in the drawing data storage unit is rendered based on the current focal position and direction of the camera calculated by the position calculation unit, and the rendered image is displayed superimposed on the real space image captured by the camera. a superimposed display control unit that outputs to the device;
A drawing superimposition device, comprising: a correction unit that corrects a real space image or a rendered image based on lens distortion information of a camera. The position calculation information acquisition means generates, as the position calculation information, depth data corresponding to the physical space image captured by the camera and having distance information between each pixel and an object existing in the physical space. 6. The drawing superimposing device according to any one of claims 1 to 5, further comprising: a depth data generation unit; and an inertia measurement unit that measures inertia information of an imaging device as the position calculation information. 6. A program that causes a computer to function as each part of the drawing superimposing apparatus according to claim 4 or 5.

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