CN101218602A - Image processor and environment information observing device - Google Patents
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Abstract
The present invention provides an image processor and environment information observing device for processing information with high versatility according to a two-dimensional image. The image processor comprises a two-dimensional image information acquiring section for acquiring two-dimensional image information of a subject (2), a three-dimensional space information acquiring section for acquiring three-dimensional space information including the latitude, longitude, and altitude of the subject, an image displaying section (17) for displaying a two-dimensional image, an image information combining section (26) for combining the acquired two-dimensional image information and the three-dimensional space information, and an attribute information imparting section (27). The attribute information imparting section (27) imparts at least one of the items such as the latitude, longitude and altitude of the subject (2) included in the attribute information to each pixel of the two-dimensional image.
Description
Technical field
The present invention relates to a kind of image processing apparatus and environment information observing.
Background technology
Disclose following a kind of device in the patent documentation 1, that is: the water surface vertically is provided with the water gaging plate relatively, and is resolved by the image of the level scale that has read in relevant water gaging plate, and measures water level.
Disclose following a kind of technology in the non-patent literature 1, that is: the coordinate system orthogonal projection with two dimensional image transforms to three-dimensional geographic coordinate, carries out image analysis or geographical space afterwards and resolves.
A kind of technology that shows 3-D view that overlaps on two dimensional image is disclosed in the patent documentation 2.
Patent documentation 1: Japanese patent laid-open 8-145765 communique
Non-patent literature 1: " diagram telemetry " write by Japanese telemetry research association, association is measured by Japan, puts down in April, 8, p120～220
Patent documentation 2: the Jap.P. spy opens the 2003-132068 communique
Yet, in patent documentation 1 described conventional art, the two dimensional image of the level scale that read in the water gaging plate disintegrated measure water level, but under the situation of illuminance deficiency as night, exist scale to read difficulty, be difficult to measure the problem of correct water level, thereby wish even without the parts of the mark absolute altitude position of water gaging plate etc. also energy measurement water level.
In the conventional art that non-patent literature 1 is put down in writing, can only can not be with reference to the three-dimensional spatial information on subject surface when carrying out image analysis with reference to two-dimensional position information.In addition, the two dimensional image orthogonal projection of the oblique subject side of obtaining is transformed to after the geographic coordinate system, might lose the monochrome information on the subject side.Therefore, the problem that has the deterioration in accuracy of image analysis.
On the other hand, in patent documentation 2, the three-dimensional shape data projection of subject can be depicted as two dimensional image, but, can not pay or show the attribute information of the longitude, latitude, absolute altitude etc. of subject to the pixel in the scope of the photographic subject on the two dimensional image, hope is carried out the high information processing of versatility by obtain the correct geographic coordinate of subject on two dimensional image.
Summary of the invention
The objective of the invention is to, obtain a kind of image processing apparatus and environment information observing that can carry out the high information processing of versatility based on two dimensional image.
In order to solve above-mentioned problem, technical scheme 1 described invention, it is characterized in that having: the two-dimensional image information of obtaining the two-dimensional image information of subject is obtained the unit; Obtain the three-dimensional spatial information of the three-dimensional spatial information that the group by the latitude of subject, longitude, absolute altitude etc. constitutes and obtain the unit; The image-display units that shows two dimensional image; The synthetic obtained two-dimensional image information and the image information synthesis unit of three-dimensional spatial information; And attribute information pays the unit, and wherein, attribute information is given the unit each pixel of two dimensional image is paid at least one attribute information that the group by the latitude of subject, longitude, absolute altitude constitutes.
Technical scheme 7 described inventions, on the basis of technical scheme 2 described inventions, it is characterized in that: the rerum natura discrimination unit obtains the shape data of having determined implication information on the subject according to monochrome information, obtained shape data is paid three-dimensional spatial information, and make spatial data according to the shape data of having paid three-dimensional spatial information.
Technical scheme 8 described inventions, on the basis of technical scheme 1～7 any described invention, it is characterized in that: the attribute information delineation unit will link the contouring of the lip-deep identical absolute altitude attribute of subject on two dimensional image, monochrome information obtains the unit and obtains monochrome information by each level line of paying on two dimensional image, and has based on obtained monochrome information and make along the change curve production unit of the monochrome information change curve of absolute altitude direction, liquid level boundary line information extraction unit with the absolute altitude information on the liquid level border of extracting subject based on the monochrome information change curve.
Technical scheme 9 described inventions, on the basis of technical scheme 8 described inventions, it is characterized in that: monochrome information obtains the unit and obtains monochrome information according to the pixel groups on the two dimensional image, pixel groups on this two dimensional image has been paid the implication information of spatial data of subject or the three-dimensional spatial information of subject, when the Continuous Observation subject, after fixing at the implication information of determining spatial data or three-dimensional spatial information and to the pixel groups of the implication information of having paid the spatial data of determining or three-dimensional spatial information, obtain monochrome information again.
According to technical scheme 1 described invention, utilize the image information synthesis unit, synthesize and obtain the two-dimensional image information of the subject of reading in the unit and obtain the three-dimensional spatial information that the unit reads in by three-dimensional spatial information by two-dimensional signal.Afterwards, utilize attribute information to pay the unit each pixel of two-dimensional image information is paid at least one attribute information that the group by the latitude of subject, longitude, absolute altitude constitutes.
Like this, each pixel in the scope of the subject that reflects on two dimensional image is paid at least one attribute information that the group by the latitude of subject, longitude, absolute altitude constitutes, therefore, can obtain the correct geographic coordinate of subject by utilizing two dimensional image, can carry out the high information processing of versatility.
According to technical scheme 2 described inventions, can play and the identical effect of technical scheme 1 described invention, and can distinguish the kind and the state of the thing the three-dimensional spatial information of subject based on the monochrome information that obtains from two dimensional image.
According to technical scheme 3 described inventions, can play and the identical effect of technical scheme 2 described inventions, and can utilize the attribute information delineation unit that the three-dimensional surface attribute information on subject surface is depicted on the two dimensional image, can also obtain the monochrome information of two dimensional image by the three-dimensional surface attribute information on each subject surface.
According to technical scheme 4 described inventions, can play and technical scheme 1～3 any effect that described invention is identical, and will pay on each pixel that the implication information of the spatial data of the subject that has added implication pays two dimensional image because utilize attribute information to pay the unit, so can be on each pixel of two-dimensional image information and deposit or and with the implication information of latitude, longitude, absolute altitude information and the spatial data of subject, and then can carry out the high information processing of versatility.
According to technical scheme 5 described inventions, can play and the identical effect of technical scheme 4 described inventions, and determine the implication information of the spatial data of subject based on the monochrome information of two dimensional image, and the spatial data of determining paid the physical property infomation of distinguishing by the rerum natura discrimination unit, therefore, related by setting up between the physical property infomation of obtaining with determined spatial data with by two dimensional image, can use two dimensional image distinguish the state of thing by each spatial data.
According to technical scheme 6 described inventions, can play and technical scheme 4 or the identical effect of 5 described inventions, and obtain monochrome information by each pixel groups with identical information, and then obtain along the change information of the monochrome information of the prescribed direction in the geographic coordinate system, therefore, by correctly obtaining the variation of the monochrome information that takes place along the prescribed direction in the geographic coordinate system, can distinguish the kind and the state of the thing of subject accurately.
According to technical scheme 7 described inventions, can play and the identical effect of technical scheme 2 described inventions, and the shape data on the subject that is obtained by two dimensional image is paid three-dimensional spatial information, and make spatial data according to shape data.In the prior art, at first two dimensional image is integrally transformed to geographic coordinate system, afterwards, make spatial data again after using monochrome information to extract shape data, but in the present invention, at first obtain shape data from two dimensional image, only shape data is transformed to geographic coordinate system and make spatial data, therefore, calculated amount can be suppressed, and the high speed of image processing speed can be realized.
According to technical scheme 8 described inventions, can play and technical scheme 1～7 any effect that described invention is identical, and monochrome information change curve along the absolute altitude direction by made, extract the liquid level boundary information of subject, therefore do not need as conventional art, on subject, to be provided with the scale of scale, can easily carry out the observation of liquid level boundary line information (water level).In addition, because obtain liquid level boundary line information obtaining after the monochrome information change curve of the absolute altitude direction of subject, even so, also can precision carry out the measurement of liquid level goodly as night, being difficult to discern under the situation of scale and liquid level boundary line because of hanging down illuminance.
According to technical scheme 9 described inventions, can play and the identical effect of technical scheme 8 described inventions, and when the Continuous Observation subject, by the implication information of having paid determined spatial data or the pixel groups of three-dimensional spatial information are fixed, do not need to obtain image all to carry out image information that the implication information or the associated pixel groups of three-dimensional spatial information of same space data are determined synthetic at every turn, implication information or three-dimensional spatial information by each spatial data calculate monochrome information easily, and high-speed image is treated as possibility.
Description of drawings
Fig. 1 is illustrated in the level measurement device that has used the image processing apparatus that embodiments of the present invention 1 relate to, and is presented at the figure that administrative center monitors the digital picture in the display screen.
Fig. 2 is illustrated in the figure that has described isocontour state in the digital picture of representing among Fig. 1.
Fig. 3 is the stereographic map of the state of the expression water level that the bridge bottom relates to that utilizes monitor camera to photograph.
Fig. 4 is the figure that the action of digital picture is paid attribute information in explanation.
Fig. 5 is the control block diagram of the level measurement device that relates to of present embodiment.
Fig. 6 is the figure of expression along the making principle of the monochrome information change curve of absolute altitude direction.
Fig. 7 is the curve map of the characteristic of expression mean flow rate change curve.
Fig. 8 is the curve map that other the embodiment when extracting river level information by the mean flow rate change curve describes.
Fig. 9 is the figure that the method that obtains the monochrome information on the level line is described.
Figure 10 is the figure that the computing method to the brightness of image ratio value on 1 on the digital picture describe.
Figure 11 is the figure that is illustrated in the viewing window pictures of the mean flow rate change curve that shows in the supervision display screen picture of administrative center.
Figure 12 is the stereographic map of integral body that the level measurement device of image processing apparatus has been used in expression.
Figure 13 is illustrated in the growth information observation device that embodiment 2 relates to, and the planimetric map of the state of monitor camera is set in the farmland as object of observation.
Figure 14 is illustrated in the growth information observation device shown in Figure 13, changes the posture of monitor camera and the stereographic map of situation when the appearance of the object of observation of appointment.
Figure 15 is illustrated in the growth information observation device shown in Figure 13, digital picture has been paid the stereographic map of the state of attribute information.
Figure 16 is the figure of the environment information observing that relates to of expression embodiment 3, (a) figure as the state on the hill-side of subject that to be expression photographed with digital camera (b) is growth part of the plant in the extracted digit image and the figure that represents of the boundary line of growth part not.
Figure 17 is the figure of the environment information observing that relates to of expression embodiment 3, (a) being the figure of expression state after painted to the growth part of the plant of the digital picture that obtains in Figure 16, (b) is to extract growth part of the plant in the geographic coordinate system and the figure that represents of the boundary line of growth part not out.
Wherein symbol description is as follows:
1 environment information observing, 17 image displaying parts, 26 image informations are synthesized portion, and 27 attribute informations are paid portion, 28 rerum naturas are distinguished portion, 29 monochrome information obtaining sections, 30 attribute information drawing sections, 31 implication information issuing portions, 32 three-dimensional surface information extraction portion, 33 image information divisions, 35 change curve preparing department, 37 liquid level boundary line information extraction portion.
Embodiment
Below, with reference to the accompanying drawings, present embodiment is elaborated.Fig. 1 is illustrated in the level measurement device that has used the image processing apparatus that embodiments of the present invention 1 relate to, be presented at the figure of the digital picture in the supervision display screen picture of administrative center, Fig. 2 is illustrated in the figure that has described isocontour state on the digital picture shown in Figure 1, Fig. 3 represents the figure of the state of the water level that relates to monitor camera photography bridge bottom, Fig. 4 is the action of attribute information is paid in explanation in digital picture figure, Fig. 5 is the control block diagram of the level measurement device that relates to of present embodiment, Fig. 6 is the figure of expression along the making principle of the monochrome information change curve of absolute altitude direction, Fig. 7 is the curve map of the characteristic of expression mean flow rate change curve, Fig. 8 is the curve map that other the embodiment when extracting river level information by the mean flow rate change curve describes, Fig. 9 is the figure that the method that obtains the monochrome information on the level line is described, Figure 10 is the figure that the computing method to the brightness of image ratio value on 1 on the digital picture describe, Figure 11 is the figure that is illustrated in the viewing window pictures of the mean flow rate change curve that shows in the supervision display screen picture of administrative center, and Figure 12 is the stereographic map of integral body that the level measurement device of image processing apparatus has been used in expression.
The level measurement device that present embodiment relates to (environment information observing) 1 as shown in figure 12, is a kind of device that is used for level measuring aspects such as river, and has: be arranged on a plurality of monitor cameras 3 on the riverbed; The cable 4 that connects a plurality of monitor cameras 3; The administrative center 5 that is connected in cable 4 and the information of monitor camera 3 is monitored successively.Utilize monitor camera 3 to obtain the digital picture of subject 2 (two-dimensional image information).
In Fig. 5, administrative center 5 has reception from the receiving trap 11 (two-dimensional image information is obtained unit 11a) of the signal of monitor camera 3 be connected in the image processing part 13 of receiving trap 11.Image processing part 13 has CPU15, supervision display screen picture (image-display units) 17, data preservation medium 19, program storage part 23, interface (I/F) 25 etc.
Be built-in with camera lens, shooting plate, image processing circuit etc. in the monitor camera 3, in being arranged at the auxiliary device of its underpart, be built-in with control device, communicator etc., camera images treatment circuit and control device are connected to administrative center 5 by cable 4, and this cable 4 comprises image signal line and control signal wire.
CPU (central arithmetic processing apparatus) 15 carries out various processing according to each program 27～33 that is stored in the program storage part 23.Preserve the electronic data that medium 19 sends digital pictures from the receiving trap 11 of the image signal that read in monitor camera 3 to data.By interface 25, relevant electronic data is read into after the master register, resolve.The analysis result data presentation in image displaying part 17, and is kept at data and preserves in the medium 19.
Especially, attribute information drawing section 30 describes to link the level line of the identical absolute altitude attribute on the subject, monochrome information obtaining section 29 obtains monochrome information by each level line of being paid on digital picture, has in addition based on obtained monochrome information to make the change curve preparing department (change curve production unit) 35 of monochrome information change curve and extract the liquid level boundary line information extraction portion (liquid level boundary line information extraction unit) 37 of absolute altitude information of the liquid level boundary line of subject 2 based on the monochrome information change curve.
Next, effect and the effect to the level measurement device that used the image processing apparatus that present embodiment relates to describes.As shown in Figure 3, utilize the monitor camera 3 that is fixed on the riverbed to obtain the image of subject 2.By cable 4 image of obtaining is sent to administrative center 5.The picture signal of obtained subject 2 is saved in from receiving device 11 preserves the medium 19, and be presented in the supervision display screen picture 17 in the administrative center 5.
Synthesizing of obtained digital picture and three-dimensional spatial information, (village well person of outstanding talent controls to use known photo measuring unit, " resolving photo measurement-revised edition ", association is measured by Japan, put down into 12 years), use the 3 d surface model of subject as shown in Figure 4, after the parameter of the locus of obtaining monitor camera 3, camera pose, camera lens focal length value etc., three dimensional space coordinate is transformed to the two dimensional image coordinate system, and can calculate two dimensional image coordinate position corresponding to specified three dimensional space coordinate position.Simultaneously, be presented at this moment in the digital picture that monitors in the display screen picture 17, utilize attribute information to pay portion 27 attribute information of the latitude of subject 2, longitude, absolute altitude is paid on each pixel of digital picture.
Then, by specified scope on digital picture, and in relevant range, describe the level line 10 of certain intervals.Promptly, when specified scope on digital image, use the 3 d surface model of subject 2 as known approaches, and on the surface of subject, obtain after the level line 10 of each specified altitude, use the 3 d surface model of subject to make CG (ComputerGraphic) image, and on the CG of made image generating contour 10.By the digital picture that above-mentioned monitor camera 3 reads in, have the coordinate system identical in theory with the CG image.Thereby the level line 10 based on the 3 d surface model of subject is made also can be depicted on the digital picture.
Next, to obtaining monochrome information, and determine that by relevant monochrome information the method for river level describes by digital picture.Utilize attribute information drawing section 30, generating contour 10 on digital picture, utilize the monochrome information obtaining section 29 of image processing part 13 to obtain the monochrome information on subject surface from digital picture then.Monochrome information is tried to achieve average brightness value by each level line 10, and makes along the curve map of the mean flow rate change curve (the continuous data curve of monochrome information) of absolute altitude direction.Fig. 6 is the curve map of expression mean flow rate change curve, and X-axis is represented the absolute altitude value among Fig. 6, and Y-axis represents to be depicted in the average brightness value of the level line 10 on the subject (part at the bottom of the bridge) 2.
The basic concept of method that is detected the position of the level line corresponding with river level 10 by above-mentioned mean flow rate change curve is, causes the sharp brightness decay when detecting water outlet in the mean flow rate change curve.Thereby, can come to detect river level by detect the position of local pattern (shape) by the mean flow rate change curve corresponding to river level from digital picture.
Here, the principle that is obtained monochrome information by digital picture is described.As described above, in absolute altitude display part 30, make level line according to the 3 d surface model of subject, and, the monochrome information on the level line in monochrome information obtaining section 29, collected.Transform in the image coordinate system isocontour shape as shown in Figure 9, by the set { P|P of stain
1..., P
K, P
NDecision.Then, grasp with the level line position on related pixel, and isocontour some P in the calculating digital picture coordinate system
KBrightness of image ratio value V
PK
One example of the computing method of Figure 10 presentation video brightness ratio value, as shown in the figure, square a-b-c-d represents to obtain with a P
kEffective range for the brightness value at center.And a pixel of square size and digital picture is consistent, and nine pixels adjacent with square a-b-c-d are and a P
kThe pixel groups of being correlated with on the position.In addition, in formula (1), V
b iBe the brightness value of the nominated bandwidth B of associated pixel i, AP
iRatio for the area that accounts for square a-b-c-d of pixel i.Then, based on the brightness of image ratio value, calculate the level line L shown in the following formula (2)
ZiMean picture brightness value MV
I (Zi)
Formula (1)
Formula (2)
High speed processing method when next, the implication information of the spatial data determined by each or three-dimensional spatial information being obtained monochrome information describes.As described above, come computed image brightness ratio value, and based on above-mentioned formula (2), come the computed image average brightness value by the monochrome information of the pixel groups of having determined based on above-mentioned formula (1).In ocean weather station observation, when calculating monochrome information continuously, can be to fixing with the pixel groups that on the implication information of the spatial data of having determined on the two dimensional image or three-dimensional spatial information position, is associated.That is, except that the brightness value information on observation time and subject surface, fix each parameter and (in above-mentioned formula (1) and formula (2), remove bandwidth luminance parameter V
b iOutside, fixing whole parameter), this each reference record with implication information that temporarily is kept at the spatial data in the register or pixel groups that three-dimensional spatial information is associated between relative position relation.Promptly, when handling from seasonal effect in time series digital picture that fixing image unit is obtained, the above-mentioned parameter of double counting just can calculate the image analysis result and only the monochrome information parameter is updated in the time of need not reading in new images in the formula at every turn, therefore can realize the high speed processing of digital picture.
Fig. 7 is the curve map of the characteristic of expression mean flow rate change curve, detects the waveform patterns of relevant characteristic, and detects river level.For the waveform of the characteristic that quantizes to be correlated with and define the parameter of waveform patterns, can use the pattern of each CALCULATION OF PARAMETERS formula in calculating between designation area on the mean flow rate change curve quantitatively.And the parameter shown in the figure is an example that is used for quantized waveform, also can use other parameter.Each parameter among the figure is defined as follows.B: position, the B of interval minimum brightness value
L: interval left margin point, B
R: interval right margin point, T
L: B and B
LBetween position, the T of highest brightness value
R: B and B
RBetween position, the ap of highest brightness value: curve pitch angle, the aL at some p place: line segment T
LThe pitch angle of-B, aR: line segment T
RThe pitch angle of-B.
Then, in liquid level boundary line information extraction portion 37, specify and necessarily intervally also to scan the mean flow rate change curve, and detect the maximally related interval of model curve shape with above-mentioned predefined the parameter of the curve from the interval of being scanned.And then, with reference to predefined curvilinear characteristic, from detected interval, detect maximally related absolute altitude position.The image analysis of digital picture that so just can be by having used the river detects river level information.And, because monochrome information is to obtain average brightness value by each level line 10, so the long more monochrome information that can emphasize more by the lip-deep horizontal line direction of subject of level line 10 representatives of the observation width of horizontal direction, thereby can eliminate noise on the digital picture effectively.
Like this, because can obtain river level based on the monochrome information that obtains by digital picture, even so be difficult under the situation of reading images in difference (the particularly reduction of the illuminance at night) owing to meteorological condition, also become can be easily and precision obtain river level goodly.
In addition, attribute information owing to the latitude of each pixel of digital picture being paid subject 2, longitude, absolute altitude etc., so can carry out more high-precision image analysis by monitoring the more accurate geographic coordinate that obtains each pixel in the display screen picture picture displayed.
And, cover situation according to the ground in water-level observation place, the feature situation inequality of mean flow rate change curve is also arranged, can consider by adjusting the parameter of above-mentioned waveform, and the place when river level information is extracted in restriction especially.
The embodiment of other when then, adopting Fig. 8 to extraction river level information describes.In the present embodiment, have storage and change the monochrome information reservoir 33 (with reference to figure 5) that the data of monochrome information are measured on ground, distinguish in the portion 28 in rerum natura and distinguish river level based on the monochrome information that is stored in the monochrome information reservoir 33 through the time.
Particularly, the digital picture during from the moment (T1) and (T1+ Δ t), calculate the lip-deep mean flow rate change curve of subject (40a, 40b) respectively along the absolute altitude direction.Then, the monochrome information during based on moment (T1) of being stored in the monochrome information reservoir 33, and with reference to the corresponding local curve pattern of water level of (T1) constantly, extract the maximally related curve of shape interval from the curve of (T1+ Δ t) constantly.Can think that the absolute altitude position corresponding with the minimum value of mean flow rate in this extraction interval is the water level of (T1+ Δ t) constantly.Like this, measure river level, so, can carry out more high-precision measurement than the situation of measuring river level based on the data of input in advance based on the monochrome information that is stored in the past in the monochrome information storage element 33.
Figure 11 is the figure that is illustrated in the viewing window pictures that monitors the mean flow rate change curve that shows in the display screen picture.As shown in figure 11, on viewing window pictures, change ground and show the mean flow rate change curve, and show each parameter that is used for determining river level by the mean flow rate change curve in the lower portion of viewing window pictures through the time.In addition, the river level of utilizing rerum natura to distinguish that portion 28 calculates is presented on the curve map of mean flow rate change curve (being represented by E among Figure 11).
And, in the level measurement device 1 that the present invention relates to, also can be when the water level of measuring surpass predefined water level (for example, being represented by F among Figure 11) absolute altitude, the measurement frequency of flooding.
Like this, owing to become the measurement frequency that predefined absolute altitude improves river level when above measuring water level, so by obtaining water level information in real time, for example, can be suitably and promptly tackle by the discharge water adjustment etc. of caused river discharge of warning order of alarm and reservoir.
Next, embodiment to other describes, in the following description, by to paying identical symbol with the part that above-mentioned the 1st embodiment plays identical action effect, omit the detailed description of this part, and the main explanation point different in the following description, with above-mentioned the 1st embodiment.Adopt Figure 13～Figure 15 that the 2nd embodiment is described.In the 2nd embodiment, the image processing apparatus that the present invention relates to growing state observation device (environment information observing) as the upgrowth situation of observation plant etc. is used.Figure 13 is the planimetric map of expression as the farmland of object of observation, be the figure that is illustrated in the state that is provided with monitor camera in the farmland, Figure 14 is that expression changes the posture of monitor camera and the figure of appearance when object of observation, and Figure 15 is the figure that is illustrated in the state that has added attribute information on the digital picture.
In the 2nd embodiment, the camera part in the monitor camera 3 can be rotated about horizontal direction reaches up and down, and relevant camera part can be carried out operated from a distance in the pulpit of administrative center's 5 grades.In addition, will give administrative center 5 by the image data transmission that monitor camera 3 reads in by wireless.
In image processing part 13, use existing farmland to distinguish the spatial data of usefulness, the 3 d surface model of ground surface, the three-dimensional space position of camera, come to calculate the pose parameter of camera in the mode that desirable object of observation becomes picture centre.In supervision display screen picture shown in Figure 13, from be divided into a plurality of farmlands, select any one to distinguish 50, and determine the geographic center W of selected differentiation and the position angle of camera pose as object of observation.In addition, as shown in figure 14,, calculate the angle of inclination beta of camera pose by the three-dimensional geographic space position of the geographic center W and the monitor camera 3 of selected differentiation.
In the present embodiment, has implication information issuing portion (implication information issuing unit) 31, it makes the spatial data 60 of the three-dimensional spatial information of subject having been paid implication, and each pixel of two dimensional image is paid the implication information of reflection in the spatial data 60 of the subject of made.In addition, rerum natura distinguishes that portion 28 determines the implication information of the spatial data of subject 2 based on the monochrome information of two dimensional image, and the spatial data of determining is paid the physical property infomation of being distinguished.
When the observation farmland, send the image that utilizes monitor camera 3 to read in to administrative center 5, the view data that is sent is kept at data by communicator with the e-file form and preserves in the medium 19.Then, digital picture is read into master register, and utilizes the monochrome information obtaining section 29 cause digital pictures that in the 1st embodiment, illustrate to obtain monochrome information.
In the present embodiment, utilize attribute information to pay the implication information of spatial data 60 that portion 27 has paid the subject 2 of implication because each pixel of digital picture paid, so can be on each pixel of digital picture and deposit or and with latitude, longitude, the information of absolute altitude and the implication information of spatial data 60 of subject 2, and then can carry out the higher information processing of versatility.In addition, because determine the implication information of the spatial data 60 of subject 2 based on the monochrome information of digital picture, and the spatial data of determining 60 paid by rerum natura distinguished the physical property infomation that portion 28 is distinguished, so set up between the physical property infomation of obtaining by the spatial data 60 that will determine with from digital picture related, the state that can adopt digital pictures and distinguish the farmland by each spatial data 60.
Next, adopt Figure 16 and Figure 17 that the 3rd embodiment is described.Figure 16 is the figure of the environment information observing that relates to of expression embodiment 3, (a) being expression photographs as the figure of the state on the hill-side of subject with digital camera, (b) is that the growth part of plant and the figure of the boundary line in the digital picture of growth part are not extracted in expression out.Figure 17 is the figure of the environment information observing that relates to of expression embodiment 3, (a) being the figure of expression state after painted to the growth part of the plant of the digital picture that obtains in Figure 16, (b) is to extract growth part of plant and the figure that represents of the boundary line in the geographic coordinate system of growth part not out.
In the 3rd embodiment, utilize monitor camera 3 to obtain digital picture, and obtained digital picture is sent to administrative center 5 as the hill-side of subject 2.The rerum natura of image processing part 13 distinguishes that portion 28 obtains boundary line (shape data) 45 (Figure 17 (b)) on the subject 2 based on the monochrome information of digital picture, afterwards, utilize attribute information to pay 27 pairs of boundary lines 45 of portion and pay three-dimensional spatial information, and make three-dimensional boundaries line data (spatial data) 46 (Figure 16 (b)) according to the shape data of having paid three-dimensional spatial information.
Like this, because make three-dimensional boundaries line data 46 (spatial data) according to the boundary line (shape data) 45 on the subject 2 of having paid three-dimensional spatial information, so spatial data method for making than in the past employing digital picture, calculated amount can be suppressed, the high speed of image processing speed can be realized.
And, the invention is not restricted to above-mentioned embodiment, it is self-explantory can carrying out the fact that various distortion implement in the scope that does not break away from its main points.
In the 1st embodiment, monitor camera 3 is arranged on the riverbed, locates to measure reservoir level but also can be not limited thereto and be arranged on reservoir etc.
And, also monitor camera 3 can be provided with towards the mountain, and the liquid level of the lava flow that produces when measuring volcanic eruption etc.
The environment information observing 1 that the present invention relates to also can be arranged at the parking lot in theme park and shopping center.In this case, can determine the empty wagon position of parking space by the monochrome information of the digital picture of photographing.
In the above-described 3rd embodiment, also can not adopt monitor camera 3, and use the portable camera that is equipped with the GPS function to photograph, and the Digital Image Data of photography is carried out Flame Image Process in addition.
Utilizability on the industry
The image processing apparatus that the present invention relates to and environment information observing can be by two dimensional images Obtain the correct geographical coordinate of subject, and be specially adapted to obtain river level by two dimensional image Situation.
Claims (according to the modification of the 19th of treaty)
The claim of documents of correction
(on October 16th, 2006, (16.10.2006) international affairs bureau accepted)
1. (deletion)
2. (deletion)
3. (deletion)
4. (deletion)
5. (deletion)
6. (deletion)
7. (after the revisal) a kind of image processing apparatus is characterized in that,
Have: the two-dimensional image information of obtaining the two-dimensional image information of subject is obtained the unit; Obtain the three-dimensional spatial information of the three-dimensional spatial information that the group by the latitude of subject, longitude, absolute altitude constitutes and obtain the unit; The image-display units that shows two dimensional image; The synthetic obtained two-dimensional image information and the image information synthesis unit of three-dimensional spatial information; Each pixel of two dimensional image is paid the attribute information of at least one attribute information that the group by the latitude of subject, longitude, absolute altitude constitutes and paid the unit; The monochrome information that obtains the monochrome information on subject surface according to two dimensional image obtains the unit; And distinguish the kind of thing, the rerum natura discrimination unit of state according to obtain the monochrome information that the unit obtains by monochrome information;
The rerum natura discrimination unit obtains shape data on the subject according to monochrome information, obtained shape data is paid three-dimensional spatial information, and make three-dimensional boundaries line data according to the shape data of having paid three-dimensional spatial information.
8. (after the revisal) a kind of environment information observing is characterized in that,
Have: the two-dimensional image information of obtaining the two-dimensional image information of subject is obtained the unit; Obtain the three-dimensional spatial information of the three-dimensional spatial information that the group by the latitude of subject, longitude, absolute altitude constitutes and obtain the unit; The image-display units that shows two dimensional image; The synthetic obtained two-dimensional image information and the image information synthesis unit of three-dimensional spatial information; Each pixel of two dimensional image is paid the attribute information of at least one attribute information that the group by the latitude of subject, longitude, absolute altitude constitutes and paid the unit; The monochrome information that obtains the monochrome information on subject surface according to two dimensional image obtains the unit; The three-dimensional surface information extraction unit of the attribute information on the subject surface that extraction is made of the group of the latitude of subject, longitude, absolute altitude; The attribute information on the subject surface that will be obtained by the three-dimensional surface information extraction unit is depicted in the attribute information delineation unit on the two dimensional image; The change curve production unit; And liquid level boundary line information extraction unit;
The attribute information delineation unit will link the contouring of the lip-deep identical absolute altitude attribute of subject on two dimensional image; Monochrome information obtains the unit and obtains monochrome information by each level line of paying on two dimensional image; The change curve production unit is made monochrome information change curve along the absolute altitude direction based on obtained monochrome information; Liquid level boundary line information extraction unit is extracted the absolute altitude information of the liquid level boundary line of subject based on the monochrome information change curve.
9. (after the revisal) environment information observing according to claim 8 is characterized in that,
Monochrome information obtains the unit and obtains monochrome information according to the pixel groups on the two dimensional image of the three-dimensional spatial information of having paid subject, when the Continuous Observation subject, determine the three-dimensional spatial information arbitrarily in the Continuous Observation, and after the pixel groups of having paid determined three-dimensional spatial information fixed, obtain monochrome information again.
Claims (9)
1. an image processing apparatus is characterized in that,
Have: the two-dimensional image information of obtaining the two-dimensional image information of subject is obtained the unit; Obtain the three-dimensional spatial information of the three-dimensional spatial information that the group by the latitude of subject, longitude, absolute altitude constitutes and obtain the unit; The image-display units that shows two dimensional image; The synthetic obtained two-dimensional image information and the image information synthesis unit of three-dimensional spatial information; And attribute information pays the unit,
Attribute information is paid the unit each pixel of two dimensional image is paid at least one attribute information that the group by the latitude of subject, longitude, absolute altitude constitutes.
2. image processing apparatus according to claim 1 is characterized in that having:
The monochrome information that obtains the monochrome information on subject surface according to two dimensional image obtains the unit;
Distinguish the kind of thing and the rerum natura discrimination unit of state according to obtain the monochrome information that the unit obtains by monochrome information.
3. image processing apparatus according to claim 2 is characterized in that,
Have: the three-dimensional surface information extraction unit of extracting the attribute information on the subject surface that the group by the latitude on subject surface, longitude, absolute altitude constitutes; The attribute information on the subject surface that will be obtained by the three-dimensional surface information extraction unit is depicted in the attribute information delineation unit on the two dimensional image,
Monochrome information obtains the unit and obtains monochrome information based on the attribute information on subject surface.
4. according to any described image processing apparatus of claim 1～3, it is characterized in that,
Have making and the three-dimensional spatial information of subject has been added the implication information issuing unit of the spatial data of implication;
Attribute information is paid the unit and each pixel of two dimensional image is paid the implication information that reflects in the spatial data of the subject of made.
5. image processing apparatus according to claim 4 is characterized in that, the rerum natura discrimination unit is determined the implication information of the spatial data of subject based on the monochrome information of two dimensional image, and the physical property infomation that will distinguish is paid the spatial data of determining.
6. according to claim 4 or 5 described image processing apparatus, it is characterized in that,
Has the Pixel Information taxon that each pixel of two dimensional image is classified by the implication information or the identical three-dimensional spatial information of each identical spatial data;
Utilize monochrome information to obtain the unit and obtain monochrome information, and then obtain along the change information of the monochrome information of the prescribed direction in the geographic coordinate system by the pixel groups of each classification.
7. image processing apparatus according to claim 2, it is characterized in that: the rerum natura discrimination unit obtains the shape data of having determined implication information on the subject according to monochrome information, obtained shape data is paid three-dimensional spatial information, and make spatial data according to the shape data of having paid three-dimensional spatial information.
8. an environment information observing that has used any described image processing apparatus of claim 1～7 is characterized in that,
The attribute information delineation unit will link the contouring of the lip-deep identical absolute altitude attribute of subject on two dimensional image, and monochrome information obtains the unit and obtains monochrome information by each level line of paying on two dimensional image,
Have: make along the change curve production unit of the monochrome information change curve of absolute altitude direction and extract the liquid level boundary line information extraction unit of absolute altitude information on the liquid level border of subject based on the monochrome information change curve based on obtained monochrome information.
9. environmental information observing unit according to claim 8 is characterized in that,
Monochrome information obtains the unit and obtains monochrome information according to the pixel groups on the two dimensional image, pixel groups on this two dimensional image has been paid the implication information of spatial data of subject or the three-dimensional spatial information of subject, when the Continuous Observation subject, after fixing at the implication information of determining spatial data or three-dimensional spatial information and to the pixel groups of the implication information of having paid the spatial data of determining or three-dimensional spatial information, obtain monochrome information again.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| JP200288/2005 | 2005-07-08 | ||
| JP2005200288A JP3907200B2 (en) | 2005-07-08 | 2005-07-08 | Environmental information observation equipment |
| PCT/JP2006/312595 WO2007007528A1 (en) | 2005-07-08 | 2006-06-23 | Image processor and environment information observing device |
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| CN101218602A true CN101218602A (en) | 2008-07-09 |
| CN101218602B CN101218602B (en) | 2010-10-13 |
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| JP (1) | JP3907200B2 (en) |
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| WO (1) | WO2007007528A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101937632A (en) * | 2010-07-13 | 2011-01-05 | 联宇工程技术(武汉)有限公司 | Portable automatic water-level reading instrument based on image processing |
| CN103942746A (en) * | 2014-04-08 | 2014-07-23 | 上海师范大学 | Target optical image encryption method based on optical scanning images |
| CN105044018A (en) * | 2015-07-10 | 2015-11-11 | 上海理工大学 | Multifunctional terahertz wave imaging system and imaging method |
| CN110207676A (en) * | 2019-06-12 | 2019-09-06 | 中国科学院测量与地球物理研究所 | The acquisition methods and device of a kind of field ditch pool parameter |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008057994A (en) * | 2006-08-29 | 2008-03-13 | Basic Engineering:Kk | Water level observation system by image processing |
| JP5590533B2 (en) * | 2012-06-01 | 2014-09-17 | 国立大学法人茨城大学 | Tilt change monitoring system and tilt change monitoring method |
| JP6682409B2 (en) * | 2016-09-08 | 2020-04-15 | 株式会社東芝 | River monitoring device, river monitoring method and program |
| US10977923B2 (en) | 2017-12-01 | 2021-04-13 | Nec Corporation | River risk level determining device, river risk level determining method, and storage medium |
| JP6821105B2 (en) * | 2018-12-10 | 2021-01-27 | 三菱電機株式会社 | Water level measuring device and water level measuring method |
| CN111298238B (en) * | 2020-02-21 | 2022-03-01 | 济南欣格信息科技有限公司 | Infusion early warning method based on image recognition |
| CN111910566A (en) * | 2020-07-10 | 2020-11-10 | 广州民航职业技术学院 | Airport runway foreign matter automatic detection and clearance system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004076972A1 (en) * | 2003-02-27 | 2004-09-10 | Mitsubishi Denki Kabushiki Kaisha | Water level measuring system |
| JP2004170429A (en) * | 2003-12-01 | 2004-06-17 | Asahi Koyo Kk | Method and apparatus for generating three-dimensional information |
-
2005
- 2005-07-08 JP JP2005200288A patent/JP3907200B2/en active Active
-
2006
- 2006-06-23 WO PCT/JP2006/312595 patent/WO2007007528A1/en active Application Filing
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101937632A (en) * | 2010-07-13 | 2011-01-05 | 联宇工程技术(武汉)有限公司 | Portable automatic water-level reading instrument based on image processing |
| CN103942746A (en) * | 2014-04-08 | 2014-07-23 | 上海师范大学 | Target optical image encryption method based on optical scanning images |
| CN103942746B (en) * | 2014-04-08 | 2017-05-17 | 上海师范大学 | Target optical image encryption method based on optical scanning images |
| CN105044018A (en) * | 2015-07-10 | 2015-11-11 | 上海理工大学 | Multifunctional terahertz wave imaging system and imaging method |
| CN105044018B (en) * | 2015-07-10 | 2017-09-12 | 上海理工大学 | A kind of multi-functional THz wave imaging system and imaging method |
| CN110207676A (en) * | 2019-06-12 | 2019-09-06 | 中国科学院测量与地球物理研究所 | The acquisition methods and device of a kind of field ditch pool parameter |
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| CN101218602B (en) | 2010-10-13 |
| WO2007007528A1 (en) | 2007-01-18 |
| JP3907200B2 (en) | 2007-04-18 |
| JP2007018347A (en) | 2007-01-25 |
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