JP2003219252A - Photographing system using photographing device mounted on traveling object and photographing method - Google Patents

Photographing system using photographing device mounted on traveling object and photographing method

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Publication number
JP2003219252A
JP2003219252A JP2002008871A JP2002008871A JP2003219252A JP 2003219252 A JP2003219252 A JP 2003219252A JP 2002008871 A JP2002008871 A JP 2002008871A JP 2002008871 A JP2002008871 A JP 2002008871A JP 2003219252 A JP2003219252 A JP 2003219252A
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JP
Japan
Prior art keywords
position
data
photographing
image data
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2002008871A
Other languages
Japanese (ja)
Inventor
Shunji Otani
Ryosuke Shibazaki
俊二 大谷
亮介 柴▲崎▼
Original Assignee
Starlabo Corp
株式会社宇宙情報技術研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Starlabo Corp, 株式会社宇宙情報技術研究所 filed Critical Starlabo Corp
Priority to JP2002008871A priority Critical patent/JP2003219252A/en
Publication of JP2003219252A publication Critical patent/JP2003219252A/en
Application status is Pending legal-status Critical

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Abstract

(57) [Problem] To use an imaging device for mounting on a moving object having a linear sensor and mounted on the moving object, and to be able to accurately obtain an imaging area on an imaging target by the linear sensor. , And a shooting method. SOLUTION: In a moving body mounting photographing apparatus A mounted on a moving body such as an aircraft and used for photographing a photographing target such as a ground surface or a water surface from the moving body, together with a linear sensor 11 for photographing the photographing target. An area sensor 15 capable of acquiring two-dimensional image data is installed at a predetermined position. Then, the posture data from the gyro 3 and the position data from the GPS 4 are corrected using the position and posture correction data obtained from the two-dimensional image data obtained by the area sensor 15, and are corrected on the object to be photographed by the linear sensor 11. Find the shooting area of

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] TECHNICAL FIELD The present invention relates to an aircraft or an artificial satellite.
On the ground surface and water surface from the moving object.
Which type of imaging is performed using the mobile device
The present invention relates to a shadow system and an imaging method. [0002] 2. Description of the Related Art Mounted on moving objects such as aircraft and artificial satellites
To capture images of the ground surface, water surface, etc.
As one of the photographing devices that can be used, light detection equivalent to pixels
A linear sensor in which the elements are arranged in a one-dimensional line
Image sensor that uses an image sensor as an image sensor
I have. In such a photographing apparatus, a light guide such as a lens is used.
Light from the object to be photographed is guided by the optical optics to the focal plane
Converges, and the linear sensor placed on the focal plane as an image sensor
Acquire images by capturing images with the sensor
You. For example, a photographing apparatus using a linear sensor
When taking images of the ground surface on an aircraft,
The direction approximately perpendicular to the flight direction, which is the moving direction, is linear
An imaging device is installed so as to be in the longitudinal direction of the sensor. So
And one-dimensional images with a linear sensor while flying an aircraft
By acquiring data sequentially, images of the ground surface can be taken.
Shadow. [0004] [Problems to be Solved by the Invention]
When capturing an image, the
Attitude and position of the imaging device
You. Therefore, it is obtained by the mobile device
In order to use the obtained one-dimensional image data effectively,
The posture and position of the moving object and the imaging device at the shadow time, and
Accurately determine the shooting area on the shooting target determined by
There is a need. [0005] On the other hand, a moving body on which a photographing device is mounted.
In addition, attitude measuring devices such as gyros and position meters such as GPS
Measurement device with the imaging device, and
Using posture data and position data measured by
An imaging pair corresponding to the one-dimensional image data acquired by the sensor
A method of obtaining a photographing area on an elephant is used. However, these attitude measuring devices and
In the measurement by the position measurement device, the posture and position of the imaging device
It is difficult to ensure sufficient measurement accuracy. example
For example, in gyro attitude measurement, measurement of yaw angle κ, etc.
Accuracy cannot be obtained sufficiently, and the zero point
Drift of measurement data due to drift
You. In addition, the direction of the zero point of the optical axis of
Time or spatial offset between the zero point
Error exists. [0007] Further, in the position measurement by GPS, in the atmosphere,
Position data due to the effects of radio wave propagation conditions, etc.
Measurement accuracy changes with time, and the measurement time
Sufficient position data cannot be obtained due to relatively long intervals
No. In addition, the measurement time when the position is actually measured, and the position
Offset error between measurement time when data is output
Exists. Further, the posture using these measuring devices and
In the position measurement, effective measurement data due to various troubles
May be lost. As such trouble
Means that GPS data is missing due to radio interference,
Incorrect value measurement, equipment failure, or camera
When the moving object shakes greatly beyond the normal range
And so on. In such a case,
Enables the shooting area on the shooting target by the linear sensor
Can not ask. The present invention has been developed to solve the above problems.
It has a linear sensor and is mounted on a moving object
Using a moving body mounted imaging device
Accurately determine the shooting area on the shooting target with the sensor
To provide an imaging system and an imaging method capable of
With the goal. [0010] Means for Solving the Problems To achieve such an object
The shooting system according to the present invention is mounted on a mobile object
The movement used to shoot the shooting target from the moving object
An imaging system using a body-mounted imaging device, wherein (1)
a) Guide light from the object to be photographed and converge on a predetermined focal plane
(1b) The light guide optical system to be moved
Focus on a second direction substantially perpendicular to the first direction as the longitudinal direction
Is placed on a surface and captures an
Linear sensor to obtain data, (1c) linear sensor
Both are arranged at a predetermined position, and one-dimensional by linear sensor
The shooting of the shooting target is performed in parallel with the acquisition of the image data.
Area sensor for acquiring two-dimensional image data, (1d) Lini
Installed in the same housing as the sensor and area sensor.
Attitude measuring means for measuring the attitude data of (1), and (1e)
3D position data of linear sensor and area sensor
Mobile device mounting imaging device having position measuring means for measuring
And (2a) two-dimensional image data acquired by the area sensor
Information of the pass points set on the shooting target included in the
Information on the attitude and position of the mobile device mounting imaging device
Image data processing to generate position and orientation correction data
Means, (2b) attitude data measured by the attitude measuring means
And the position data measured by the position measurement means.
The position and orientation data corrected by applying
(2c) position and orientation data correction means for calculating the data
Based on the corrected position and orientation data, the linear sensor
On the imaging target corresponding to the acquired one-dimensional image data
An image having one-dimensional image data processing means for obtaining a photographing area
An image processing apparatus is provided. [0011] The photographing method according to the present invention can be applied to a moving object.
Mounted and used for shooting of shooting targets from moving objects
An imaging method using an imaging device for mounting a moving object, wherein (1)
a) Guide light from the object to be photographed and converge on a predetermined focal plane
(1b) The light guide optical system to be moved
Focus on a second direction substantially perpendicular to the first direction as the longitudinal direction
Is placed on a surface and captures an
Linear sensor to obtain data, (1c) linear sensor
Both are arranged at a predetermined position, and one-dimensional by linear sensor
The shooting of the shooting target is performed in parallel with the acquisition of the image data.
Area sensor for acquiring two-dimensional image data, (1d) Lini
Installed in the same housing as the sensor and area sensor.
Attitude measuring means for measuring the attitude data of (1), and (1e)
3D position data of linear sensor and area sensor
A mobile device mounting imaging device having a position measuring means for measuring
(2a) two-dimensional image data acquired by the area sensor
Of the pass point set on the shooting target included in the data
From the information, the attitude and position of the mobile device
Image data processing for generating all position and orientation correction data
(2b) attitude measured by attitude measuring means
Data and the position data measured by the position measurement means.
And apply the position and orientation correction data to
Position and orientation data correction step for calculating force data;
(2c) Linear based on the corrected position and orientation data
The imaging pair corresponding to the one-dimensional image data acquired by the sensor
One-dimensional image data processing step for finding a shooting area on an elephant
And a pump. [0012] The above photographing using a photographing device mounted on a moving body.
In the system and shooting method, the attitude of the gyro etc.
Measuring means and position measuring means such as GPS in the imaging device
And one-dimensional image data to be captured
2D image data separately from the linear sensor that acquires
An obtainable area sensor is provided. And each measurement
Area data and position data from the means
And orientation correction data obtained from two-dimensional image data
Data on the object to be photographed by the linear sensor.
Wants a shooting area. As described above, the appearance of the photographing device by the measuring means
Force and position measurement data, two-dimensional with area sensor
Information on the posture and position obtained from the image data
According to the configuration that is used together, the shooting area by the linear sensor
Effective accuracy of attitude data and position data to obtain
Can be improved. Therefore, mobile-mounted
One-dimensional image data acquired by the linear sensor of the shadow device
To accurately determine the shooting area on the corresponding shooting target
It becomes possible. Further, the photographing system and the photographing method are
The body-mounted imaging device shoots the shooting target at the same shooting time
Characterized by having a plurality of area sensors for performing the following. As described above, two-dimensional image data is obtained.
Multiple area sensors should be provided as area sensors.
To determine the attitude and position of the same
Position information and position data.
Data correction accuracy is improved. Also, multiple area sensors
If the shooting time by
Attitude data based on two-dimensional image data and their correlation
Correction of data and position data can be suitably performed. [0016] Further, in a photographing apparatus for mounting a moving body,
Near sensor and area sensor are arranged in the first direction
It is characterized by being arranged as. Thus, the object to be photographed by the linear sensor
The shooting area above and the shooting area by the area sensor
In the shooting target, they are arranged in the moving direction of the moving object.
Therefore, the two-dimensional image data acquired by the area sensor
Correct posture data and position data using data
be able to. [0018] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
Photographing system and photographing method using photographing device mounted on moving object
A preferred embodiment of the method will be described in detail. The figure
In the description of the surfaces, the same elements are denoted by the same reference numerals, and are duplicated.
The description of the operation will be omitted. The dimensional ratios in the drawings are
Does not always match the one. FIG. 1 shows a book using a photographing device mounted on a moving body.
1 schematically shows an embodiment of a photographing system according to the present invention.
FIG. The transfer used in this photography system
The moving body mounted imaging device moves
It is mounted on the body and is used for shooting the shooting target from the moving body
A photographing device. As a moving object equipped with a shooting device
Are, for example, aircraft and artificial satellites. Also,
The shooting target is the ground surface or water surface taken from an aircraft
and so on. In the following, for convenience of explanation,
Therefore, the direction in which light from the imaging target enters the imaging device is z
Axial direction, the direction of movement when mounted on a moving body
The direction (first direction) is orthogonal to the x-axis direction, the x-axis, and the z-axis.
Direction (second direction) is the y-axis direction. In each of these directions, for example,
When mounted on an aircraft, the x-axis direction is the direction of travel of the aircraft,
The y-axis direction is the longitudinal direction of the linear sensor described later, the z-axis direction
Moves above and below the shooting target such as the ground surface or water surface
And the vertical direction connecting the aircraft. In addition, the following
To take images of the earth's surface by mounting it on an aircraft
Explanation of the shooting system and the shooting method assuming the case mainly
The photographing system and the photographing method according to the present invention are performed.
Is not limited to such a form. The photographing system shown in FIG.
Processing the image capturing apparatus A and the image data acquired by the image capturing apparatus A
And an image processing apparatus B for processing. First, the configuration of the photographing apparatus A for mounting a moving object will be described.
Will be described. The photographing device A for mounting a moving object is a
An imaging device 1 for capturing an image;
Provided before the imaging device 1 for the light from the object to be captured
The light guide optical system 2 is provided. In the present embodiment, the imaging device 1
One linear sensor 11 is provided. Linear Sen
The sensor 11 has photodetectors corresponding to pixels arranged one-dimensionally.
The image sensor is a one-dimensional
Get image data. This linear sensor 11 moves
The y-axis direction, which is substantially orthogonal to the x-axis direction,
In FIG. 1, the direction perpendicular to the plane of the drawing is the longitudinal direction (pixel arrangement).
Column direction). The imaging device 1 includes a linear sensor
11 and an area sensor 15 are provided. D
The rear sensor 15 has a two-dimensional photodetector corresponding to a pixel.
The image sensors are arranged in
Imaging of the imaging target in parallel with the acquisition of one-dimensional image data
To obtain two-dimensional image data. The linear sensor 11 provided in the imaging device 1
And an imaging device for each imaging sensor of the area sensor 15.
At a predetermined position on the front side, which is the shooting target side when viewed from
Light from the shadow target is transmitted to each of the imaging sensors 11 and 15
A light guiding optical system 2 for guiding light is provided. In FIG.
In this case, the light guiding optical system 2 collects light from the object to be photographed.
The lens 21 to be bundled is shown. The image pickup device 1 and the light guide optical system 2 are
And posture measuring means for measuring the posture and position.
And position measuring means. In the photographing apparatus A shown in FIG.
A gyro 3 is provided as measuring means. gyro
Reference numeral 3 denotes an imaging system including the linear sensor 11 and the area sensor 15.
A linear sensor installed in the same housing as the imaging device 1
11 and the time of the area sensor 15 (for example,
The posture data at (imaging time) is measured. This posture
The data represents, for example, the inclination of the three axes of the linear sensor 11.
Measured by roll angle ω, pitch angle φ, and yaw angle κ
It is. A GPS 4 is provided as a position measuring means.
Has been. The GPS 4 has a linear sensor 11 and an area
The position data of the sensor 15 at each time is measured. This
The position data of, for example, the three-dimensional
Measured by x, y, and z coordinates indicating the location
It is. An imaging device 1, a light guide optical system 2, a gyro 3,
Of each part of the mobile-body-mounted photographing apparatus A including the GPS and the GPS4
The operation and each data are controlled and processed by the processing device 5.
ing. The processing device 5 is provided with necessary operation control functions and data.
Processing equipment such as a single computer with
Or multiple processing devices each having a specific function
Consists of In this embodiment, the processing device 5 includes:
A data analyzer 51 and a data recorder 52 are provided.
ing. The data analyzer 51 is measured by the gyro 3
Attitude data and position data measured by GPS4
Analyze and obtain necessary information. For example, photographing device A
Of the imaging device 1 so that the optical axis of the shooting by
When a stabilizer to control the posture is provided
Is the posture information and the position information acquired by the data analysis device 51.
And position information are used for the attitude control. Further, the data recording device 52 includes a processing device 5
Each data acquired or processed in
Record on the body. For example, data to be recorded
One-dimensional image data and area acquired by the near sensor 11
Two-dimensional image data acquired by the sensor 15, gyro 3
Attitude data measured by GPS and position measured by GPS4
Location data. In the above configuration, the ground surface, water surface, etc.
Mount the moving object from each point within the shooting area on the shooting target
Light propagated along the z-axis direction to the mounted imaging device A
Is an imaging device 1 via a light guide optical system 2 including a lens 21.
Incident on. And, the shooting target by the incident light
The images are taken by the linear sensor 11 and the area sensor 15 respectively.
The corresponding one-dimensional image data captured by the image sensor
Data and two-dimensional image data are obtained. Processing equipment
The device 5 includes a linear sensor 11 and an area sensor 15
By controlling the driving of the imaging device 1, the main imaging device A
Controls the photographing operation of the photographing target. The linear sensor 11 and the area sensor
15 at each photographing time when photographing is performed.
The attitude and position of the device 1 are determined by the gyro 3 and GPS4.
Are measured respectively. And measured by gyro 3
Attitude data and position data measured by GPS4
Are input to the processing device 5, respectively. Of processing device 5
The data analyzer 51 stores the attitude data and the position data.
Linear sensor 11 and area sensor 15 based on data
The posture and the position at each time are determined. The linear sensor 11 and the
The arrangement configuration of the area sensor 15 will be described. Figure 2 and
And FIG. 3 shows the movement used in the photographing system shown in FIG.
Linear sensor and area sensor in body-mounted imaging device
FIG. 2 is a diagram showing an example of the configuration of a camera, and FIG.
FIG. 3 is a plan view as viewed from the z-axis direction below the vertical direction.
It is the side view seen from the direction. FIG. 3 shows an image taken on an aircraft which is a moving object.
Equipped with the shadowing device A, taking images of the ground surface
Is performed by the image sensors 11 and 15 as an example.
Also show the shooting areas R and S
I have. Photographing device mounted on an aircraft as a moving object
The light from the ground surface that is the subject of photography by A
The light is guided by the light guiding optical system 2 including the
Focused on the focal plane. On the other hand, in this configuration example,
Is a one-dimensional image of the object to be photographed, as described above with reference to FIG.
A linear sensor 1 is used as an image sensor for acquiring image data.
1 is located on the focal plane. The plan view shown in FIG.
Light is accurately converged on the point plane, and sufficient resolution is obtained.
The guaranteed range F is shown. This substantially circular range F
Is the effective visual field range on the focal plane by the light guide optical system 2 and
Become. The linear sensor 11, as shown in FIG.
It is arranged at a predetermined position within the field range F. The image pickup apparatus of the image pickup apparatus A shown in FIG.
In FIG. 1, the linear sensor 11
As an image sensor for acquiring two-dimensional image data of an elephant,
A rear sensor 15 is provided. Area sensor 15
Is the light guide optical system 2 together with the linear sensor 11 described above.
Are arranged within the visual field range F on the focal plane of the lens. In FIG. 2, the center position of the visual field range F is shown.
And an axis parallel to the x-axis direction
Axis C is shown. This axis C is used in this embodiment.
The array axis of the linear sensor 11 and the area sensor 15
ing. Specifically, the area sensor 15
Within the visual field range F on the front side of the linear sensor 11 with respect to
At a predetermined position. The photographing apparatus for mounting on a moving body having the above configuration
The shooting operation of the shooting target by A is as follows (see FIG.
3). That is, the linear sensor 11 is a light guide optical system.
2 to take a photographing target such as the ground surface in the photographing region R.
The corresponding one-dimensional image data is obtained by shading. This shoot
As shown in FIG. 3, the shadow region R
One-dimensional area located approximately vertically below the body aircraft
Moving with the movement of the aircraft
I do. On the other hand, the area sensor 15 is
Through the photographing area S in the photographing area S,
Acquire two-dimensional image data. This shooting area S
Located behind the shooting area R with respect to the device A and the aircraft
It is a two-dimensional area, and a linear sensor
11 with respect to the shooting target together with the shooting region R at 11
You. Next, the configuration of the image processing apparatus B and the photographing device
Shooting by a shooting system consisting of a device A and an image processing device B
A method of photographing a shadow target will be described. In the photographing system shown in FIG.
The moving device mounted photographing device A
Perform necessary data processing on the obtained image data.
Image processing apparatus B is provided. The image data acquired by the photographing device A for mounting on a moving object is obtained.
Each of the data obtained is processed by the image processing device via the processing device 5.
To the location B. Data sent to the image processing device B and
Specifically, specifically, the 1 acquired by the linear sensor 11 is
Dimensional image data, 2D acquired by area sensor 15
Image data, measured by gyro (posture measuring means) 3
Attitude data and GPS (position measurement means) 4
There is position data measured. Note that this image processing apparatus B is a photographing apparatus A
Together with the moving object. Or with the mobile
Has the image processing device B installed in another fixed place,
Data from the imaging device A at different intervals and perform data processing
You may go. The image processing apparatus B performs two-dimensional image data processing.
Unit 61, a position and orientation data correction unit 62, and a one-dimensional image data.
And a data processing unit 63. The two-dimensional image data processing unit 61 has an area
The two-dimensional image data acquired by the sensor 15 is
A is input. The data processing unit 61 uses this secondary
Performs predetermined data processing on the original image data and
Refer to the data of the pass point (measurement point) set on the elephant.
The path points included in the two-dimensional image data.
Get information about And the information of the obtained pass point
Based on the information, the posture and position of the imaging device A at each time are
Generate position and orientation correction data as correction data for
(Two-dimensional image data processing step). The position and orientation data correction unit 62 includes a gyro
Position data measured by GPS 3 and position measured by GPS 4
The position data is input from the imaging device A. Data supplement
The correct part 62 calculates the posture data and the position data
Position image generated by the two-dimensional image data processing unit 61
And apply the corrected position and orientation data
Calculation (position / posture data correction step). The one-dimensional image data processing unit 63 has a linear
The one-dimensional image data acquired by the sensor 11 is
A is input. The data processing unit 63
The original image data is sent to the position and orientation data correction unit 62.
Based on the corrected position and orientation data calculated
The shooting area on the shooting target corresponding to the one-dimensional image data
Obtain (one-dimensional image data processing step). And seeking
One-dimensional image according to the position and range of the imaging area
Correct the data and output the corrected one-dimensional image data
You. Effects of the above-described photographing system and photographing method
Will be described. The above-described embodiment using the photographing apparatus A for mounting a moving body
In the imaging system and the imaging method according to the mode,
Attitude measuring means such as Iro 3 and position meter such as GPS 4
The measurement means is installed on the imaging device A, and
What is linear sensor 11 that acquires one-dimensional image data of an elephant
Separately, an area sensor 15 capable of acquiring two-dimensional image data
Is provided at a predetermined position. And each measuring means 3, 4
These attitude data and position data are sent to the area sensor 15.
From two-dimensional image data by image processing
Using the position and orientation correction data
11 is used to determine the shooting area on the shooting target. As described above, the photographing device by the measuring means 3 and 4
Measurement data of the orientation and position of the
And position obtained from two-dimensional image data
According to the configuration in which the information is used together with the
Attitude data and position used to determine the imaging area
The accuracy of the location data can be effectively improved. did
Accordingly, the linear sensor 11 of the imaging device A for mounting the moving body is used.
For the acquired one-dimensional image data,
It is possible to accurately determine the shooting area on the elephant. More specifically, the Rini of the photographing apparatus for mounting a moving body is described.
Corresponding to one-dimensional image data acquired by the
The position and range of the shooting area on the shooting target
It changes with time as it moves. At this time, the moving body
Movement deviates from ideal uniform motion and constant posture motion
In this way, the data acquired by the linear sensor every minute
Geometric distortion occurs in one-dimensional images
I do. The distortion generated in the one-dimensional image is removed.
When shooting with the rear sensor provided in the shooting device
The posture and position of the imaging device corresponding to the time,
Determine the exact shooting area on the shooting target that is determined
Therefore, it is necessary to accurately restore a one-dimensional image. one
The attitude measurement device installed with the linear sensor and
In the measurement data using the position measurement device, the posture of the imaging device
It is difficult to ensure sufficient measurement accuracy for
No. On the other hand, the above-described photographing system and
In the photographing method, a predetermined position (FIG.
1 is an area cell provided on the focal plane of the light guide optical system 2).
2 using the area sensor 15
Dimensional image data and attitude data from each of the measuring means 3 and 4
And the position data together with the photographing device A at each time.
Posture and position are determined. Here, the information acquired by the area sensor 15 is obtained.
Two-dimensional image data at the same shooting time
Acquired by each pixel of the sensor with
Image data composed of the extracted pixel data. Accordingly
Parallel to the acquisition of one-dimensional image data by the linear sensor
Part of the shooting area at consecutive shooting times
2D image data by area sensor
And get a suitable pass point on the subject
Photogrammetric technology using aerial triangulation analysis method
Is applied, the posture of the photographing device at each photographing time and
It is possible to determine the position. Also, at this time, Eli
The ground reference point (G
If you copy the CP: Ground Control Point,
The accuracy can be further improved. The area sensor 15 is a linear sensor.
Placed on the same focal plane of the light guide optical system 2 as the sensor 11
I have. For this reason, the area sensor 15
Use the attitude and position for the linear sensor 11 as they are
Gyro 3 and GPS 4 attitude data and position
It can be used as correction data for the position data. Also, the attitude data by the gyro 3 and G
Time change of position data by PS4 and area sensor 1
5 position and orientation data obtained from two-dimensional image data
Gyro 3 and GPS 4
Time offset error of posture and position measurement
However, it can be corrected. Also, Eliassen
Cumulative posture data from two-dimensional image data by camera 15
By doing so, individual measurement errors are eliminated by averaging
Therefore, the temporal drift of the attitude measuring means such as gyro 3
The amount can be obtained and the correction can be performed. Here, the 2 acquired by the area sensor 15
Information on posture and position obtained from two-dimensional image data
Is a measuring unit provided in the photographing apparatus A, as described above.
For the attitude data and position data measured by 3 and 4,
This is used as correction data to be performed. However, measurement means
Data measured by 3 or 4 is missing due to trouble
In this case, the posture and position in this two-dimensional image data
By using the information about
It is possible to compensate for missing data. Further, it is used for photographing an image to be photographed.
In the configuration of the imaging device A for mounting a moving body, the imaging device 1
The provided linear sensor 11 and area sensor 15
As shown in FIG. 2, the x-axis direction which is the moving direction of the moving body
(The first direction) is arranged as the arrangement direction.
preferable. In this case, the center of the area sensor 15 is
Similarly to the center of the sensor 11, on the arrangement axis C shown in FIG.
Located in. Thus, photographing by the linear sensor 11 is performed.
The shooting area on the object and the shooting area by the area sensor 15
The area is aligned with the moving direction of the moving object in the shooting target
It becomes. Therefore, 2 obtained by the area sensor 15
Compensation of posture data and position data using two-dimensional image data
Correctness can be surely performed. Incidentally, Japanese Patent Application Laid-Open No. 2-110314 discloses that
Remote on the surface of the earth with an area sensor along with a linear sensor
An investigation device is disclosed. However, the posture measurement device
Secondary with area sensor without using position and position measurement device
Obtain the posture and position of the imaging device only from the original image data
Method relies on GCPs located on the ground surface
Shooting without GCP
Can not. In contrast, the attitude measurement device and the position measurement device
Measurement data and two-dimensional image by area sensor
According to the above configuration using data together, the installation of the GCP
Can be minimized, reducing its installation costs
It is possible. Further, a linear sensor, an area sensor,
The data output frequency for each of Iro and GPS is an example
For example, the degree is as shown below. Linear sensor: 500 Hz Area sensor: 0.2Hz Gyro: 500Hz GPS: 5Hz In this example, two-dimensional image data is output by the area sensor.
The force frequency is 0.2 Hz. Therefore, the area sensor
From the two-dimensional image data only
When trying to find the position, the posture
Data and position data cannot be obtained. Against this
Then, according to the above configuration, the posture data and the position data are
It can be obtained with high frequency, and the shooting device at each shooting time
The attitude and position can be obtained with high accuracy. The photographing apparatus for mounting a moving object having the above configuration is
About the shooting method of the shooting target by the shooting system used
Then, further description will be given together with specific examples. FIG. 4 is a photographing apparatus having the configuration shown in FIG.
Of the object to be photographed by the area sensor
It is a schematic diagram which shows an example of a shadow operation. In the following,
Assuming an aircraft as a moving object, shooting for mounting a moving object on the aircraft
When photographing the ground surface to be photographed with the device installed
Will be described. The specific photographing conditions are as follows.
Fly in the x-axis direction at a substantially constant traveling speed v with respect to the surface
It is assumed that Also, T = T1, TTwo, TThree, TFour, TFive
Assuming five consecutive photographing times at the same time interval Δt,
Secondary acquired by area sensor 15 at each shooting time
The shooting area on the shooting target corresponding to the original image data
S 1, STwo, SThree, SFour, SFiveAnd In photographing the ground surface,
Imaging area corresponding to the two-dimensional image data acquired by the camera 15
The width of the region S in the x-axis direction is w. Also, during continuous shooting
The aircraft and the imaging device in the x-axis direction
Let the moving distance be Δx = v × Δt. In the following, d
Acquisition of two-dimensional image data by the rear sensor 15 and its
To derive information about the posture and position of the imaging device
The linear sensor 11 and its imaging
Illustration and description of the shadow region R and the like are omitted. Ma
In addition, in the figure, for easy viewing,
Shadow regions and the like are shown alternately by solid lines and broken lines. FIG. 4 shows a continuous photographing time Ti, Ti + 1Between
The moving distance Δx of the photographing device ofiOf width w
Shooting motion by the area sensor 15 when the size is reduced by half
Shows the work. At this time,
Consider the two-dimensional image data acquired in each
The overlapping part of the photographing area on the screen is doubled. FIG. 5 is a photographing operation in the photographing operation shown in FIG.
A shadow area S, a pass point P set on the photographing target,
FIG. Here, in FIG.
The area surrounded by the shape is the area at each shooting time
4 shows a photographing area S of the sensor 15. Also, the black circle is
Each passpoi set on the ground surface to be photographed
In FIG. As shown in FIG. 5, in the present photographing operation example,
Is two consecutive shooting times Ti, Ti + 1Acquired in
Two photographing areas S in two-dimensional image datai, Si + 1But
Doubly overlap. Thereby, one pass point P
, The posture and position of the photographing device at two photographing times
Can be determined. The area sensor
Path point P included in the two-dimensional image data according to No. 15
For the image from one area sensor, four
It is enough if the pass point is imprinted. Also,
At this time, if you copy the ground control point (GCP),
The accuracy can be further improved. FIG. 6 shows a photographing apparatus having the structure shown in FIG.
Of the object to be photographed by the area sensor
It is a schematic diagram which shows another example of a shadow operation. FIG. 6 shows the continuous photographing time Ti, Ti + 1Between
The moving distance Δx of the photographing device ofiOf width w
Shooting motion by the area sensor 15 when the size is reduced to 1/3
Shows the work. At this time,
Consider the two-dimensional image data acquired in each
In this case, the overlapping part of the photographing areas is threefold. FIG. 7 shows a photographing operation in the photographing operation shown in FIG.
A shadow area S, a pass point P set on the photographing target,
FIG. As shown in FIG.
In the example, three consecutive shooting times Ti, Ti + 1, T
i + 2Imaging with two-dimensional image data acquired at
Shadow area Si, Si + 1, Si + 2Overlap three times. to this
From one pass point P to three shooting times
The relative relationship between the posture and position of the imaging device
it can. FIG. 8 is a block diagram showing the configuration of the photographing system shown in FIG.
Linear sensor in the moving body mounted imaging device A
There is a shooting target showing another example of the configuration of the area sensor
It is the top view seen from the z-axis direction below perpendicularly. In the configuration example shown in FIG.
Two imaging sensors for acquiring one-dimensional image data
Linear sensors 11 and 12 are provided on the focal plane of the light guide optical system 2.
Is placed. These linear sensors 11 and 12 are
As shown in FIG. 8, each of them is located at a predetermined position within the visual field range F.
Are arranged. Further, it moves through the center position of the visual field range F.
The axis C parallel to the x-axis direction, which is the body movement direction, is the present configuration example.
Of the linear sensors 11 and 12
You. The linear sensors 11 and 12 are, as shown in FIG.
The length in the y-axis direction, which is the longitudinal direction of the
The positions of both ends in the y-axis direction with respect to C
They are arranged so as to substantially match. Also, these lini
The sensor is arranged from the front side to the rear side with respect to the array axis C.
Thus, linear sensors 11 and 12 are arranged in this order at a predetermined interval.
Is placed. Further, for the linear sensors 11 and 12,
Image sensor for acquiring two-dimensional image data of a shooting target
Two area sensors 15 and 16 are installed
You. The area sensors 15 and 16 are the linear sensors described above.
Along with 11 and 12, the visual field range on the focal plane of the light guide optical system 2
Each is arranged in the box F. Also, these areas
Sensors 15 and 16 are common to linear sensors 11 and 12
Is the array axis, and the area sensor 15 is a linear sensor.
11 at a predetermined position in the visual field range F on the front side of
The area sensor 16 is viewed from the rear of the linear sensor 12.
They are arranged at predetermined positions in the field range F, respectively. As described above, two-dimensional image data is obtained.
A plurality of area sensors 15 and 16 are provided as area sensors.
By setting up the camera, you can
A lot of information about the position and position of
The accuracy of correction of posture data and position data is improved
Is done. In this case, the plurality of area sensors 15 and 16
It is preferable that the shooting times are the same. This
Two-dimensional image data acquired by each
Correction of attitude data and position data by correlation with
Can be done. FIG. 9 shows a photographing apparatus having the structure shown in FIG.
Of the object to be photographed by the area sensor
It is a schematic diagram which shows an example of a shadow operation. Here, the area sensor 15 on the front side is
And T = Tf1, TfTwo, TfThree, TfFourEqual time interval Δ
Assuming four consecutive shooting times at t, each shooting time
And the two-dimensional image data acquired by the area sensor 15
The photographing area on the corresponding photographing target is Sf1, SfTwo, Sf
Three, SfFourAnd Similarly, the area sensor 16 on the rear side
Then, T = Tb1, TbTwo, TbThree, TbFourEqual time intervals of
Assuming four consecutive shooting times at Δt, each shooting time
Image data acquired by the area sensor 16
The shooting area on the shooting target corresponding to1, SbTwo, S
bThree, SbFourAnd Note that the area sensors 15 and 16
If the shooting times are the same, Ti= Tfi= T
biIt becomes. FIG. 9 shows the continuous photographing time Ti, Ti + 1Between
The moving distance Δx of the photographing device ofiOf width w
According to the area sensors 15 and 16 when the size is reduced by half.
This shows a shooting operation. At this time,
Considering the two-dimensional images
The overlapping part of the photographing areas in the image data is the same as in FIG.
Is doubled. FIG. 10 is a flowchart of the photographing operation shown in FIG.
The shooting area S and the pass point P set on the shooting target
FIG. As shown in FIG.
In the operation example, two consecutive shooting times Ti, Ti + 1
Imaging regions in the two-dimensional image data acquired at
Area Si, Si + 1Overlap doubly. As a result, one
Photographing device at two photographing times from pass point P
Can be obtained. Ma
Each shooting time Ti, Two area sensors 1
Two-dimensional image data is acquired redundantly in each of 5 and 16
Therefore, the relative relationship between the posture and the position of the photographing device described above is
It is possible to accurately determine the engagement. FIG. 11 shows a photographing apparatus having the structure shown in FIG.
Of the object to be photographed by the area sensor when using the device
It is a schematic diagram which shows another example of a photography operation. FIG. 11 shows a continuous photographing time Ti, Ti + 1while
The moving distance Δx of the photographing device in the photographing area SiOf width w
According to the area sensors 15 and 16 when the ratio is almost 1/3.
3 shows a shooting operation. At this time, continuous shooting time
, And the two-dimensional obtained in each
The overlapping part of the photographing areas in the image data is the same as that in FIG.
Similarly, it becomes triple. FIG. 12 is a diagram showing the photographing operation shown in FIG.
Shooting area S and pass points set on the shooting target
It is a figure showing the relation with P. As shown in FIG.
In the shadow operation example, three consecutive shooting times Ti, T
i + 1, Ti + 23 in the two-dimensional image data acquired in
Shooting areas Si, Si + 1, Si + 2Overlap three times.
This allows three passes from one pass point P
The relative relationship between the posture and position of the imaging device at different times
be able to. In addition, each measurement time TiIn two
The two-dimensional image is overlapped by each of the area sensors 15 and 16.
Since the image data is acquired, the posture and
It is possible to accurately determine the relative relationship between the position and the position. FIG. 13 shows a case where a photographing device for mounting a moving body is used.
FIG. 9 is a configuration diagram schematically illustrating another embodiment of a photographing system.
You. The photographing system shown in FIG.
Image capturing device A and image data acquired by the image capturing device A.
And an image processing apparatus B for processing. This
The configuration of the image processing apparatus B is the same as that shown in FIG.
It is the same as In addition, in the mobile device mounting imaging device A,
Configuration of gyro 3, GPS 4, and processing device 5
Is the same as that shown in FIG. The moving body mounted photographing apparatus A is a
An imaging device 1 for capturing an image;
Provided before the imaging device 1 for the light from the object to be captured
The light guide optical system 2 is provided. In the present embodiment, the imaging device 1
One linear sensor 11 is provided. Linear Sen
The sensor 11 has photodetectors corresponding to pixels arranged one-dimensionally.
The image sensor is a one-dimensional
Get image data. This linear sensor 11 moves
The y-axis direction, which is substantially orthogonal to the x-axis direction,
13, the direction perpendicular to the plane of the paper) is the longitudinal direction (the pixel
(Arrangement direction). The imaging device 1 has a linear sensor
11 and an area sensor 15 are provided. D
The rear sensor 15 has a two-dimensional photodetector corresponding to a pixel.
The image sensors are arranged in
Imaging of the imaging target in parallel with the acquisition of one-dimensional image data
To obtain two-dimensional image data. The linear sensor 11 provided in the imaging device 1
And an imaging device for each imaging sensor of the area sensor 15.
At a predetermined position on the front side, which is the shooting target side when viewed from
Light from the shadow target is transmitted to each of the imaging sensors 11 and 15
A light guiding optical system 2 for guiding light is provided. In FIG. 13, the light-guiding optical system 2
A number of lenses 22, 23 are shown. The lens 22 is
The light from the object to be photographed is guided to the linear sensor 11, and
Converge to a fixed focal plane. The linear sensor 11
Lens 22 on a focal plane. Also, Len
23 guides light from the imaging target to the area sensor 15.
The light is converged on a predetermined focal plane. Area sensor 15
Are arranged on the focal plane of the lens 23. Effects of the above-described photographing system and photographing method
Will be described. The above-described embodiment using the photographing apparatus A for mounting a moving body
In the imaging system and the imaging method according to the mode,
Attitude measuring means such as Iro 3 and position meter such as GPS 4
The measurement means is installed on the imaging device A, and
What is linear sensor 11 that acquires one-dimensional image data of an elephant
Separately, an area sensor 15 capable of acquiring two-dimensional image data
Is provided at a predetermined position. And each measuring means 3, 4
These attitude data and position data are sent to the area sensor 15.
From two-dimensional image data by image processing
Using the position and orientation correction data
11 is used to determine the shooting area on the shooting target. As described above, the photographing device by the measuring means 3 and 4
Measurement data of the orientation and position of the
And position obtained from two-dimensional image data
According to the configuration in which the information is used together with the
Attitude data and position used to determine the imaging area
The accuracy of the location data can be effectively improved. did
Accordingly, the linear sensor 11 of the imaging device A for mounting the moving body is used.
For the acquired one-dimensional image data,
It is possible to accurately determine the shooting area on the elephant. In this embodiment, the area sensor
The sensor 15 is a light guiding optical system different from the linear sensor 11.
Lens 23 on the focal plane. like this
Also in the configuration, the same light guiding optical system as the linear sensor 11 is used.
FIG. 1 in which the area sensor 15 is disposed on the focal plane
As with the configuration, the figure required for the area sensor 15
Using the force and position with respect to the linear sensor 11,
(B) For attitude data and position data by GPS3 and GPS4
Correction data. [0100] The photographing apparatus for mounting a moving body according to the present invention is used.
The imaging system and the imaging method according to the above-described embodiment and
The present invention is not limited to the embodiment, and various modifications are possible.
You. For example, in the configuration shown in FIGS.
One linear sensor 11 is used as the near sensor
However, when acquiring images from different directions,
For example, when acquiring a vector image, FIG.
The configuration using the sensors 11 and 12 is shown as an example.
A plurality of linear sensors may be used. In addition, the longitudinal direction of the linear sensor and the area
Vertical or horizontal sensor alignment should be as close as possible
And more preferred. Also, regarding the shape of the area sensor
Is an area that is generally square, but other shapes
A sensor may be used. In addition, the longitudinal direction of the linear sensor
It is better to make the length of the side corresponding to as long as possible
This is preferable because an image can be captured in a wide capturing area. [0102] According to the present invention, the photographing device for mounting on a moving body according to the present invention is used.
The shooting system and the shooting method used have been described in detail above.
Thus, the following effects are obtained. In other words,
Apart from a linear sensor that acquires one-dimensional image data, 2
Providing an area sensor that can acquire two-dimensional image data
Attitude data from attitude measurement means and position measurement means
And position data are converted to two-dimensional image data
Using the position and orientation correction data obtained from the
Shooting to find the shooting area on the shooting target using a linear sensor
According to the shadow system and the imaging method, the linear sensor
Accuracy of posture data and position data to determine the shooting area
The degree can be effectively improved. Therefore, move
One-dimensional image acquired by the linear sensor of the body-mounted imaging device
For image data, specify the shooting area on the corresponding
It is possible to obtain the exact value.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram schematically showing an embodiment of an imaging system using an imaging device for mounting a moving object. FIG. 2 is a plan view illustrating an example of a configuration of a linear sensor and an area sensor in the moving object mounting imaging apparatus. FIG. 3 is a side view illustrating an example of a configuration of a linear sensor and an area sensor in the imaging device for mounting on a moving object. FIG. 4 is a schematic diagram showing an example of a shooting operation of a shooting target by an area sensor having the configuration shown in FIG. 2; FIG. 5 is a diagram showing a relationship between a shooting area and a pass point in the shooting operation shown in FIG. 4; FIG. 6 is a schematic diagram showing another example of the photographing operation of the photographing target by the area sensor having the configuration shown in FIG. 2; FIG. 7 is a diagram illustrating a relationship between a shooting area and a pass point in the shooting operation illustrated in FIG. 6; FIG. 8 is a plan view showing another example of the configuration of the linear sensor and the area sensor in the moving object mounting imaging apparatus. 9 is a schematic diagram illustrating an example of a shooting operation of a shooting target by the area sensor having the configuration illustrated in FIG. 8; FIG. 10 is a diagram illustrating a relationship between a shooting area and a pass point in the shooting operation illustrated in FIG. 9; 11 is a schematic diagram showing another example of the photographing operation of the photographing target by the area sensor having the configuration shown in FIG. 8; 12 is a diagram illustrating a relationship between a shooting area and a pass point in the shooting operation illustrated in FIG. 11; FIG. 13 is a configuration diagram schematically showing another embodiment of a photographing system using a moving object mounting photographing apparatus. [Description of Signs] A: imaging apparatus for mounting on a moving object, 1: imaging apparatus, 11, 12
... Linear sensors, 15, 16 ... Area sensors, 2 ... Light guide optical systems, 21, 22, 23 ... Lens, 3 ... Gyro (posture measuring device), 4 ... GPS (Position measuring device), 5 ... Processing device, 51 ... data analyzer, 52 ... data recorder,
B: image processing device, 61: two-dimensional image data processing unit, 6
2 ... Position and orientation data correction unit, 63 ... One-dimensional image data processing unit, F ... Field of view range, C ... Array axis, R, S ... Shooting area.

   ────────────────────────────────────────────────── ─── Continuation of front page    F term (reference) 5B047 AA05 BB02 BB04 BC05 CB07                       DC07                 5B057 AA14 BA02 BA12 CA08 CA11                       CA12 CA16 CB08 CB12 CB16                       DA07 DB02 DC05                 5C022 AA13 AC42 CA02

Claims (1)

  1. Claims 1. An imaging system using an imaging device mounted on a moving body and used for imaging an imaging target from the moving body, the imaging system comprising: a light from the imaging target; A light guiding optical system that guides light and converges on a predetermined focal plane, disposed on the focal plane with a second direction substantially orthogonal to a first direction that is a moving direction of the moving body as a longitudinal direction, A linear sensor that captures the one-dimensional image data by capturing the one-dimensional image data, is disposed at a predetermined position together with the linear sensor, and captures the one-dimensional image data in parallel with the one-dimensional image data acquisition by the linear sensor; An area sensor that acquires two-dimensional image data by using the linear sensor and an attitude measuring unit that is installed in the same housing as the area sensor and measures its attitude data; and An imaging device for mounting on a moving object having position measurement means for measuring three-dimensional position data of the area sensor; and a pass point set on the imaging target included in the two-dimensional image data acquired by the area sensor Two-dimensional image data processing means for generating position and orientation correction data for the attitude and position of the mobile-body-mounted photographing device from the information of the above, the attitude data measured by the attitude measurement means, and the position measurement means A position and orientation data correction unit that calculates the corrected position and orientation data by applying the position and orientation correction data to the corrected position data, and the linear sensor based on the corrected position and orientation data. An image having a one-dimensional image data processing means for obtaining a shooting area on the shooting target corresponding to the one-dimensional image data obtained in Imaging system characterized in that it comprises a management device. 2. The photographing system according to claim 1, wherein the moving-body-mounted photographing device includes a plurality of area sensors that photograph the photographing target at the same photographing time. 3. The photographing system according to claim 1, wherein in the photographing device for mounting a moving body, the linear sensor and the area sensor are arranged with the first direction being an arrangement direction. 4. An imaging method using an imaging device for mounting on a moving object, which is mounted on a moving object and used for imaging of an imaging target from the moving object, comprising: guiding light from the imaging target; A light guiding optical system for converging on a predetermined focal plane, disposed on the focal plane with a second direction substantially orthogonal to a first direction that is a moving direction of the moving body as a longitudinal direction, for photographing the imaging target; A linear sensor for performing the acquisition of the one-dimensional image data, the linear sensor being arranged at a predetermined position together with the linear sensor, performing the imaging of the imaging target in parallel with the acquisition of the one-dimensional image data by the linear sensor, and obtaining the two-dimensional image data. An area sensor to be acquired, an attitude measuring unit installed in the same housing as the linear sensor and the area sensor and measuring the attitude data thereof, and a tertiary of the linear sensor and the area sensor Using an imaging device for mounting on a moving object having position measurement means for measuring the position data of, from the information of the pass point set on the imaging target included in the two-dimensional image data obtained by the area sensor, A two-dimensional image data processing step of generating position and orientation correction data for the orientation and position of the moving body mounted photographing device; the orientation data measured by the orientation measurement unit; and the position measured by the position measurement unit A position and orientation data correction step of calculating the corrected position and orientation data by applying the position and orientation correction data to the data and the position and orientation data acquired by the linear sensor based on the corrected position and orientation data. A one-dimensional image data processing step of obtaining a photographing area on the photographing object corresponding to the one-dimensional image data. Imaging method to be. 5. The photographing method according to claim 4, wherein the photographing device for mounting a moving object has a plurality of the area sensors that photograph the photographing target at the same photographing time. 6. The imaging method according to claim 4, wherein in the imaging device for mounting a moving object, the linear sensor and the area sensor are arranged with the first direction being an arrangement direction.
JP2002008871A 2002-01-17 2002-01-17 Photographing system using photographing device mounted on traveling object and photographing method Pending JP2003219252A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009145314A (en) * 2007-12-17 2009-07-02 Korea Electronics Telecommun Digital photogrammetry by integrated modeling of different types of sensors, and its device
KR101038502B1 (en) * 2010-08-10 2011-06-01 엘아이지넥스원 주식회사 Apparatus and method for calculating photographing area
JP2012242321A (en) * 2011-05-23 2012-12-10 Topcon Corp Aerial photograph imaging method and aerial photograph imaging device
JP2013514572A (en) * 2009-12-18 2013-04-25 ヴェーイーテーオー・ナムローゼ・フェンノートシャップ(フラームセ・インステリング・フォール・テヒノロヒス・オンデルズーク)Vito N.V.(Vlaamse Instelling Voor Technologisch Onderzoek) Geometric referencing of multispectral data.
KR20190012439A (en) * 2017-07-27 2019-02-11 전남대학교산학협력단 Apparatus and method for correcting position of drone

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009145314A (en) * 2007-12-17 2009-07-02 Korea Electronics Telecommun Digital photogrammetry by integrated modeling of different types of sensors, and its device
JP4719753B2 (en) * 2007-12-17 2011-07-06 韓國電子通信研究院Electronics and Telecommunications Research Institute Digital photogrammetry method and apparatus using heterogeneous sensor integrated modeling
JP2013514572A (en) * 2009-12-18 2013-04-25 ヴェーイーテーオー・ナムローゼ・フェンノートシャップ(フラームセ・インステリング・フォール・テヒノロヒス・オンデルズーク)Vito N.V.(Vlaamse Instelling Voor Technologisch Onderzoek) Geometric referencing of multispectral data.
JP2015072713A (en) * 2009-12-18 2015-04-16 フラームセ・インステリング・フォール・テヒノロヒス・オンデルズーク・ナムローゼ・フェンノートシャップVlaamse Instelling Voor Technologisch Onderzoek N.V. Geometric referencing of multi-spectral data
US9726487B2 (en) 2009-12-18 2017-08-08 Vito Nv Geometric referencing of multi-spectral data
KR101038502B1 (en) * 2010-08-10 2011-06-01 엘아이지넥스원 주식회사 Apparatus and method for calculating photographing area
JP2012242321A (en) * 2011-05-23 2012-12-10 Topcon Corp Aerial photograph imaging method and aerial photograph imaging device
KR20190012439A (en) * 2017-07-27 2019-02-11 전남대학교산학협력단 Apparatus and method for correcting position of drone
KR102040289B1 (en) 2017-07-27 2019-11-04 전남대학교산학협력단 Apparatus and method for correcting position of drone

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