JP2003287434A - Image information searching system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To search and display an object by designating an attribute, data and the like of the object in an image by forming a computer graphic image of the object or the like and designating the object. <P>SOLUTION: Images of surroundings picked up by actually traveling a road to be searched or the like are stored and recorded in an image data base section 3 as a data base. Various objects in the images of the surroundings are changed into computer graphic images as parts, and the computer graphic images are stored and recorded in a computer graphic data base section 7 as a computer graphic data base. Attribute data of the objects such as names, positions, attributes is stored in an object attribute data base section 8. The object displayed on the computer, graphic image or the image of the surroundings and the attribute data in the data base 8 are mutually searched by designating a searching condition, and a result of the search is displayed. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a predetermined location for searching for surrounding conditions such as a traveling location and an arbitrary location in a vehicle navigation system, and for managing and maintaining a road / river in a jurisdiction of a road / river management organization. The present invention relates to an image information retrieval system that enables easy understanding of the actual condition of the surrounding environment.

[0002]

2. Description of the Related Art Recently, many vehicles are equipped with a car navigation system for convenience such as easily reaching a destination by following a map search guide displayed by a navigation system when driving a car. It has become. In addition, generally provided navigation systems are designed so that their position can be plotted almost accurately on a displayed map by GPS position search, and various equipment on the map, installed traffic lights, etc. Is displayed, and depending on the system, a bird's-eye view can be displayed.

On the other hand, at a road / river management office that manages roads / rivers, etc., for example, Japanese Patent No. 3099103 proposed by the present applicant in order to grasp the actual conditions of roads in the jurisdiction and to manage them properly. The current video search system for roads and rivers is used. With this search device, you can search immediately by displaying moving images and continuous still images, etc. relating to the surrounding conditions of the road that were sequentially captured by actually traveling on the road etc. as those at arbitrary points. As well as the situation of various facilities at that point,
It is also possible to display related facility maps, records, etc. for management.

[0004]

However, the search target in the above-mentioned conventional navigation system is only to display the position of the own vehicle, the surrounding facilities, the destination, etc. on a map in a two-dimensional or three-dimensional manner. It is the map information itself. Therefore, in driving guidance for car navigation, for example, it is difficult to indicate the direction of travel at a complicated intersection that intersects / is complicated because it is difficult to compare map information with the actual situation in a short time while driving. There are many cases where the direction of travel is wrong.

Even if a moving image or the like is searched by the current video search device, it is difficult to grasp the whole information on the road because the angle of view and the direction are limited, and the position of the individual object and the data thereof are not obtained. Since it cannot be obtained accurately, it was not sufficient for comprehensive management of ancillary facilities and equipment for roads.

Therefore, the present invention was created in view of the various existing conditions as described above, and three-dimensional images of a situation such as a moving image of a real situation on a road, a river or various passages, a continuous still image, etc. Information is associated with location information in regional maps such as maps and aerial photographs, and three-dimensionalized.
At that time, various objects that are recognized and extracted in the three-dimensional information are C
By reconstructing as a G image and constructing a database of various objects included in the situation video, not only the search target is displayed on the map but also in the image, and further, it is generated in the image or CG generated. The object information in the three-dimensional information is expanded so that it can be searched by, for example, name, position, attribute, combination thereof, and other data. The purpose is to provide.

[0007]

In order to achieve the above-mentioned object, in the present invention, a situation picture is acquired and displayed by photographing the passage situation to be searched while moving in the passage. The object is to be able to mutually search and display the object in the image and the attribute data created and registered in the object in advance. In addition, while capturing the passage image to be searched while moving along the passage to acquire and display the situation image, various objects photographed in the situation image are converted into CG (comuter graphics) images. Displayed in the situation video or CG
The object in the image and the attribute data previously created and registered in the object can be searched and displayed mutually. Alternatively, a situation video is obtained by photographing the passage situation to be searched while moving in the passage, and various objects photographed in the situation video are displayed as CG images, while a map of the passage is obtained. Alternatively, the aerial photograph is displayed, and the object in the CG image, the map, or the aerial photograph and the attribute data created and registered in advance in the object can be searched and displayed mutually. The passage is a road, a river, a sea route, an underground route, an orbit, an air route, etc., and the situation image is a moving image or a continuous still image, and at least one of a real-time image and a recorded image acquired in advance, In addition to displaying the point position of the displayed situation video on a map or aerial photograph, it also displays the latitude, longitude, altitude, or latitude
Longitude only, distance from the reference place, point name (distance from the starting point of the road, two-dimensional coordinates or three-dimensional coordinates on the map, numerical value of the distance from a certain specified point, any one point on the map or aerial photograph 2 It may be provided with at least one of index information such as dimensional coordinates, road point name, place name on map, and the like). Video database unit 3 for storing and recording the situation video and CG for converting the situation video into a CG image
Creating sections 4 and 5; a CG database section 7 for storing and recording CG imaged data; and a positioning synchronization section 9 for associating both the situation video in the video database section 3 and the CG image in the CG database section 7. , Object attribute database unit 8 for storing and recording attribute data of various objects in CG images recorded in the CG database unit 7
And a search designation unit 10 for designating a search method and a search target,
Display device 15 for displaying situation video, CG image, and search results
And. The display device 15 has a status video display area 3
1, the map area 32 and the CG image area 33 are section-displayed, and the display image in the situation image display area 31 for displaying the situation image and the CG in the CG image area 33 for displaying the CG image
The images may correspond to each other and may correspond to points on the map or aerial photograph in the map area 32 displaying the map or aerial photograph. In addition, the CG images synchronized with the points corresponding to the points and the CG images at the same viewing angle are displayed side by side on the situation video, or are overlapped so that the position and the object match, or are displayed independently or by selection. , By directly selecting and designating the object displayed in the CG image, the attribute and data of the object can be displayed on the screen, or simultaneously the latitude and longitude of the point can be displayed. CG to move in synchronization with the movement of the object in the situation video to include the point
The image is displayed from the free viewpoint, or the position of the object in the situation video is displayed in the CG image, or the CG image is displayed independently from the free viewpoint without synchronization by selection, and the object in the CG image is displayed. By directly specifying the selection designation, the attributes and data of the target object can be displayed on the screen. By specifying an object in the situation video or CG image, the distance, area, and volume can be measured and displayed on the screen. The situation video is displayed in the same manner as the CG image by changing the viewpoint in the situation video,
Alternatively, the CG image can be treated in the same manner as the situation image, and both can be searched without distinction, and can be used as the entrance to the search. The map or aerial photograph displayed in synchronization with the movement of the point displayed in the situation video can be displayed side by side or overlaid with the CG image. The search designation unit 10 designates a search method and a search target.
1, a search condition including a part or a plurality of objects is specified in at least one of the map area 32 and the CG image area 33, and the objects satisfying those conditions can be searched. Further, the search designation unit 10 designates a search method and a search target, and a separately acquired new video is used as a comparison target.
The situation video in the video database unit 3 taken at the same place as the new video or the CG image in the CG database unit 7 can be the search target, and further the position on the map or aerial photograph can be the search target. . The newly acquired video data is compared with the situation video in the video database unit 3 or the CG image in the CG database unit 7,
By associating the new video data, three-dimensional coordinates are obtained from the situation video data or the CG image, and the situation video in the video database unit 3 is updated with the obtained coordinates,
The video database unit 3 can be provided with an updated video data unit 16 which is recorded and stored as updated data, and the updated data can be displayed in parallel or in parallel as parallel data having the same coordinates. The moving body image displayed in the situation video is deleted, and the blank image hidden in the deleted moving body is three-dimensionally pasted from other video frames to be complemented and displayed. The image complementing unit 17 can be provided. An image complementing unit 17 is provided which extracts only the shaded portion of the object displayed in the situation image and makes the brightness and color temperature of the shaded portion similar to those of the surroundings to make the boundary with the surroundings inconspicuous. be able to. The object in the situation video and its attribute data are transferred to a telecommunication line or a Web (World wide we
b), search and display are possible, and the video database unit 3, the CG creation units 4 and 5, the CG database unit 7, the alignment synchronization unit 9, the object attribute database unit 8, the search designation unit 10, and the display device 15 are provided. At least a part of the above can be configured to be connected via an electric communication line or the Web. In addition, situation video, CG image, various objects and various attribute data related to the objects, map data, index information for searching at point position on map or aerial photograph, production process and production for creating situation video Various data and other various information in the process can be provided or acquired through a telecommunication line. Further, the displayed situation video may be displayed visually or non-visually so as to superimpose grids at regular intervals that enable measurement of the distance, area, and volume in the actual situation.

In the image information retrieval system according to the present invention configured as described above, for example, an actual situation image in various passages such as roads and a CG image C
In contrast to G images, various objects in both situation video and CG images are searched for each other, as well as points on maps and aerial photographs, and various attribute data related to the objects are displayed. As a navigation system, it facilitates running guidance by comparing the actual scene while driving and the situation video,
In addition, various management information on the management of roads etc. shall be promptly acquired. The search by the search designation unit 10 enables designation of various search conditions. For example, various point indexes,
The image data base unit 3 in which the point and the object corresponding to the attribute data of the object are present.
Among them, video frames and image frames recorded and stored in the CG database unit 7 and the like are displayed alone or in plural. The change of the free viewpoint in the situation video displayed by the situation video display area 31 and the CG image displayed by the CG image area 33 is changed by using the attribute data of the object at the changed viewpoint. A new situation video and CG image including the object image from the generated viewpoint are generated, and various situations can be grasped and management information can be acquired. Distance specified by target in situation video and CG image
The measurement of the area / volume allows the passage control organization to grasp the form of an arbitrary passage portion for management on the screen in advance, and speed up various works such as maintenance and inspection at the site. The situation video frame recorded and stored in the video database unit 3 and the CG image frame recorded and stored in the CG database unit 7 enable comparison and comparison between them and a newly acquired situation video. The update video data unit 16 after comparison and contrast with is enabled. Complementary correction of the status image, CG image, etc. by the image complementing unit 17 deletes the moving object image such as various vehicles existing in the status image, CG image, deletes the shadow part etc. accompanying the object, A situation video and a CG image of a primitive situation in which there is no surplus in are generated. By displaying the attribute data of the object in the situation video through a telecommunication line or the Web and displaying it, it is possible to provide the user with the latest updated data of various information related to the passage, various objects, etc. In addition, the video database section 3 for producing these, the CG creation sections 4 and 5, the CG database section 7,
At least a part of the position alignment synchronization unit 9, the object attribute database unit 8, the search designation unit 10, and the display device 15 are connected to each other via a telecommunication line or the Web to update data between remote locations or even at different times. The work of will be smoothed, and the latest data can be immediately acquired by the user. Further, the provision or acquisition of various kinds of information through the telecommunication line allows the user to sequentially obtain the latest information by updating the various kinds of information related to the passage that changes daily to the latest. The visual and non-visual grit 46 that is displayed overlaid on the situation image makes it possible to visually measure the distance, height, object or other size between points in the situation image, or automatically. Can be obtained by a mathematical calculation.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION In the following, an embodiment of the present invention will be described with reference to the drawings, in which an image information retrieval system according to the present invention comprises a passage to be searched, that is, a road, a river, a sea route,
Underground roads, trajectories, air routes and other various moving bodies such as automobiles, ships, aircraft, etc., as well as the actual conditions of the passages provided for traffic movement by humans, traveling up and down
The moving images / continuous still images that have been recorded and saved by capturing and acquiring by navigation etc., and the generated CG (comuter graphics) images are searched. The moving images, continuous still images, CG images, etc. are real-time or pre-recorded images at the current time in the actual passage, or generated CG images, and the viewpoint positions searched in those situation videos are displayed on the map. Shown or shown in those images, and the name, position, and
It is displayed by designating it with attribute data such as an attribute and / or a combination of attributes. The outline of these is described below with reference to the drawings.

Reference numeral 1 shown in the figure is a real-time image acquisition unit, which acquires the situation image acquired at the present time in the passage by the camera at the viewpoint position, digitizes it, and sends it to the image database unit 3. . Further, in the video database unit 3, a predetermined video is also sent from the recorded video data acquisition unit 2 which records and creates the situation video of the passage recorded in advance and stores it.

In the video database unit 3, a numerical index such as a kilometer from the passage base point, longitude / latitude, and, if necessary, an altitude, etc. for some retrieval indicating the reference position of each video in the acquired situation video. , Has various index information such as a name index such as a name of a point in a passage, and these are associated with the situation video. The index information is finally combined with the map in the map / aerial photograph database unit 6 and the coordinates of the aerial photograph, and the situation video acquires the position information by doing so.

On the other hand, the situation image in the image database unit 3 is, for example, 3DCG (3D computer graphic: 3D CG three dimensional).
Computer graphics or CG imaging such as two-dimensional imaging, for which CG imaging is performed manually by an operator by hand.
A G manual creation unit 4 or a CG automatic creation unit 5 that automatically creates a CG is provided. These CG creation parts 4, 5
Then, various objects existing in the situation video are made into a database, and examples of the objects are as follows. (a) Distinguishing between humans and non-humans (b) Distinguishing between cars and non-vehicles (c) Distinguishing between moving and stationary objects other than humans ・ As moving objects: moving vehicles, light vehicles, stationary objects, and other unexpected situations Things / stationary objects: road signs, road displays, road equipment, construction guidance, etc.-Stationary objects: signs, telephone poles, trees, ground, mountains, sea,
Rivers, suns, moons, other celestial bodies, clouds, etc. ・ As buildings: Gas stations, maintenance plants, convenience stores, police stations, etc. (d) Add velocity and acceleration vector measurements of moving objects as attributes (e) With people Future prediction of moving objects (f) Weather, road surface conditions (acquisition of information on air temperature, road surface temperature, road surface friction coefficient, etc.).

That is, for example, the objects to be recognized and specified in the road image are road surfaces, road signs, guide signs, street lights, road markings, guardrails, roadside trees and other road incidental equipment, buildings, houses, shops, etc. It is a signboard or other road peripheral structure, and the attribute data related to the object are those images taken and acquired in relation to the installation points of these road auxiliary equipment and road peripheral structures, data related to this image, related design drawings, It may also include the related construction history. Furthermore, it is also possible to include images of accommodation facilities / sightseeing points / stores, etc. captured and acquired.

The CG is created by superimposing the map / aerial photograph and the situation video in the map / aerial photograph database section 6 and determining that the viewpoint is the same as the situation video.
The image is created, and the CG created in this way
The image completely overlaps the situation video, and the feature of overlapping in this way is also important. Therefore, for example, on the display screen, the display area of the situation video and the display area of the CG image may be only one, and even if only one of them is displayed, it is an external appearance and is substantially It is nothing more than a stack. Note that the CG automatic creation unit 5 has a function of automatically performing a manual operation in the CG manual creation unit 4, and for example, Japanese Patent Application No. 11-9756 filed by the present applicant.
No. 2 (JP 2000-295611), Japanese Patent Application 2000-
It is based on an information conversion system according to 190725, and PRM (Parts Reconstruct)
nMethod).

That is, the information code conversion device for converting the object information acquired for the object into an information code registered in advance corresponding to the object and transmitting or outputting the information code, and this information code conversion. The information code conversion device is provided with a reproduction conversion device that receives or inputs an information code from the device and converts it into reproduction target object information registered in advance corresponding to this information code. An image obtained by analyzing the position of the object on the acquired image using the field information database as a basis, and a field analysis correlation function calculation means and the result of calculation by the field analysis correlation function calculation means based on the coordinate code database. The optimum coordinate generation means for generating the optimum coordinates in the image and the outline processing of various objects in the image from the analysis in the acquired image. Based on the preprocessing means, the contour data and the like obtained by the preprocessing means, the field data obtained by the correlation calculation means for field analysis, the optimum coordinate data obtained by the optimum coordinate generation means, etc. Correlation function calculating means for component search for converting into array code and comparing / selecting the object data in the parts database and the acquired object information for recognition to generate an information code combined with the array code. According to the information conversion system equipped with.

Alternatively, information input means for inputting information on a desired object, information on various objects or parts thereof created in advance, their attributes, and the like, and data encoding each of these information are stored. Information for comparing and comparing the information input to the information input means with the information stored in the first component storage, and selecting and outputting the data regarding the corresponding information A code conversion device, a second parts storage that forms a database similar to the first parts storage, and the data output from the information code conversion device is compared with the data stored in the second parts storage. Information reproduction conversion for selecting the information for reproducing the corresponding target object and reproducing and outputting the target object by the required output means based on the information for reproducing the target object. And an information code conversion device for analyzing the position of the information about the object input by the information inputting means on the image based on a database of field information. And an optimum coordinate generation means for analyzing the result of the correlation function calculation means for field analysis based on a database of coordinate codes to generate the optimum coordinates in the image, and various objects in the image from the analysis in the image. And a component search correlation function computing unit for generating an array code and an information code combined with the array code, wherein the component search correlation function computing unit is Data such as contours obtained by the pre-processing means, field data obtained by the correlation calculation means for field analysis,
And the optimum coordinate data and the like obtained by the optimum coordinate generating means are converted into array codes on the basis of each, and the information accumulated in the database in the first parts storage and the information of the input object are An information conversion system configured to compare and compare, select matching information, and generate an information code corresponding to each of the selected information and combined with the sequence code.

The CG-generated whole image created by these CG creating units 4 and 5 is configured as a set of CG image parts created for each individual object in the situation video. The created CG image is CG
It is stored and saved in the database unit 7. Further, various data of the target object are stored in the target object attribute database unit 8, and it becomes possible to classify each target object and give an attribute to each individual part, and to search each individual part, the name of the target object, This is made possible by attribute data such as attributes and attribute combinations, as well as their position coordinates, and can be displayed in association with the situation video or in the video.

Further, the situation video such as a moving picture / continuous still picture acquired by the real-time video acquisition unit 1 or the recorded video data acquisition unit 2 already has coordinates attached to each frame of the situation video at the time of shooting, or in the map. A code corresponding to one point is attached, and further, it corresponds to each frame of the situation video when the CG image is created. Therefore, since the map, the situation video, and the CG image are completely integrated as data, they always have a corresponding relationship and can always be displayed correspondingly. This is designed so that the three members are completely integrated by the position alignment synchronization unit 9, and by sending it to the display control unit 14, a display format suitable for the purpose is formed, and a display device 15 such as a display is provided.
It can be displayed by. It should be noted that the map, the situation video, and the CG image can be treated in the same way without distinction, and the explanation of the situation video can be applied to other CG images and maps in the same manner. In the present embodiment, unless otherwise necessary,
The situation video will be explained. In particular, the situation video and the CG image are designed to be superposed, and the identification of the object on the situation video, for example, the object by the mouse pointer or the like on the display device 15, the outline and other instructions are the same on the CG image. It will be an instruction.

Further, the new situation video newly fetched by the real-time video acquisition unit 1 or the search image input unit 12 is converted into a database in the video database unit 3 and updated as data of the situation video to be updated by the updated video data unit 16. It is supposed to be saved in. At the time of updating, the image search is performed by the image matching technique, and the correspondence is required, so that the coordinates of the newly captured situation image data can be received from the old situation image, and the CG image and the image matching technique can be compared. Since there is no frame constraint in the CG image, it is possible to obtain new coordinates by comparing with continuous coordinates. Since the new situation video that has obtained the coordinates has the meaning of updating the old situation video, it is possible to compare the old and new situation videos, for example, displaying different situation videos in parallel in summer and winter, or switching display. It can be done.

Further, since the various objects in the situation video can be recognized, only the moving body image in the situation video can be extracted by the moving body extraction unit 18 linked to the video database unit 3. Therefore, For example, an object other than a stationary object can be defined and extracted as a moving body image, or the moving body image itself can be recognized and extracted. By deleting the moving body image thus extracted from the situation video, it is possible to create an image in which no moving body exists. However, since the corresponding portion remains blank after the moving body image is deleted as it is, the image complementing unit 17 complements the blank portion hidden by the moving body. In the video complementing unit 17, since the deleted portion extracted and deleted by the moving body extracting unit 18 is constantly moving due to the nature of the moving body, it is used that the coordinates of the deleted portion, for example, the road surface image are already known. Then, the coordinate portion is complemented by cutting the road surface three-dimensionally from the frame in which the road surface of another image appears and pasting it in the blank portion three-dimensionally.

In the situation video to be acquired, for example, in the case where there is a shadow around the passage when it is managed by a management organization that manages the passage, that is, the road, the shaded portion is black and difficult to see, which causes inconvenience in management. There is.
Therefore, it is possible to correct the illuminance and color temperature of only the shaded part so that it looks the same as the surroundings, and of course not to lose the characteristics of texture (texture: surface texture, characteristics, etc.). The same correction processing is performed on the entire area to make the boundary between the shadow portion and the surrounding area inconspicuous, thereby facilitating management. That is, the shadow complementing process will be described with reference to FIG. 2. A video image is input (21), a shadow portion is extracted by spectral analysis and luminance cutting (22), and the analysis is performed to save the texture. Perform and save (23). As a result of the analysis, the color temperature of the shaded portion is different from that of the surroundings, the reference color temperature is extracted (24), and the ambient color temperature is extracted (25). . Then, the shaded portion is made three-dimensional to complement the surrounding color temperature and intensity (26), and the corrected video signal is output (30A). If the information of the shaded portion can be obtained from the other by the image of the same place where the shooting time period is different, the frame having the correction information is selected (27), the image is cut (28), and the image is pasted. This complements (29), and the corrected video signal is output (30B).

Because of its nature, the CG image can display the situation image from a free viewpoint. Further, in the present invention, the situation image by the moving image and the CG image completely overlap each other, so that the situation image is attached to the CG image. It is possible to say that the situation video has been made three-dimensional at that time, and this three-dimensional situation video has the same principle as the CG image, and the viewpoint can be freely changed. That is, the viewpoint can be changed by a selection instruction such as clicking an arrow-shaped icon for changing the viewpoint in the viewpoint change control area 33A together with the map displayed in association with the situation video displayed as shown in FIG. It has become.

Since there is a blind spot depending on the viewpoint position in the situation image, three-dimensional display is not possible at all viewpoints. However, when the camera for photographing at the viewpoint position moves, a stationary object is displayed. Since 3D can be three-dimensionalized, the texture can be pasted as a CG image from another viewpoint, and the viewing angle can be changed in a considerable range.

Next, the search will be described. Display device 15
Each area displayed by is searched and displayed by a click selection instruction with a mouse pointer or the like. That is, on the display screen of the display device 15, as shown in the figure, a real-time or pre-acquired situation video is displayed as a moving picture or a continuous still picture, a situation video display area 31, a map area 3 for displaying a map.
2. A CG image area 33 for displaying CG images, a search result display area 34 for displaying the contents of a search target, index information of a search location, for example, latitude / longitude, a kilometer from a base point, an index for displaying a section distance, etc. Information search area 35, types such as summer and winter,
Route selection, place name search, for example, moving forward / backward of moving images / continuous still images in situation videos that are sequentially displayed as you drive
Fast-forward forward / fast-forward backward / pause / playback speed or operation area 36 displaying slider-type click buttons for slide adjustment of the display point, the entire circumference of the point is displayed ("360 degrees"), and 3DCG is displayed. Display control area 3 for selecting or switching between up and down passages
7. Calling area 38 for calling the start / end points of passages, etc.
Measurement instruction area 39 for measuring distance, area, etc., print instruction area 4
0 is divided and displayed, and a specific search instruction area 40A for specifically instructing a search target is provided, and operations for these can be instructed and controlled by, for example, a mouse click operation on a pointer moving on the screen. There is.

The example of the layout of the screen on the display device 15 is not limited to this, and the size of the section, the position of each display area, etc. can be arbitrarily changed, and particularly, the search / display mode is different. And the situation video display area 31, CG
The image area 33 is only one of them, or the map area 32
May not be displayed. Of course, when the situation video display area 31 and the CG image area 33 are either one, since the situation video or CG image by these is substantially overlapped, it is possible to switch and display them. is there.

Further, in the search, it is possible to perform a search by comparing images with each other, and a search image as a comparison image is directly obtained from an external image (image database unit 3, CG database) by some means (any means is selected). Video which does not exist in the section 7 etc.) is input, and it is acquired by the search image input section 12 which handles it as a comparison image, and then the updated video data section 1
6, the video database unit 3 directly from the video search conditions
Search inside for a matching video.

On the other hand, in a normal video search, a search designating section 10 and the like are provided as an operating section for the operator to designate a search method and a target.

In the search, the processing is divided according to its purpose and method. Video itself, search by video itself,
It is processed by the video search unit 13.

In addition to the video search by video, in the case of a search for directly clicking on a target in the video and the CG image or a search by directly specifying an attribute or the like, it is not necessary to recognize the target. In the case, if it is necessary to recognize the target object first without passing through the video search unit 13, after the target object is recognized by the video search unit 12, the attribute search unit 1 is directly connected.
Enter 1.

In the video search, which is a comparison of videos, the updated video data unit 16 compares various videos stored and stored in the video database unit 3 or videos taken from outside the system. For example, it is a comparison of all the images stored in the image database unit 3, by which the changed parts of the images at the same old and new points are extracted, whether or not the update is necessary is determined, and, for example, on a certain road. When a picture of the accident scene is externally imported to the search image input unit 12, and the accident scene point is unknown, the situation scene image of the accident scene is compared with the accumulated video data to show the accident scene point. It makes it possible to identify. Specifically, the video taken at the scene of the accident (regardless of whether it is a still image or a moving image) is taken into the device, and the change of the viewpoint including CG is performed in the same process as the compared image.
Since the shape and relative coordinates of the object in the video are generated by imaging, and by comparing this with the CG image generated from the comparison video, it becomes possible to perform a search as a three-dimensional comparison. is there. Note that this is also possible for moving images.

More specifically, when the object in the image is designated by clicking or the like, the situation video and the CG image are completely overlapped and only the situation video is displayed. However, even if, for example, what is actually clicked is the object in the situation image displayed in the situation image display area 31, clicking each part in the CG image behind the situation image as an effect Will be there. That is, this is because the situation video can be handled in the same way as a CG image or the like that is to be displayed as a three-dimensional image even if the situation video is originally two-dimensional.

Further, in the search for attribute designation by the attribute retrieval unit 11, since each part displayed in the CG image area 33 corresponds to the object displayed in the situation video display area 31, the object is designated by clicking. Then, the video / CG image parts / attributes corresponding to the search object are detected through the search designation unit 10, and the position alignment synchronization unit 9 and the display control unit 1 are detected.
4. It can be displayed by the display device 15. When an attribute is designated, the object attribute database unit 8 determines the component having the attribute as the CG image area 33.
Since it can be detected inside, it is possible to display the part and the object in the status video in the status video display area 31 which is displayed overlapping with the part. Furthermore, since the attribute of the target object is stored in the target object attribute database unit 8, it is possible to specify a search by combining a plurality of attributes, a combination of priorities and the like.

When a video newly stored separately is designated and a video stored in the video database unit 3 is searched, the video captured separately for the search is used as a comparison reference and the viewpoint position of the video is searched. Even if the angle of view and the angle of view are different, if you compare the image shot at the same place and the image showing the same object as a three-dimensional image composed of multiple three-dimensional objects, the image database section It is possible to search and extract the corresponding video from among the three, and display the searched video in association with the video.

At this time, the images in the image database unit 3 are three-dimensionalized by the position alignment synchronization unit 9 and can be perfectly associated with the CG image overlapping with the situation image. A CG image is created by the creating unit 4 or the CG automatic creating unit 5, a three-dimensional positional relationship of a plurality of stationary objects in the image is obtained, and a situation video or CG image having the same positional relationship as the positional relationship is searched and extracted. By doing this, you can search for the video. Alternatively, for example, the comparison reference video (video captured separately) is described in MPEG7 and narrowed down by other attributes, or the video in the video database unit 3 is directly described in MPEG7 and stored in the video database unit 3. Thus, after that, if the situation video having the same description as the comparison reference video is searched in the video database unit 3 for correspondence, the search is completed. Of course, if the correspondence is naturally obtained, the position coordinates are acquired, and it becomes possible to display the situation video in the situation video display area 31 and the CG image in the CG image area 33, respectively. .

Further, as shown in FIG. 1, the image information search system configured as described above can be searched by using a communication line such as the Internet. That is, as shown in the figure, the main body of the image information search system configured as described above serves as the server-side main device together with the server-side data transmission / reception unit 45, and corresponds to the search terminal 41 and the display device 15 corresponding to the search designation unit 10. An internet terminal device having a display terminal 42 for operating and a data transmitting / receiving terminal 43 is prepared, and the server side main device and various information are passed through the data transmitting / receiving terminal 43 and the server side data transmitting / receiving part 45 in the internet terminal device. To be able to send and receive.

That is, an actual situation image, a CG image obtained by converting it into a CG image, various objects and various attribute data concerning the objects, map data, an index for searching at a point position on a map or aerial photograph. Information, and further, a production process for creating a situation video, various data in the production process, and other various information are provided through a telecommunication line (whether wired or wireless) or Web (World wide).
It can be provided and made available through the web). Therefore, for example, at the distribution source, various information is sequentially updated and stored on the server as the latest information, and the various information is sent from the server to the Web.
The latest information data can be distributed by providing it above and combining it on the Web.

Further, it is possible to construct the entire system by combining the respective functions in the system of the present invention by Web distribution. For example, at least a part of the video database unit 3, the CG creation units 4 and 5, the CG database unit 7, the alignment synchronization unit 9, the object attribute database unit 8, the search designation unit 10, and the display device 15 which configure the system of the present invention. Are configured to be connected via a telecommunications line or the Web, whereby the information about the passages and passages in the situation video, related objects and their attribute data, etc. can be updated and retrieved via the telecommunications line or the Web. It is displayed.

That is, by doing so, even when performing the sequential update work to the latest data of various information related to passages such as roads, rivers, sea routes, underground routes, trajectories, and air routes, the workers and the like are remote from each other. The work can be smoothly performed even on the ground or when the time is different, and furthermore, it is possible to easily and successively update and deliver the data, which can be immediately provided to the user.

Further, FIG. 9 shows another embodiment in which the grid 46 is visually or non-visually superposed on the situation image in the situation image display area 31 of the display device 15 in a mesh form. This grit 46 is designed to display a constant distance and a constant height on the actual image at intervals of a constant unit length as if the blocks were stacked in space by CG in the situation image. Therefore, when the image is converged on one point, the interval is displayed so as to be narrowed at a constant ratio. For example, as shown in the figure, an imaginary rectangular standard distance position line is displayed in front of a certain distance from the shooting position of the situation video, and the width direction, height direction, and advancing direction of appropriate unit lengths from the four sides at constant intervals. It is assumed that the grids 46 along the line are displayed in a grid pattern, whereby the distance on the road, the area of various objects such as an object, the volume, etc. can be easily measured by visual or automatic calculation. The specific setting of the viewpoint change position for the object can be easily performed. The grit 46 is not limited to being displayed on the situation video in the situation video display area 31 in an overlapping manner, and can be of course displayed on the CG image in the CG image area 33.

The grit 46 is created by, for example, a region of a predetermined height vertically upward from a position defining the road width in a space in the traveling direction, and at this height parallel to at least a predetermined distance in the traveling direction of the road. The area of the side wall surface along the area along the ceiling surface, the area of the side wall surface over the distance to the position, and the area such as a vertical wall surface perpendicular to the vehicle at a position ahead of each area by a predetermined distance are defined, and For a region, enclose a plurality of square frames for each predetermined size shown in FIG. 9 with a grid line C
The image is displayed by G. The grid size (the actual size of each grid-like square frame) can be set arbitrarily, and in each of the above-mentioned areas, a predetermined distance toward a virtual point in front of the vehicle can be set. If the three-dimensional grit 46 is generated by CG that converges in parallel over the whole and is synthesized and output on the situation image, and if the grit 46 is visual on the image by the data regarding the set grit size, it is present. Distance between points,
Areas, volumes, sizes of objects, etc. can be visually measured, and if non-visual, they can be measured and displayed by, for example, automatic calculation means.

In this principle, such a grid 46 display has its scale enlarged in relation to the relationship between the position of the camera mounted on the vehicle and the road surface and its incidental objects.
It can be replaced by the relationship between the camera loaded on the aircraft and the ground surface and the three-dimensional structure on it, and it can be applied to any of roads, rivers, sea routes, underground routes, tracks, and air routes. is there.

Next, some specific procedures for image retrieval, attribute retrieval, and other retrieval will be described. In the image information retrieval system according to the present embodiment, the vehicle actually travels on various passages that are objects. A situation video obtained by continuously photographing the surrounding situation at that time is converted into a CG image of the camera position, which is the viewpoint, and the angle of view information of the camera, and the information capable of reproducing the video is recorded in the video database unit 3. Further, the following processing is performed on the assumption that the object in the CG image has an identifier uniquely determined so that its attribute and data can be displayed immediately.

For example, in the case of searching in relation to position information based on longitude / latitude, kilogram, etc., the following procedure is performed. (1) Click the object from the real-time moving image or the recorded moving image (both including still images) of the passage in the situation video display area 31, the map area 32, and the CG image area 33 displayed on the display device 15. To do. (2) Acquire the camera position, angle of view, etc. from the frame of the image in which the object is clicked. (3) An image at the same position and angle of view as the frame used to select the object is generated from the video database unit 3. (4) Based on the position information on the clicked screen in the selected display area 31, 32, 33, the object at that location in the CG image is searched. (5) Acquire the identifier of the object obtained by the search. (6) The attributes, data, etc. that match the identifier are displayed in the search result display area 34.

Further, when retrieving the attributes of the object, the following procedure is performed (see FIG. 7). (1) Click the object from the real-time moving image or the recorded moving image (both including still images) of the passage in the situation video display area 31, the map area 32, and the CG image area 33 displayed on the display device 15. To do. (2) Acquire the identifier of the object obtained by the search. (3) The attributes, data, etc. that match the identifier are displayed in the search result display area 34.

When the object is changed and displayed from a free viewpoint and is searched, the following procedure is performed (see FIG. 4). (1) The situation video in the video database unit 3 is displayed, and at the same time, the CG image in the video database unit 3 converted into a CG image is displayed at the same point and the same angle of view by the camera position and the view angle information of the frame of the situation video. Generate and display with. (2) The position of the situation video is displayed as a marker in the CG image in the CG image area 33 by the icon instruction in the viewpoint change control area 33A based on the position information obtained from the situation video. (3) The CG image is repeatedly generated from the point and angle of view information in accordance with the reproduction of the situation video in the situation video display area 31. (4) By selecting the function of free viewpoint, it is possible to freely move within the CG image displayed in the CG image area 33 and move within the CG image with a free viewpoint, and the CG image with a changed viewpoint is simultaneously displayed. Is generated. (5) Click the object in the CG image generated by the movement in the CG image. (6) Acquire the identifier of the object obtained by the search. (7) The attributes, data, etc. that match the identifier are displayed in the search result display area 34.

Further, when calculating and displaying the distance, area, and volume of the object at the point displayed in the situation video, the following procedure is performed (see FIG. 5). (1) A real-time moving image of the passage or a recorded moving image (both including still images) is displayed in the situation video display area 31, and the functions of distance, area, and volume in the measurement instruction area 39 are selected. Then, click the point or other object as many times as you need. (2) The position, angle of view, etc. of the camera, which is the viewpoint, is acquired from the frame of the image in which the target is clicked. (3) The CG database unit 7 generates an image at the same position and angle of view as the frame used to specify the target. (4) The target of the place in the CG image is specified by the position information on the screen clicked in the selected frame. In case of distance, C with two specified points and intersections
One point on the surface in the G image and the other one point. In the case of area / volume, it is a surface in three dimensions formed by a plurality of designated points and a three-dimensional polygon in three dimensions. (5) Calculate and display the distance, area and volume of the specified object.

Further, when the distance, area and volume of the object at the point displayed in the CG image are calculated and displayed, the following procedure is performed (see FIG. 6). (1) Display the CG image of the passage in the CG image area 33, select the function of the distance, area, and volume in the measurement instruction area 39, and then click the point or other object as many times as necessary. (2) The CG database unit 7 generates an image at the same position and angle of view as the frame used to specify the target,
Display the image. (3) The target is specified by the positional information on the screen of the clicked CG image in the selected frame. In the case of a distance, one point on the surface in the CG image having two designated points and an intersection point and the other point. In the case of area / volume, a surface in 3D composed of a plurality of specified points and 3 in 3D
Dimensional polygon. (4) Calculate and display the distance, area and volume of the specified target.

Further, by changing and displaying the viewpoint in the situation video,
When the CG image is treated in the same manner to be a search target or an entrance to the search, the following procedure is performed (see FIG. 4). In this case, the image of the spatial information obtained from the continuous image is accumulated as a texture, and this texture is specified by the viewpoint position and the angle of view.
It is recorded on the premise that image processing is performed so that the image viewed from that position can be displayed. (1) In the real-time moving image of the passage or the recorded moving image (both including a still image), select to change the camera position. (2) Calculate the amount of change for the specified change from the amount, current camera position, and angle of view. (3) The accumulated texture is converted into an image according to the change amount and pasted in the image. (4) Display this repeatedly.

Further, when the situation video, CG image, map and the like are displayed in an overlapping manner, the following procedure is performed. (1) By reproducing the real-time moving image of the passage or the recorded moving image (both including still images),
CG that displays the CG image with information on changes in the camera position and angle of view
Similarly, the map is sent to the image area 33 and the map area 32. (2) From the transmitted change information, a CG image is generated and displayed by a method specified by the CG database unit 7 based on the specified change information, that is, side by side or overlapping. (3) On the other hand, the point of the map database is displayed in the map area 32 by the designated method, that is, side by side or overlapping, according to the map position information obtained from the transmitted change information. (4) Display the contents of (1) to (4) repeatedly.

When searching for a common object in the video database unit 3 and the CG database unit 7, the following procedure is used. For example, "find a convenience store within 50 meters from the next intersection of the current location". "
The case will be described (see FIG. 8). (1) The search contents input by the search designation unit 10 are sent to the attribute search unit 11. For example, the search content is the search condition input area 4
Select the complex attribute search or AI search with 0A, and click the next designation. The designated first object is the "intersection", the designated second object is the "convenience store", and the designated third. The search direction of "is the same as the traveling direction", the designated fourth attribute distance range is "50 meters", the designated fifth display target is "convenience store", and the designated sixth display method is "all". (2) A corresponding convenience store is searched by the attribute search unit 11 and the object attribute database unit 8 within a specified range. (3) The search result is sent to the display control unit 14, the situation video at the point is displayed in the situation video display area 31, and the CG image is displayed in C.
A map around the point is displayed in the G image area 33, a map area 32 is displayed, and its attribute data is displayed in the search result display area 34.

[0051]

The present invention is configured as described above,
For this reason, it is possible to correlate the three-dimensional information of the situation video such as the moving image of the actual situation / continuous still image on the road / river or other various passages with the position information on the area map such as a map / aerial photograph. At this time, various objects that are recognized and extracted in the three-dimensional information are converted into CG images by CG parts and reconstructed, and a database of various objects included in the situation video is constructed to display search objects on a map. Not only the name of the object in the 3D information,
It is possible to search and display attributes, their combinations, and even other data.

Further, the situation video is used as a search signal,
You can search the database for videos showing the same or similar objects, and more easily search the corresponding situation video than before, so all videos are automatically adjusted to the position coordinates. Can be easily updated.

Not only that, the shaded area in the situation video which is inconvenient for road management can be displayed with the same brightness and color temperature as the surroundings, which can be useful for obtaining accurate management information. Similarly, by deleting a moving object such as a vehicle, which was inconvenient for road management, from the situation video and pasting the blank portion of the information from other videos and pasting it, a road surface without a vehicle can be displayed. It is possible to acquire the primitive information on the management side.

Further, since the moving image or continuous still image is expanded from two dimensions to three dimensions as compared with the conventional one, measurement can be freely performed, and three-dimensional straddling a plurality of consecutive frames in the same frame situation image. It is possible to measure, and it is possible to search by combining various search conditions. Moreover, by effectively using the combination of map technology, CG image technology, etc., the search method is greatly expanded,
It is possible to search for complicated conditions by combining names and attributes.

Furthermore, by using the CG image as a reference, it is possible to obtain the advantage that the shaking and rotation of the image at the time of shooting can be corrected.

On the other hand, in the case of a car navigation system mounted on a vehicle or the like, it is possible to display an actual situation image and CG image of the surroundings at a point where the vehicle is actually traveling. This makes it easier to compare with unrealistic scenes, and does not make mistakes in directions such as intricacy, intersections in complicated urban areas, etc.

Further, the object in the situation image and its attribute data can be searched and displayed via an electric communication line or the Web so that, for example, the image database unit 3, the CG creation units 4, 5, the CG database unit 7, the position. Matching synchronization unit 9,
At least a part of the object attribute database unit 8, the search designation unit 10, and the display device 15 is a telecommunication line or a Web.
By configuring the connection via the above, it is possible to perform the sequential update work of the various information to the latest data smoothly between remote locations and even at different times, and to provide it immediately by performing the sequential update easily. Not only can users get the latest data.

Further, the situation video, the attribute data, the map data,
By making it possible to provide or acquire index information and production information for situation video creation through a telecommunication line, and updating these, the user can obtain various information related to the passage that changes daily. It is one that can be sequentially obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a chart diagram similarly illustrating a shadow complementing process.

FIG. 3 is a front view of a screen layout example of the display device.

FIG. 4 is an example of a screen on which data for an object is also displayed and a free viewpoint change instruction area is displayed.

FIG. 5 is an example of a screen when the volume, distance, area, etc. of the target are measured by designation in the situation video display area.

FIG. 6 is a diagram showing an example of a screen when the volume, distance, area, etc. of the target are measured by designation in the CG image area.

FIG. 7 is an example of a screen on which the attributes, positions, data, etc. of objects in the CG image area are displayed.

FIG. 8 is an example of a screen when an object in the database unit is searched and displayed.

FIG. 9 is an example of a screen when grit is superimposed on a video / image that is also displayed in the display area.

[Explanation of symbols]

1 ... Real-time video acquisition unit 2 ... Recorded video data acquisition unit 3 ... Video database unit 4 ... CG manual creation unit 5 ... CG automatic creation unit 6 ... Map / aerial photo database unit 7 ... CG database unit 8 ... Object attribute database unit 9 ... Positioning synchronization unit 10 ... Search designation unit 11 ... Attribute search unit 12 ... Search image input unit 13 ... Video search unit 14 ... Display control unit 15 ... Display device 16 ... Update video data unit 17 ... Video complement unit 18 ... Move Body extraction unit 21 ... Video image input 22 ... Shade extraction 23 ... Texture analysis save 24 ... Reference color temperature extraction 25 ... Ambient color temperature extraction 26 ... 3D shadow complement 27 ... Frame selection with correction information 28 ... Image clipping 29 ... Image pasting Supplementation 30A ... Corrected video output 30B ... Corrected video output 31 ... Situation video display area 32 ... Map area 33 ... CG image area 33A ... Viewpoint change control area 34 ... Search result display area 35 ... Index information search area 36 ... Operation area 37 ... Display control area 38 ... Call area 39 ... Measurement instruction area 40 ... Print instruction area 40A ... Search condition input area 41 ... Search terminal 42 Display terminal 43 Data transmission / reception terminal 45 Server side data transmission / reception unit 46 Grit

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Claims (24)

[Claims] 1. A situation video is acquired and displayed by photographing a passage situation to be searched while moving along the passage, and an object in the situation video and an attribute created and registered in advance in the object. An image information retrieval system characterized in that data and data can be mutually retrieved and displayed. 2. A situation video is acquired and displayed by photographing a passage situation to be searched while moving through the passage, and various objects photographed in the situation video are displayed on a CG (Converter Graphics). ) It is displayed in the form of an image, and the object in the situation video or CG image is displayed.
An image information search system characterized in that it is possible to mutually search and display attribute data that has been created and registered in advance on an object. 3. A situation video is obtained by photographing a passage situation to be searched while moving along the passage, and various objects photographed in the situation video are displayed as CG images while being displayed. A route map or aerial photograph is displayed so that the object in the CG image, the map or aerial photograph and the attribute data created and registered in advance for the object can be searched and displayed. Image information retrieval system characterized by. 4. The image information search system according to claim 1, wherein the passage is a road, a river, a sea route, an underground route, an orbit, an air route, or the like. 5. The image information retrieval system according to claim 1, wherein the situation video is a moving image or a continuous still image. 6. The image information retrieval system according to claim 1, wherein the situation video is at least one of a real-time video and a recorded video acquired in advance. 7. The point position of the displayed situation video is displayed on a map or aerial photograph, and the latitude / longitude of the point position is displayed.
Only longitude / altitude or latitude / longitude, distance from the reference point,
The image information search system according to any one of claims 1 to 6, comprising index information of at least one of spot names. 8. A video database section for storing and recording the status video, a CG creating section for converting the status video into a CG image, and a CG
A CG database section for storing and recording imaged data, a position synchronization section for associating both the situation video in the video database section and the CG image in the CG database section, and various objects in the CG image recorded in the CG database section An object attribute database section for storing and recording object attribute data, a search specification section for specifying a search method and a search object, and a display device for displaying a situation video, a CG image, and a search result. Image information retrieval system to do. 9. The display device comprises a situation video display area, a map area,
The CG image area is divided and displayed, and the status video is displayed. The display video in the status video display area and the CG that displays the CG image
9. The image information retrieval system according to claim 8, which corresponds to a CG image in the image area and corresponds to a point on the map or aerial photograph in the map area for displaying the map or aerial photograph. 10. The C at the same point and the same viewing angle as the CG image synchronized so that the point corresponds to the display in the situation video.
G images are displayed side by side, or overlapped so that the position and the object match each other, or displayed simultaneously or independently, and C
10. By directly selecting and designating the object displayed in the G image, the attribute and data of the object are displayed on the screen, or simultaneously the latitude and longitude of the point are displayed. The image information retrieval system described in any of 1. 11. The movement of the object in the situation image,
The CG image is displayed from a free viewpoint so as to move synchronously so as to include the point, or the position of the object in the situation video is CG.
Display in the image or CG without synchronization depending on selection
An image is independently displayed from a free viewpoint, and an attribute or data of the target object in the CG image is displayed on the screen by directly selecting and designating the target object.
The image information retrieval system according to any one of 0. 12. The distance, area, or volume is measured by designating an object in the situation video or CG image, and these are displayed on the screen. Image information retrieval system. 13. A situation video is displayed in the same manner as a CG image by changing the viewpoint in the situation video, or a CG image is treated in the same way as a situation video, and both are treated as search targets without distinction. The image information search system according to claim 1. 14. The image information retrieval according to claim 1, wherein the map or aerial photograph displayed in synchronization with the movement of the point displayed in the situation video is displayed side by side or overlaid with the CG image. system. 15. The search designation unit designates a search method and a search target, and designates a search condition including a part or a plurality of objects in at least one of a situation video display area, a map area, and a CG image area. The image information retrieval system according to any one of claims 8 to 14, wherein an object satisfying those conditions can be retrieved. 16. The search designation unit designates a search method and a search target, and a situation video in a video database unit or a CG database taken at the same place as the new video, which is a separately acquired new video as a comparison target. The image information search system according to any one of claims 8 to 15, wherein a CG image in the department is a search target, and further a position on a map or an aerial photograph is a search target. 17. The newly acquired video data is compared with the status video stored in the video database section or the CG image stored in the CG database section, and made to correspond to the three-dimensional data from the status video data or the CG image. The image according to any one of claims 1 to 16, further comprising: an updated video data unit that acquires coordinates, updates the situation video in the video database unit based on the acquired coordinates, and records and stores the updated status data in the video database unit. Information retrieval system. 18. The image information retrieval system according to claim 17, wherein the updated data is displayed in parallel or in parallel as parallel data having the same coordinates. 19. The moving body image displayed in the situation image is deleted, and the image of the blank portion hidden by the deleted portion of the moving body is three-dimensionally pasted from another image frame to complement it. The image information search system according to any one of claims 1 to 18, further comprising a video complementing unit configured to display. 20. An image in which only the shaded portion of the object displayed in the situation image is extracted, and the brightness and color temperature of the shaded portion are set to the same level as the surroundings so that the boundary with the surroundings is inconspicuous. The image information search system according to claim 1, further comprising a complementing unit. 21. The image information retrieval system according to claim 1, wherein the object in the situation video and its attribute data can be retrieved and displayed via an electric communication line or the Web. 22. A video database unit, a CG creation unit, C
22. The G database unit, the alignment synchronization unit, the object attribute database unit, the search designation unit, and at least a part of the display device are connected via an electric communication line or the Web. Image information retrieval system. 23. Situation video, CG image, various objects and various attribute data concerning the objects, map data,
The index information for searching at a point position on a map or an aerial photograph, the production process for creating a situation video, various data in the production process, and various other information can be provided or acquired through a telecommunication line.
23. The image information retrieval system according to any one of 22 to 22. 24. In the displayed situation video, grids at regular intervals that allow measurement of distance, area, and volume in an actual situation are visually or non-visually overlapped and displayed. 24. The image information search system according to any one of 23 to 23.