JP2004085538A - Surveying system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To associate survey information obtained from a survey device with image information on a survey site obtained from a camera easily and efficiently. <P>SOLUTION: An overview image of a survey site is taken by a digital still camera 20. Three reference points P<SB>1</SB>, P<SB>2</SB>and P<SB>3</SB>are specified on the overview image. Positions of the reference points P<SB>1</SB>, P<SB>2</SB>, and P<SB>3</SB>are surveyed by a survey device 10 such as a total station or the like. From the measured positions of the points P<SB>1</SB>, P<SB>2</SB>, and P<SB>3</SB>on the actual space and the positions of the points P<SB>1</SB>, P<SB>2</SB>, and P<SB>3</SB>on the overview image, the position and inclination of the camera 20 for the device 10 is calculated. Arbitrary survey points Q<SB>1</SB>, Q<SB>2</SB>, and Q<SB>3</SB>within the overview image are measured using the device 10. The survey points Q<SB>1</SB>, Q<SB>2</SB>, and Q<SB>3</SB>are displayed on the overview image from the position and the inclination of the camera 20 and the correspondences are recorded on a recording medium. <P>COPYRIGHT: (C)2004,JPO

Description

ここで行列｛Ｔ_ｊｋ｝は回転行列であり、各成分Ｔ_ｊｋは例えば次式で表される。
Ｔ_１１＝ｃｏｓφ・ｃｏｓκ
Ｔ_１２＝ｃｏｓω・ｓｉｎκ＋ｓｉｎω・ｓｉｎφ・ｃｏｓκ
Ｔ_１３＝ｓｉｎω・ｓｉｎκ−ｃｏｓω・ｓｉｎφ・ｃｏｓκ
Ｔ_２１＝−ｃｏｓφ・ｓｉｎκ
Ｔ_２２＝ｃｏｓω・ｃｏｓκ−ｓｉｎω・ｓｉｎφ・ｓｉｎκ
Ｔ_２３＝ｓｉｎω・ｃｏｓκ＋ｃｏｓω・ｓｉｎφ・ｓｉｎκ
Ｔ_３１＝ｓｉｎφ
Ｔ_３２＝−ｓｉｎω・ｃｏｓφ
Ｔ_３３＝ｃｏｓω・ｃｏｓφ
【００４４】
また基準点Ｐ_ｉに対応する像点Ｐ_ｉ’のスクリーン座標（ｓｐ_ｉ’，ｔｐ_ｉ’）は、撮影された基準点、投影中心、およびその像点が同一直線上にあるという共線条件から外部標定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）および基準点Ｐ_ｉのカメラ座標（ｘｐ_ｉ，ｙｐ_ｉ，ｚｐ_ｉ）を用いて次の（２）式により求められる。
【数２】

したがって、（２）式に近似的な外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）および（１）式で求められた基準点Ｐ_ｉの近似的なカメラ座標（ｘｐ_Ｇｉ，ｙｐ_Ｇｉ，ｚｐ_Ｇｉ）を代入することにより基準点Ｐ_ｉに対応する像点Ｐ_ｉ’の近似的なスクリーン座標（ｓｐ_Ｇｉ’，ｔｐ_Ｇｉ’）を算出することができる。
【００４５】
また，像点Ｐ_ｉ’の近似的な画像座標（ｘｐ_Ｇｉ’，ｙｐ_Ｇｉ’）は近似的なスクリーン座標（ｓｐ_Ｇｉ’，ｔｐ_Ｇｉ’）を次の（３）式に代入することにより求められる。
【数３】

ここで、Ｐｘ、ＰｙはそれぞれＣＣＤの水平、垂直方向の画素ピッチであり、Ｗ、Ｈはそれぞれ画像の水平、垂直方向のピクセル数である。
【００４６】
ステップＳ２０３では、近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）の値が適切か否かを判定するためのメリット関数Φが計算される。メリット関数Φは例えば（４）式で定義される。
【数４】

すなわち、本実施形態においてメリット関数Φは概観画像上で指定された基準点Ｐ_ｉの像点Ｐ_ｉ’の画像座標（ｘｐ_ｉ’，ｙｐ_ｉ’）と、測量により求められた基準点Ｐ_ｉの測量座標（Ｘｐ_ｉ，Ｙｐ_ｉ，Ｚｐ_ｉ）および近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）から求められた像点Ｐ_ｉ’の近似的な画像座標（ｘｐ_Ｇｉ’，ｙｐ_Ｇｉ’）との間の距離の２乗に対応している。
【００４７】
次にステップＳ２０４において、メリット関数Φが所定値よりも小さいか否かが判定される。すなわち、近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）による像点Ｐ_ｉ’の近似的な画像座標（ｘｐ_Ｇｉ’，ｙｐ_Ｇｉ’）が、概観画像上で指定された基準点Ｐ_ｉの像点Ｐ_ｉ’の画像座標（ｘｐ_ｉ’，ｙｐ_ｉ’）に十分近いか否かが判定される。Φ＜所定値の場合にはこの処理は終了し、現在与えられている外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）の値を、概観画像撮影時のカメラの位置および傾きを表す外部標定要素であるとする。
【００４８】
一方、ステップＳ２０４においてΦ≧所定値であると判定された場合には、ステップＳ２０５において近似的に与えられた外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）に対する補正量（δＸ，δＹ，δＺ，δω，δφ，δκ）が例えば最小二乗法により求められる。すなわち、共線条件である（２）式を近似値である外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）の周りにテイラー展開し高次の項を省いて線形化し、補正量（δＸ，δＹ，δＺ，δω，δφ，δκ）を未知量とする正規方程式を作成することにより適正な補正量（δＸ，δＹ，δＺ，δω，δφ，δκ）が求められる。
【００４９】
ステップＳ２０６では、ステップＳ２０５において算出された補正量（δＸ，δＹ，δＺ，δω，δφ，δκ）に基づいて近似値である外部標定要素（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）の値が更新される。すなわち、（Ｘ_ＧＯ，Ｙ_ＧＯ，Ｚ_ＧＯ，ω_Ｇ，φ_Ｇ，κ_Ｇ）の各値は、それぞれ（Ｘ_ＧＯ＋δＸ，Ｙ_ＧＯ＋δＹ，Ｚ_ＧＯ＋δＺ，ω_Ｇ＋δω，φ_Ｇ＋δφ，κ_Ｇ＋δκ）に置き換えられカメラの位置が更新される。その後処理はステップＳ２０２へ戻り、ステップＳ２０４においてΦ＜所定値と判定されるまでステップＳ２０２〜ステップＳ２０６が繰り返し実行される。
【００５０】
なお、以上の説明は、ディストーション等の内部定位が無い（無視できる量）場合、または概観画像が既に補正されたものの場合であり、補正していない概観画像を既知の内部定位量を用いて補正する場合は、（２）式で求められたスクリーン座標（ｓｐ_Ｇｉ’，ｔｐ_Ｇｉ’）を次の（５）式によりディストーション補正したスクリーン座標（ｓｃｐ_Ｇｉ’，ｔｃｐ_Ｇｉ’）に変換する。
【数５】

ここで、Ｄ_２、Ｄ_４、Ｄ_６はそれぞれディストーション２次成分、４次成分、６次成分であり、Ｎ_１、Ｎ_２はディストーション非対称成分、Ｘ_Ｃ、Ｙ_Ｃは主点の画像中心からのｓ’軸方向、ｔ’軸方向への偏心量である。また、画像座標（ｘｐ_Ｇｉ’，ｙｐ_Ｇｉ’）は、次の（６）式から求められる。
【数６】

【００５１】
空間後方交会法により撮影時のデジタルスチルカメラ２０の位置および傾きを示す外部標定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）が算出されると、図２のステップＳ１０５で測量される測点に対応する像点の画像座標は、測量された斜距離および高度角から算出された測点の測量座標と、空間後方交会法により算出された外部標定要素の値とから（１）式および（２）式を用いて求められる。ステップＳ１０６では、この画像座標に基づいて概観画像上の測点に対応する位置（画素）に測点を示すマークまたは測定値を表示する。
【００５２】
以上のように、第１の実施形態によれば、測点の測量データから測点の位置を測量現場で撮影された概観画像上の位置（画素位置）に簡便に対応付けることができる。これにより、概観画像内の任意の測点を画像上に表示することができるため測点の配置を概観画像上において簡単に確認することができ、測量作業、および後の測量データの整理を効率的に行なうことができる。また、１枚の概観画像に複数の測点を対応付けられるので、画像を記録するための記録容量を節約することができ、効率的に測量データを測量現場の画像情報に関連付けることができる。なお、測量座標に国土地理院で規定している基準点を使用した絶対座標を用いてもよい。又、任意設定の座標を使用してもよい。
【００５３】
但し、座標系の違う測量情報を使用する場合には測量情報を座標変換により１つの座標系に統一して行なうのがよい。これは、測点を概観画像上に表示する場合や基準点の測量情報により対応づけを行なう場合共である。（例えば、座標系の違う測点を表示させる場合。例えば基準点として、一部所与の測量デ−タを使用する場合などは測量現場での測量座標と違う場合があり、その場合には所与の測量デ−タを座標変換して測量現場の座標値に変換して使用する。又逆を行ってもよい。）
【００５４】
次に、図７を参照して本発明における第２の実施形態の測量システムについて説明する。第２の実施形態は第１の実施形態と略同様であるので、第１の実施形態とは異なる構成についてのみ説明する。なお第１の実施形態と共通の構成には同一参照符号を用いる。
【００５５】
図７は、第２の実施形態における測量システムの概略的な構成を示すブロック図である。第２の実施形態では、測量現場の概観画像の撮影に例えば通常市販されているデジタルスチルカメラ２０’が用いられる。まず、デジタルスチルカメラ２０’は、インターフェースケーブルを介して例えばノート型パソコン（ＰＣ）等のコンピュータ４０に接続され、撮影された測量現場の概観画像は、コンピュータ４０に伝送される。その後コンピュータ４０はインターフェースケーブルを介して測量機１０に接続される。コンピュータにはマウス、トラックボール、ジョイスティック、キーボード等の入力装置４１や、ハードディスク、ＤＶＤ、ＭＯ、ＩＣカード等の記録媒体４２、ＬＣＤ、ＣＲＴ等の画像表示装置４３が接続されている。
【００５６】
コンピュータ４０に伝送された概観画像の画像データは、例えば記録媒体４２に記録される。概観画像はコンピュータ４０にインストールされている測量支援プログラムにより画像表示装置４３に表示される。以下図２のステップＳ１０２以降の処理と同様の処理がコンピュータ４０の測量支援プログラムにより測量機１０とコンピュータ４０との間において行なわれる。すなわち、オペレータは画像表示装置４３に表示された概観画像において、同一直線上にない３以上の点（画素）を基準点Ｐ_ｉとして入力装置４１のポインティングデバイスを用いて指定し、指定された基準点Ｐ_ｉの位置を測量機１０により測定する。測量支援プログラムは基準点Ｐ_ｉに対応する像点Ｐ_ｉ’の画像座標と、測定値から算出された基準点Ｐ_ｉの測量座標とから概観画像撮影時のデジタルスチルカメラ２０’の外部標定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）を算出し、画像座標と測量座標との射影関係を確立する。測量支援プログラムは測量機１０から測点の測定データを取得して、確立された射影関係に基づいて画像表示装置４３に表示された概観画像上に測点の位置を示すマークや測定値を表示する。また、測量データ、画像データ、内部定位要素、外部標定要素等は関連付けられて記録媒体４２に記録される。
【００５７】
なお、第２の実施形態で用いられるカメラは、測量専用のカメラとは限らないので内部定位要素が知られていない場合がある。このような場合には、測量に先立ち予めデジタルスチルカメラ２０’の内部定位を行い、これにより求められた内部定位要素を用いて画像座標を算出すればよい。
【００５８】
以上のように、第２の実施形態においても第１の実施形態と略同様の効果を得ることができる。また、第２の実施形態では、市販のデジタルカメラを用いることができる。更に第２の実施形態は測量を支援するための専用の装置として構成してもよいが、本実施形態の測量支援プログラムを汎用のノート型パソコンにインストールして用いることができるので、より簡略にかつ低コストで上記測量システムを提供することができる。
【００５９】
次に図８〜図１２を参照して本発明が適用された第３の実施形態について説明する。第３の実施形態の測量システムの構成は、第１の実施形態の測量システムの構成と略同一であり、以下第１の実施形態と異なる部分についてのみ説明する。また、第１の実施形態と同様の構成については同一の参照符号を用いる。
【００６０】
図８は、第３の実施形態の測量システムの電気的構成を示すブロック図である。第３の実施形態の測量機１０’には、ＣＣＤ等の撮像素子１８が設けられており、撮像レンズ１７を介して視準点近傍の画像が撮影可能である。撮像素子１８からの画像信号は、画像信号処理回路１９においてホワイトバランス補正、ガンマ補正等の所定の画像処理が施され、システムコントロール回路１３を介して表示器１５に例えばシースルー画像として表示される。また、撮像素子１８で撮影された画像は、デジタル画像データとして、測量データと同様にインターフェース回路１６を介してデジタルカメラ２０に送信可能である。なお、撮像素子１８の駆動は、システムコントロール回路１３からの駆動信号により制御される。なお、本実施形態では、測量機１０’とデジタルスチルカメラ２０とをインターフェースケーブルで接続しているが、無線によりデータ通信を行なってもよい。
【００６１】
システムコントロール回路１３には、更にスイッチ群１４が接続されており、作業者のスイッチ操作に基づいてシステムコントロール回路１３での各種信号処理が行なわれる。なお、測距・測角に用いられる測量器１０’の視準望遠鏡の光学系を撮像レンズ１７の光学系に用いてもよい。この場合、撮像素子１８で撮影される画像は、視準望遠鏡の視野と略一致する。
【００６２】
図９は、第３の実施形態の測量システムにおける測量手順を示したフローチャートである。ステップＳ３０１（ステップＳ１０１に対応）では、デジタルスチルカメラ２０を用いて測量現場の概観画像の撮影が行なわれる。ステップＳ３０２（ステップＳ１０２、Ｓ１０３、Ｓ１０４に対応）では、表示部２４に表示された概観画像上において、ポインティングデバイス３０を用いて３以上の基準点（Ｐ_１、Ｐ_２、Ｐ_３等）が指定されるとともに、指定された基準点の３次元的な位置が測量器１０’を用いて測量され、概観画像上の画像座標と測量情報が対応付けられる。また、これらの対応付けに基づいて空間後方交会法によりデジタルスチルカメラ２０の位置及び傾きが外部評定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）として求められる。ステップＳ３０３では、位置及び傾き等の外部評定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）や焦点距離等の内部定位要素に係わるデータが記録媒体２７等に記録される。
【００６３】
ステップＳ３０４では、測量作業のためのモードの選択あるいは判定が行われる。本実施形態では、以下に説明するモード１とモード２を備えており、作業者は、例えばスイッチ群２９の所定のモード選択スイッチ（図示せず）を操作してモード１、モード２の何れかを選択することができる。
【００６４】
ステップＳ３０４において作業者がモード１を選択した場合、あるいは選択されている場合、処理はステップＳ３０５に進む。ステップＳ３０５では、ポインティングデバイス３０等を利用して測定しようとする位置を概観画像上に複数指示（Ｑ_１〜Ｑ_９）することができる。指示された概観画像上の位置には、図１０のように指示された測点Ｑ_１〜Ｑ_９を表す記号が表示される。また、測量機１０’を例えば作業者が保持するターゲットに視準してターゲットの位置を測定し、スイッチ群２９の所定のスイッチを操作すると、ターゲットの測定データが測量機１０’からデジタルスチルカメラ２０に送られ、概観画像上にはターゲットの位置を表わす記号Ｔが対応する位置にスーパインポーズされる。また、ターゲット位置の測定を任意時間間隔毎に行い、常時フィードバックをかけて表示する事により、現在の視準位置・視準望遠鏡の動きを常時確認できる。これは自動視準機能内蔵の測量機ではとくに有効である。作業者は、概観画像上に表示されたターゲットＴの位置と、測量しようとしている測点の位置を参照して測量作業を行うことができる。
【００６５】
また、ノンプリズムＴＳの場合には、ターゲットがなくても測距可能であり、任意時間間隔毎に行った測量（連続測量）の測量位置に、ターゲット位置の記号Ｔの変わりに記号＋等を概観画像上に表示し、視準望遠鏡の視準位置・視準望遠鏡の動きを表示し視準ガイドとしてもよい。
【００６６】
また、既に測量された測点（例えばＱ_１、Ｑ_２、Ｑ_３、Ｑ_５、Ｑ_９等）がある場合には、ポインティングデバイス３０を用いてその測点を選択すると、その測点（例えばＱ_２）とターゲットＴとの間の距離（例えば５００）を所定の単位（例えばｍｍ）で表示することができる。なお、概観図上には、ステップＳ３０２において指定された基準点（Ｐ_１〜Ｐ_３等）も表示でき、ターゲットＴと基準点との間の距離も表示することができる。
【００６７】
ステップＳ３０６では、ステップＳ３０５において視準された測点の測量が行なわれる。ステップＳ３０７では、測量が終了した測点が、測量終了したことを示す記号（例えば、測量未了の測点を白丸、測量済の測点を大きな黒丸；測量未了の測点を三角、測量済の測点を丸）として概観画像上に表示される（例えばＱ_１、Ｑ_２、Ｑ_３、Ｑ_５、Ｑ_９）。また、このとき測量済の測点や基準点の傍らには例えば測量座標や絶対座標、あるいは斜距離Ｌ、水平角θｈ、高度角θｖ等の位置データを表示することもできる。なお、測点や基準点の位置を斜距離、水平角、高度角を用いて表わす場合には、水平角θ_ｈは、例えばポインティングデバイス３０等の入力デバイスを用いて任意に指定される基準線（水平角基準線）Ｈに基づいて表わすこともできる。
【００６８】
ステップＳ３０８では、複数の測定済の測点をポインティングデバイス３０を用いて選択することができ、例えば２つの測点間の距離や、３つの測点が成す角度、あるいは３以上の測点で構成される閉領域の面積、４以上の測点で構成される閉領域の体積等の測量データを算出・表示させることができる。
【００６９】
ステップＳ３０９では、測量作業を終了するか否かが判定される。スイッチ群２９の所定のスイッチが操作され、測量作業を終了する場合には、処理はステップＳ３１０へ移る。一方、測量作業を継続する場合は、ステップＳ３０４に戻り、再びステップＳ３０４以下の処理が行われる。
【００７０】
一方、ステップＳ３０４において、モード２が選択された、あるいは選択されていると判定された場合には、図１１に示されるように、ステップＳ３１１において、測量機１０’内に組み込まれたＣＣＤ１８で撮影された視準方向の拡大画像Ｓが概観画像上にスーパインポーズされて表示される。ステップＳ３１２では、ステップＳ３０５と同様に、測量機で撮影された拡大画像Ｓと概観画像を参照してターゲット等への視準が行われ、その後ステップＳ３０６において視準された測点の測量が行われる。なおステップＳ３１０では、概観画像上に表示された測点の位置等の測量データや測量機で撮影された拡大画像等がそれぞれ対応付けられて記録媒体２７のファイルに記録される。以上で本実施形態の測量は終了する。
【００７１】
また、例えば図１２に示されるように、測量機１０’、デジタルスチルカメラ２０、測点の位置を平面図として表示部２４に表示するモードを設けてもよい。この場合、記録媒体２７には、例えば測量データや概観画像等と関連付けて平面図も記録される。
【００７２】
以上のように、第３の実施形態においても、第１及び第２の実施形態と略同様の効果を得ることができる。
【００７３】
なお、本実施形態では、概観画像上においてポインティングデバイスを用いて任意に基準点を指定したが、撮影範囲内に例えば寸法が既知の基準尺や、任意に配置できる基準マーク等を配置し、これらを基準点として外部標定要素を求めてもよい。この場合、概観画像上において基準尺や基準マークの位置がポインティングデバイス等を用いて選択される。また基準尺や基準マークが用いられる場合には、例えば画像処理を用いて基準点の概観画像上の位置を自動的に検出してもよい。
【００７４】
本実施形態では、測量機として斜距離と（高度、水平）角度を測定可能なトータルステーションをあげたが、セオドライトに光波測距儀等組み合わせた装置等の所定の座標系における測点の３次元座標を算出可能な測量機であれば他の測量機であってもよく、例えばＧＰＳ（ｇｌｏｂａｌ　ｐｏｓｉｔｉｏｎｉｎｇ　ｓｙｓｔｅｍ）等を利用した測量機であってもよい。また、測量記において測定される角度は、高度角、水平角以外の角度であってもよく、例えば斜平面内の２点の間の角度であってもよい。
【００７５】
また第２の実施形態では、測量機に接続されたコンピュータを用いたが、第２の実施形態におけるコンピュータの機能を測量機に一体的に持たせてもよい。
【００７６】
本実施形態では、測量機からデジタルスチルカメラ、またはコンピュータへの測量データの伝送は、インターフェース回路を介して行なわれたが、例えばオペレータがキーボード等の入力装置を用いてデジタルスチルカメラやコンピュータに測量データを入力してもよい。
【００７７】
また、本実施形態においては、デジタルスチルカメラで撮影したデジタル画像で説明したが、デジタル画像得られるものであればビデオカメラ等でもかまわない。
【００７８】
【発明の効果】
以上のように、本発明によれば、測量機で得られる測量情報とカメラで得られる測量現場の画像情報とを簡便かつ効率的に関連付けることができる。
【図面の簡単な説明】
【図１】本発明における第１の実施形態である測量システムの構成を概略的に示すブロック図である。
【図２】第１の実施形態の測量システムにおける測量手順を示すフローチャートである。
【図３】第１の実施形態の測量システムにおける測量機およびカメラの配置を概念的に示す図である。
【図４】第１の実施形態の測量システムにおける測量手順の変形例を示すフローチャートである。
【図５】３つの基準点Ｐ_１、Ｐ_２、Ｐ_３と撮像面Ｓにおける像点Ｐ_１’、Ｐ_２’、Ｐ_３’との関係を模式的に示す図である。
【図６】デジタルスチルカメラの位置および傾きを表す外部標定要素（Ｘ_Ｏ，Ｙ_Ｏ，Ｚ_Ｏ，ω，φ，κ）を算出する空間後方交会法のプログラムのフローチャートである。
【図７】第２の実施形態における測量システムの概略的な構成を示すブロック図である。
【図８】第３の実施形態における測量システムの概略的な構成を示すブロック図である。
【図９】第３の実施形態における測量手順を示すフローチャートである。
【図１０】モード１を用いて測量を行なった場合における概観画像の画像表示の一例である。
【図１１】モード２を用いて測量を行なった場合における概観画像の画像表示の一例である。
【図１２】測点、測量機及び概観画像を撮影したカメラ位置を平面図上で表わした画像表示の一例である。
【符号の説明】
１０、１０’　測量機
１６、２８　インターフェース回路
２０　デジタルスチルカメラ
２４　表示部
２６　システムコントロール回路
２７、４２　記録媒体
３０　ポインティングデバイス
４０　コンピュータ
４１　入力装置
４３　画像表示装置[0001]
TECHNICAL FIELD OF THE INVENTION
The invention relates to a surveying system.
[0002]
[Prior art]
2. Description of the Related Art In a conventional survey, a surrounding scene including a point to be surveyed (a survey point) is photographed, and a photographed image is sometimes stored together with measurement data. In such a case, for example, a method of recording a schematic landscape around the survey target using a normal camera, a method of photographing the surrounding landscape for each measurement point using an imaging device built in the surveying instrument, and the like. Is known (see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-11-337336
[0004]
[Problems to be solved by the invention]
However, when photographing is performed using a normal camera, the position of the measurement point is not displayed on the photographed image, and therefore, it is not possible to know which position on the image the measurement point corresponds to. On the other hand, the method described in JP-A-11-337336 requires a large-capacity recording device because one or more images are recorded for each measurement point, and the handling becomes complicated.
[0005]
SUMMARY OF THE INVENTION An object of the present invention is to make it possible to easily and efficiently associate survey information obtained by a surveying instrument with image information of a survey site obtained by a camera.
[0006]
[Means for Solving the Problems]
The surveying system of the present invention is a surveying system, a surveying system that calculates a positional relationship between a coordinate system used as a reference and an overview image of a surveying site including a surveying point, and, from the positional relationship, surveying information of the surveying point. And an associating means for associating the position information with respect to the position on the overview image corresponding to the measurement point.
[0007]
The surveying system includes, for example, surveying means for obtaining surveying information of a surveying point. In the positional relation calculating means, the positional relation is determined by using three or more arbitrary set points by the surveying means (hereinafter, used to calculate the positional relation). It is preferably calculated from the relationship between the survey information at the time of surveying (arbitrarily set points are expressed as reference points) and the positions (pixel positions) of the reference points on the overview image. Preferably, the image is represented by an external orientation element representing the position and inclination of the camera when the image was taken. Accordingly, it is not necessary to provide a separate sensor or the like for specifying the position of the camera, and it is possible to know the correspondence between the survey information and the overview image simply and at low cost by using, for example, a conventional single photo orientation method.
[0008]
The surveying system preferably includes image display means for displaying an overview image, and input means for designating a position on the image in the image display means, and the position of the reference point can be set to any position on the overview image by the input means. Determined by specifying the position. This makes it possible to easily and quickly calculate the positional relationship between the overview image and the surveying means.
[0009]
Still further, it is preferable that the surveying system further includes surveying point display means for displaying the position of the surveying point on the overview image displayed by the image display means based on the correspondence between the surveying information and the position information of the overview image. At this time, for example, the positional relationship is calculated from the relationship between the survey information of three or more arbitrarily set reference points and the position of the reference point on the overview image, and the reference point is designated from the measured measurement points. Is done. Further, for example, the positional relationship is calculated from the relationship between the three-dimensional position information of the reference point and the position of the reference point on the overview image, and the three-dimensional position information of the reference point is given geographic data. That is, after the survey and the photographing of the overview image are completed, a part of the measured information of the measured points is used as a reference point, or known geographic data such as a triangular point of the Geographical Survey Institute or commercially available geographic data is used. By using this, it is possible to calculate the positional relationship between the coordinate system of the survey information and the overview image.
[0010]
Further, for example, the surveying system includes surveying means for obtaining surveying information of the surveying point. After the positional relation calculating means is executed, when the surveying point is surveyed by the surveying means, the position of the surveying point is determined by the associating means. It is associated with the position information of the overview image and displayed on the overview image by the measurement point display means. Thereby, even during the surveying operation, the position of the currently measured measurement point can be confirmed on the overview image.
[0011]
In addition, the surveying system includes a surveying point display means for instructing a position of a survey point in the overview image measured by the surveying means on the overview image using the input means, and displaying the position on the overview image. It is preferable. Further, based on the correspondence between the survey information and the position information of the overview image, the survey points measured by the surveying means are associated with the coordinates in the overview image, and the display color of the associated survey points (white circle ⇒ red circle...)・ It is preferable to have a means for changing the shape (△ → circle, etc.). This makes it possible to visually confirm the position of the measurement point on the overview image, prevent the remaining measurement, and easily recognize the arrangement of the measurement point. This association is performed, for example, by associating the measurement points with the coordinates in the overview image.
[0012]
For example, in order to quantitatively grasp the position of the measuring point, the position of the measuring point displayed by the surveyed measured point display means, or the survey information indicating the position of the measuring point adjacent to the position of the measuring point is displayed. It may be displayed. In the case of many surveys, since the survey is performed by collimating a target using a reflecting member such as a prism, the position of the measured target may be displayed as a symbol representing the target at a corresponding position on the overview image. .
[0013]
Further, survey analysis information calculated based on a relative positional relationship between a plurality of survey points specified by the input means may be displayed on the overview image. In this case, the survey analysis information may be, for example, a survey point. They are the distance between them, the angle formed by the line segment connecting the three measurement points, the area of a closed region formed by three or more measurement points, and the volume of the closed region formed by four or more measurement points. This makes it possible to easily obtain various types of survey analysis information simply by specifying a measurement point on the screen.
[0014]
Preferably, the relationship between the position of the survey point and the position at which the overview image was taken or the position of the surveying means can be displayed and recorded as a plan view. Thereby, it is possible to more easily recognize the spatial arrangement between the measurement points or the surveying means.
[0015]
In addition, in order to efficiently perform the work after the survey, it is preferable to include a data recording unit that can record the survey information on the survey points and the image data of the overview image in association with each other.
[0016]
The surveying means includes an imaging means capable of capturing an enlarged image with a higher magnification than the overview image, and the imaging means can display an enlarged image in the collimating direction of the surveying means on the overview image. Thereby, it is possible to refer to the image of the entire survey site and the enlarged image near the collimation point, and it is possible to perform more accurate collimation.
[0017]
The surveying system preferably includes a recording unit capable of recording the correspondence between the survey information by the association unit and the position information on the overview image. This makes it possible to display the survey points on the overview image by the above association even after the surveying work is completed. Further, the surveying means includes, for example, a distance measuring means and an angle measuring means, the surveying data is an oblique distance to the survey point and an (altitude, horizontal) angle, and the surveying system includes a digital camera for photographing an overview image. .
[0018]
A digital camera according to the present invention includes: an imaging unit that captures an image of a subject; two-dimensional position information of a reference point in an overview image of a survey site including three or more reference points captured by the imaging unit; A positional relationship calculating means for calculating a positional relationship between the overview image and the surveying instrument based on the three-dimensional surveying information of the point; and a surveying information and a surveying point of the surveying point measured by the surveying instrument from the positional relationship. And an associating means for associating the position information with respect to the position on the corresponding overview image.
[0019]
It is preferable that the digital camera includes a data transmission unit for transmitting data related to the survey information with the surveying instrument. This makes it possible to efficiently transmit the survey information to the digital camera.
[0020]
The digital camera includes image display means for displaying an overview image, and input means for specifying a position on the image in the image display means, and the position of the reference point can be set at any position on the overview image by the input means. Preferably, it is determined by designation. Further, the digital camera displays the position of the survey point in the overview image surveyed by the surveying instrument based on the correspondence between the survey information of the survey point and the position information on the overview image on the overview image displayed by the image display means. It is preferable to provide a measurement point indicating means for indicating.
[0021]
Further, the surveying support apparatus of the present invention is a surveying apparatus that calculates a positional relationship between the surveying site including the surveying point and the surveying instrument, and a surveying instrument based on the positional relationship, An associating means for associating survey information of a survey point with position information on a position on the overview image corresponding to the survey point is provided.
[0022]
It is preferable that the surveying support device includes a data transmission unit for transmitting data relating to the surveying information to the surveying instrument in order to more efficiently acquire the surveying information from the surveying instrument. In addition, the surveying support device includes image display means for displaying an overview image, and input means for specifying a position on the image in the image display means, and the position of the reference point can be arbitrarily set on the overview image by the input means Is preferably determined by designating the position of. Further, the surveying support device is configured to display the position of the survey point in the overview image measured by the surveying instrument based on the correspondence between the survey information of the survey point and the position information on the overview image on the overview image displayed by the image display means. It is preferable to provide a point display means shown in FIG.
[0023]
The surveying support program of the present invention has a procedure for calculating a positional relationship between a surveying site including a survey point and a surveying instrument including a surveying point on a computer, and surveying information of a surveying point surveyed by a surveying instrument from the positional relationship. And a step of associating position information on the position on the overview image corresponding to the measurement point.
[0024]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram schematically showing a surveying system using a surveying instrument and a camera according to a first embodiment of the present invention.
[0025]
The surveying instrument 10 is, for example, a total station or the like, and includes a distance measuring unit 11 and an angle measuring unit 12. The distance measuring unit 11 detects an oblique distance to the collimated measuring point by, for example, lightwave distance measurement, and the angle measuring unit 12 detects a horizontal angle, an altitude angle, and the like at this time. The distance measuring unit 11 and the angle measuring unit 12 are connected to a system control circuit 13 and are controlled based on a command from the system control circuit 13. For example, the distance measuring unit 11 measures the distance based on a command from the system control circuit 13 and sends the measured value to the system control circuit 13. On the other hand, the angle measuring unit 12 constantly measures the angle, and sends a measured value to the system control circuit 13 in response to a request from the system control circuit 13. The measured values of the detected oblique distance, horizontal angle, altitude angle and the like are processed in the system control circuit 13. In addition, a switch group 14, a display 15 (for example, LCD), an interface circuit 16, and the like are connected to the system control circuit 13. For example, a digital still camera (DSC) 20 is connected to the interface circuit 16 via an interface cable, for example. The interface circuit 16 can also be connected to peripheral devices such as a data collector (not shown) and a computer.
[0026]
The digital still camera 20 is provided with an imaging device 21 such as a CCD, and can capture an image of a subject via an imaging lens 22. That is, the image of the subject is detected as an image signal by the image sensor 21 and output to the image signal processing circuit 23. The image signal processing circuit 23 performs predetermined image processing such as RGB gain correction, white balance correction, gamma correction and superimposition on the input image signal. The image signal subjected to the image processing is transmitted to, for example, a display unit (for example, LCD) 24 and displayed as a see-through image. When a shutter button (not shown) provided in a switch group 29 connected to the system control circuit 26 is pressed, the image of the subject is temporarily stored in the memory 25 as a digital image.
[0027]
The digital image stored in the memory 25 can be displayed on the display unit 24 via the image signal processing circuit 23, and can be displayed on a recording medium (such as an IC card or an optical or magnetic recording medium) via the system control circuit 26. ) 27. The image recorded on the recording medium 27 can be displayed on the display unit 24 by the system control circuit 26. Further, the digital still camera 20 can be connected to a peripheral device such as a computer via the interface circuit 28, and a captured image can be transmitted and displayed as image data.
[0028]
A pointing device 30 is connected to the system control circuit 26, so that an arbitrary position on the screen of the display unit 24 can be designated. As the pointing device 30, for example, a cross key, a trackball, a joystick, a touch screen, or the like is used. A ROM 31 is connected to the system control circuit 26. For example, internal localization elements such as a focal length (or screen distance), a deviation between a principal point and an image center, and a parameter for distortion correction are recorded.
[0029]
Next, with reference to FIG. 1, FIG. 2, and FIG. 3, a description will be given of a survey point display process in the survey system of the first embodiment. FIG. 2 is a flowchart showing a surveying procedure in the surveying system of the first embodiment, and FIG. 3 is a diagram conceptually showing an arrangement of surveying instruments and cameras in the surveying system of the first embodiment.
[0030]
First, in step S101, the operator takes an overview of the survey site using the digital still camera (DSC) 20. One taken digital image (overview image) includes a plurality of measurement points to be measured. In step S102, the captured overview image is displayed on, for example, the display unit 24 of the digital still camera 20, and three points (pixels) that are not on the same straight line in the displayed overview image are selected by the operator using the pointing device 30. And the object point in the real space corresponding to the selected pixel is _i (I = 1, 2, 3). Each reference point P specified at this time _i Image point P on the imaging surface corresponding to _i ′ Are two-dimensional image coordinates (xp) using the internal localization elements stored in the ROM 31. _i ', Yp _i ') Is required. Note that the image coordinate system is a two-dimensional coordinate system in which the y'-axis downward with the origin at the upper left of the image is positive. Further, the number of reference points may be three or more that are not on the same straight line.
[0031]
In step S103, each reference point P specified in step S102 _i The oblique distance and the (altitude, horizontal) angle are measured by the operator using the surveying instrument 10, and the measured values are transmitted to the system control circuit 26 of the digital still camera 20 via the interface. In the system control circuit 26, each reference point P _i Three-dimensional coordinates (Xp _i , Yp _i , Zp _i ) Is calculated in a predetermined survey coordinate system (for example, a coordinate system whose origin is the instrument point). At this time, each reference point P _i Survey coordinates (Xp _i , Yp _i , Zp _i ) Indicates the image point P _i 'Image coordinates (xp _i ', Yp _i '). The surveying instrument may perform the survey coordinate calculation, and the value may be transmitted.
[0032]
In step S104, as described later, each reference point P _i The position and inclination of the digital still camera 20 when the overview image is taken from the correspondence between the survey coordinates and the image coordinates with respect to are calculated by, for example, the spatial rear intersection method. That is, the position (X in the survey coordinate system of the origin of the three-dimensional camera coordinate system fixed to the digital still camera 20) _O , Y _O , Z _O ) And the rotation angles (ω, φ, κ) around the x-axis, y-axis, and z-axis of the camera coordinate system at the time of shooting are obtained as external orientation elements. Thereby, the projection relationship between the image coordinates and the survey coordinates is established. The camera coordinate system is a left-handed coordinate system having the origin at the lens center (projection center) O. The y-axis and the z-axis are parallel to the s′-axis and the t′-axis of the screen coordinate system, and the x-axis is the image pickup. Perpendicular to the plane, it is defined from the center of projection in a direction opposite to the image plane. That is, when the screen distance of the imaging lens 22 is f, a point on the imaging surface is represented by (−f, y, z). The screen coordinate system is a two-dimensional coordinate system on the imaging surface with the principal point as the origin, and the s ′ axis corresponds to the horizontal line direction of the image sensor 21 and the t ′ axis corresponds to the vertical line direction (FIG. 5). reference).
[0033]
In step S105, the operator uses the surveying instrument 10 to ₁ Survey. The measured values are transmitted to the digital still camera 20 via the interface. At this time, the system control circuit 26 of the digital still camera 20 uses the measurement point Q ₁ Are calculated. In step S106, the calculated measurement point Q ₁ Survey coordinates and the external orientation element (X _O , Y _O , Z _O , Ω, φ, κ) ₁ Image point Q corresponding to ₁ 'Image coordinates Q on the overview image ₁ '(Xq ₁ ', Yq ₁ ') Is obtained and the image coordinates Q ₁ '(Xq ₁ ', Yq ₁ ') Measurement point Q at the position corresponding to ₁ Is superimposed and displayed on the display unit 24 of the digital still camera 20. Note that the image point Q ₁ The pixel position (image coordinates) corresponding to ' ₁ 'Screen coordinates (sq ₁ ', Tq ₁ ') And the pixel pitch.
[0034]
When the surveying is continued in step S107, the processing in step S105 and subsequent steps is repeatedly executed. For example, using the surveying instrument 10, ₂ , Q ₃ Is surveyed, the overview image displayed on the display unit 24 of the digital still camera 20 includes the measurement point Q ₂ , Q ₃ Image point Q ₂ ', Q ₃ 'At each position corresponding to' ₂ , Q ₃ (May be a station number) or a measured value. On the other hand, when the surveying is to be ended, in step S108, the image data of the overview image, the internal localization element of the camera, the image point Q ₁ ', Q ₂ ', Q ₃ Image coordinates (position information indicating a position on the overview image, for example, data indicating a pixel position), ₁ , Q ₂ , Q ₃ The survey data (survey information) such as the oblique distance, the altitude angle, the horizontal angle, and the survey coordinates are recorded on the recording medium 27 in association with each other, and the survey point display processing using the survey system of the present embodiment ends. Note that the image data of the overview image, the image coordinate data (or the data indicating the pixel position) corresponding to the survey point, the survey data, and the like may be recorded in separate files or may be recorded in the same file. Good.
[0035]
Further, a modified example of the survey point display processing in the survey system of the first embodiment will be described with reference to FIG. FIG. 4 is a flowchart of a survey procedure in this modified example.
[0036]
In the surveying procedure of FIG. 2, after calculating the position and the inclination of the digital still camera 20 with respect to the surveying coordinate system by the spatial rear intersection method (S104), the surveying of each surveying point is performed, and each time the surveying point is displayed on the overview image. did. On the other hand, in the modified example shown in the flow of FIG. 4, the position and inclination of the digital still camera 20 with respect to the survey coordinate system are calculated after the survey points are surveyed by the survey air 10, and then the positions of all the survey points are determined. They are displayed all at once on the overview image.
[0037]
That is, in steps S110 and S111, the measurement for a plurality of measurement points is performed continuously using the surveying instrument 10. When the surveying of the survey points is completed, an overview image of the survey site including the survey points measured in step S110 is photographed using the digital still camera 20 in step S112. In step S113, three measurement points (pixels) that are not on the same straight line from among the measurement points displayed on the overview image are set to the reference point P. _i Is designated by the operator using the pointing device 30. In step S114, the reference point P specified in step S113 _i Three-dimensional coordinates (Xp _i , Yp _i , Zp _i ) Is associated, for example, by an operator.
[0038]
In step S115, the reference point P _i The position and inclination of the digital still camera 20 are calculated by the spatial rear intersection method in the same manner as in step S104 of FIG. In step S116, the image coordinates on the overview image for all the measurement points measured in step S110 are obtained using the external orientation elements calculated in step S115, and a mark or a measurement value indicating the position on the overview image is obtained. Is superimposed and displayed on the display unit 24. In step S117, each data is recorded on the recording medium as in step S108. With the above, the surveying in the modified example ends.
[0039]
In FIGS. 2 and 4, the survey site is photographed in steps S101 and S112, but an overview image photographed in the past may be used. Further, a system in which photographing and surveying are performed simultaneously may be adopted. This can be performed, for example, by adopting a method in which a survey start switch in the switch group 14 and a DSC photographing switch in the switch group 29 are linked. Alternatively, steps S101 to S104 may be performed in advance, and steps S105 to S108 may be performed at a later date. In this case, the installation location of the surveying instrument is the same. Also, as shown in the flow chart of FIG. 4, the surveying in step S110 may be performed first, and the image may be fused later. Instead of performing the survey in step S110, previously measured data (including triangulation points of the Geographical Survey Institute, commercially available maps and geographic data) may be used.
[0040]
Next, referring to FIGS. 5 and 6, a method of calculating the position and inclination of the digital still camera 20 according to the spatial rear intersection method (step S103) and a method of displaying the measurement points on the overview image (step S106) according to the present embodiment. ) Will be described.
[0041]
FIG. 5 shows three reference points P ₁ , P ₂ , P ₃ And the image point P on these imaging surfaces S ₁ ', P ₂ ', P ₃ 'Schematically shows the relationship with'. FIG. 6 shows an external orientation element (X) representing the position and inclination of the digital still camera 20 in step S103 of FIG. _O , Y _O , Z _O , Ω, φ, κ), which is a flowchart of a program of the spatial rear intersection method, in which the successive approximation method using the least squares method is used. Note that the number of reference points may be any number as long as it is three or more. Here, a case where three reference points are designated will be described as an example.
[0042]
First, in step S201, an external orientation element (X _O , Y _O , Z _O , Ω, φ, κ), an initial value (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G )give. Next, in step S202, the given external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Using three reference points P _i (I = 1, 2, 3) survey coordinates (Xp _i , Yp _i , Zp _i ) To each reference point P _i Image point P corresponding to _i 'Image coordinates (xp _Gi ', Yp _Gi ').
[0043]
That is, the reference point P _i (I = 1, 2, 3) in the camera coordinate system (xp _i , Yp _i , Zp _i ) Indicates coordinates (Xp) in the survey coordinate system. _i , Yp _i , Zp _i ) Can be obtained from the following equation (1), so that the approximate external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And reference point P _i Survey coordinates (Xp _i , Yp _i , Zp _i ) Into equation (1), the reference point P _i Approximate camera coordinates (xp _Gi , Yp _Gi , Zp _Gi ).
(Equation 1)

Where the matrix ｛T _jk ｝ Is a rotation matrix, and each component T _jk Is represented, for example, by the following equation.
T ₁₁ = Cosφ · cosκ
T ₁₂ = Cosω · sinκ + sinω · sinφ · cosκ
T _Thirteen = Sinω · sinκ−cosω · sinφ · cosκ
T ₂₁ = −cosφ · sinκ
T ₂₂ ＝ cosω ・ cosκ-sinω ・ sinφ ・ sinκ
T ₂₃ ＝ sinω ・ cosκ + cosω ・ sinφ ・ sinκ
T ₃₁ = Sinφ
T ₃₂ = −sinω · cosφ
T ₃₃ ＝ cosω ・ cosφ
[0044]
The reference point P _i Image point P corresponding to _i 'Screen coordinates (sp _i ', Tp _i ') Indicates the external orientation element (X _O , Y _O , Z _O , Ω, φ, κ) and the reference point P _i Camera coordinates (xp _i , Yp _i , Zp _i ) Is obtained by the following equation (2).
(Equation 2)

Therefore, the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) And reference point P obtained by equation (1) _i Approximate camera coordinates (xp _Gi , Yp _Gi , Zp _Gi ) Is substituted for the reference point P _i Image point P corresponding to _i 'Approximate screen coordinates (sp _Gi ', Tp _Gi ') Can be calculated.
[0045]
The image point P _i 'Image coordinates (xp _Gi ', Yp _Gi ') Is the approximate screen coordinates (sp _Gi ', Tp _Gi ') Into the following equation (3).
[Equation 3]

Here, Px and Py are the horizontal and vertical pixel pitches of the CCD, respectively, and W and H are the horizontal and vertical pixel numbers of the image, respectively.
[0046]
In step S203, the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Is calculated to determine whether the value of () is appropriate. The merit function Φ is defined by, for example, equation (4).
(Equation 4)

That is, in the present embodiment, the merit function Φ is the reference point P specified on the overview image. _i Image point P _i 'Image coordinates (xp _i ', Yp _i ') And the reference point P obtained by surveying _i Survey coordinates (Xp _i , Yp _i , Zp _i ) And approximately given external orientation elements (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Obtained from the image point P _i 'Image coordinates (xp _Gi ', Yp _Gi ') Corresponds to the square of the distance between
[0047]
Next, in step S204, it is determined whether the merit function Φ is smaller than a predetermined value. That is, the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) The image point P _i 'Image coordinates (xp _Gi ', Yp _Gi ') Is the reference point P specified on the overview image _i Image point P _i 'Image coordinates (xp _i ', Yp _i It is determined whether it is close enough to '). If Φ <predetermined value, this processing ends, and the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Is an external orientation element representing the position and inclination of the camera at the time of capturing the overview image.
[0048]
On the other hand, if it is determined in step S204 that Φ ≧ predetermined value, the external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Can be obtained by, for example, the least squares method for the correction amounts (δX, δY, δZ, δω, δφ, δκ). That is, equation (2), which is a collinear condition, is replaced with an external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Is linearized by Taylor expansion around high-order terms, and a normal equation with the correction amounts (δX, δY, δZ, δω, δφ, δκ) as unknowns is created to obtain an appropriate correction amount (δX , ΔY, δZ, δω, δφ, δκ) are obtained.
[0049]
In step S206, based on the correction amounts (δX, δY, δZ, δω, δφ, δκ) calculated in step S205, an external orientation element (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Is updated. That is, (X _GO , Y _GO , Z _GO , Ω _G , Φ _G , Κ _G ) Is (X _GO + ΔX, Y _GO + ΔY, Z _GO + ΔZ, ω _G + Δω, φ _G + Δφ, κ _G + Δκ) and the position of the camera is updated. Thereafter, the process returns to step S202, and steps S202 to S206 are repeatedly executed until it is determined in step S204 that Φ <predetermined value.
[0050]
The above description is for the case where there is no internal localization such as distortion (a negligible amount) or the case where the overview image has already been corrected, and the uncorrected overview image is corrected using a known internal localization amount. In this case, the screen coordinates (sp _Gi ', Tp _Gi ') Is a screen coordinate (scp) obtained by correcting distortion by the following equation (5). _Gi ', Tcp _Gi ').
(Equation 5)

Where D ₂ , D ₄ , D ₆ Are the second-, fourth-, and sixth-order distortion components, respectively, and N ₁ , N ₂ Is the distortion asymmetric component, X _C , Y _C Is the amount of eccentricity of the principal point in the s′-axis direction and the t′-axis direction from the image center. Also, the image coordinates (xp _Gi ', Yp _Gi ') Is obtained from the following equation (6).
(Equation 6)

[0051]
An external orientation element (X) indicating the position and inclination of the digital still camera 20 at the time of photographing by the spatial rear intersection method _O , Y _O , Z _O , Ω, φ, κ), the image coordinates of the image point corresponding to the surveying point measured in step S105 of FIG. 2 are obtained by measuring the surveying point calculated from the measured oblique distance and altitude angle. It is determined from the coordinates and the values of the external orientation elements calculated by the spatial rear intersection method using the equations (1) and (2). In step S106, based on the image coordinates, a mark indicating the measurement point or a measurement value is displayed at a position (pixel) corresponding to the measurement point on the overview image.
[0052]
As described above, according to the first embodiment, it is possible to easily associate the position of a survey point from the survey data of the survey point with the position (pixel position) on the overview image photographed at the survey site. As a result, any survey point in the overview image can be displayed on the image, so that the arrangement of the survey points can be easily checked on the overview image, thereby facilitating surveying work and organizing survey data later. Can be done Also, since a plurality of measurement points can be associated with one overview image, the recording capacity for recording the image can be saved, and the survey data can be efficiently associated with the image information of the survey site. Note that absolute coordinates using reference points defined by the Geographical Survey Institute may be used as the survey coordinates. Also, arbitrary coordinates may be used.
[0053]
However, when using surveying information with a different coordinate system, it is preferable that the surveying information be unified into one coordinate system by coordinate conversion. This is the case both when the measurement points are displayed on the overview image and when the correspondence is made based on the measurement information of the reference points. (For example, when a survey point with a different coordinate system is displayed. For example, when some given survey data is used as a reference point, the survey coordinates may differ from the survey coordinates at the survey site. The given survey data is coordinate-transformed and converted to the coordinate values of the survey site and used, or vice versa.)
[0054]
Next, a surveying system according to a second embodiment of the present invention will be described with reference to FIG. Since the second embodiment is substantially the same as the first embodiment, only the configuration different from the first embodiment will be described. Note that the same reference numerals are used for configurations common to the first embodiment.
[0055]
FIG. 7 is a block diagram illustrating a schematic configuration of a survey system according to the second embodiment. In the second embodiment, for example, a digital still camera 20 ′ which is generally commercially available is used for capturing an overview image of a survey site. First, the digital still camera 20 ′ is connected to a computer 40 such as a notebook personal computer (PC) via an interface cable, and the captured overview image of the survey site is transmitted to the computer 40. Thereafter, the computer 40 is connected to the surveying instrument 10 via the interface cable. An input device 41 such as a mouse, a trackball, a joystick, and a keyboard, a recording medium 42 such as a hard disk, a DVD, an MO, and an IC card, and an image display device 43 such as an LCD and a CRT are connected to the computer.
[0056]
The image data of the overview image transmitted to the computer 40 is recorded on the recording medium 42, for example. The overview image is displayed on the image display device 43 by the surveying support program installed in the computer 40. Hereinafter, the same processing as the processing after step S102 in FIG. 2 is performed between the surveying instrument 10 and the computer 40 by the surveying support program of the computer 40. That is, the operator sets three or more points (pixels) that are not on the same straight line on the overview image displayed on the image display device 43 as the reference point P. _i Is designated using the pointing device of the input device 41, and the designated reference point P _i Is measured by the surveying instrument 10. The survey support program uses the reference point P _i Image point P corresponding to _i 'And the reference point P calculated from the measured values _i Of the digital still camera 20 ′ at the time of the overview image shooting from the survey coordinates of _O , Y _O , Z _O , Ω, φ, κ) to establish a projection relationship between the image coordinates and the survey coordinates. The surveying support program acquires the measurement data of the survey point from the surveying instrument 10 and displays a mark indicating the position of the survey point and the measured value on the overview image displayed on the image display device 43 based on the established projection relationship. I do. Further, the survey data, the image data, the internal orientation elements, the external orientation elements, and the like are recorded in the recording medium 42 in association with each other.
[0057]
Note that the camera used in the second embodiment is not limited to a camera dedicated to surveying, and thus the internal localization element may not be known. In such a case, the digital still camera 20 ′ may be subjected to internal localization in advance of the survey, and the image coordinates may be calculated using the internal localization element obtained thereby.
[0058]
As described above, substantially the same effects as in the first embodiment can be obtained in the second embodiment. In the second embodiment, a commercially available digital camera can be used. Further, the second embodiment may be configured as a dedicated device for supporting surveying. However, since the surveying support program of the present embodiment can be installed and used on a general-purpose notebook personal computer, it can be simplified. And the said survey system can be provided at low cost.
[0059]
Next, a third embodiment to which the present invention is applied will be described with reference to FIGS. The configuration of the surveying system according to the third embodiment is substantially the same as the configuration of the surveying system according to the first embodiment, and only different parts from the first embodiment will be described below. Further, the same reference numerals are used for configurations similar to those of the first embodiment.
[0060]
FIG. 8 is a block diagram illustrating an electrical configuration of the surveying system according to the third embodiment. The surveying instrument 10 ′ according to the third embodiment is provided with an imaging device 18 such as a CCD, and can capture an image near the collimation point via the imaging lens 17. The image signal from the image sensor 18 is subjected to predetermined image processing such as white balance correction and gamma correction in an image signal processing circuit 19, and is displayed as a see-through image on the display 15 via the system control circuit 13. The image captured by the image sensor 18 can be transmitted as digital image data to the digital camera 20 via the interface circuit 16 in the same manner as the survey data. The driving of the image sensor 18 is controlled by a driving signal from the system control circuit 13. In the present embodiment, the surveying instrument 10 'and the digital still camera 20 are connected by an interface cable, but data communication may be performed wirelessly.
[0061]
A switch group 14 is further connected to the system control circuit 13, and various kinds of signal processing in the system control circuit 13 are performed based on a switch operation by an operator. The optical system of the collimating telescope of the surveying instrument 10 ′ used for distance measurement and angle measurement may be used for the optical system of the imaging lens 17. In this case, the image captured by the image sensor 18 substantially matches the field of view of the collimating telescope.
[0062]
FIG. 9 is a flowchart illustrating a survey procedure in the survey system according to the third embodiment. In step S301 (corresponding to step S101), the digital still camera 20 is used to shoot an overview image of the survey site. In step S302 (corresponding to steps S102, S103, and S104), on the overview image displayed on the display unit 24, three or more reference points (P ₁ , P ₂ , P ₃ Etc.) are specified, and the three-dimensional position of the specified reference point is measured using the surveying instrument 10 ', and the image coordinates on the overview image are associated with the surveying information. Further, based on these associations, the position and inclination of the digital still camera 20 are determined by the spatial resection method based on the external evaluation factors (X _O , Y _O , Z _O , Ω, φ, κ). In step S303, external rating elements (X _O , Y _O , Z _O , Ω, φ, κ) and data relating to internal localization elements such as the focal length are recorded on the recording medium 27 or the like.
[0063]
In step S304, a mode for the surveying operation is selected or determined. In the present embodiment, a mode 1 and a mode 2 described below are provided, and an operator operates a predetermined mode selection switch (not shown) of the switch group 29, for example, to select one of the mode 1 and the mode 2 Can be selected.
[0064]
If the operator has selected or has selected mode 1 in step S304, the process proceeds to step S305. In step S305, a plurality of positions to be measured using the pointing device 30 or the like are indicated on the overview image (Q ₁ ~ Q ₉ )can do. At the designated position on the overview image, the designated measuring point Q as shown in FIG. ₁ ~ Q ₉ Is displayed. Further, when the position of the target is measured by collimating the surveying instrument 10 'with a target held by an operator, for example, and a predetermined switch of the switch group 29 is operated, the measurement data of the target is transmitted from the surveying instrument 10' to the digital still camera. The symbol T representing the position of the target is superimposed on the overview image at the corresponding position. In addition, the current collimation position and the movement of the collimation telescope can always be confirmed by measuring the target position at arbitrary time intervals and displaying the feedback with constant feedback. This is particularly effective for surveying instruments with a built-in automatic collimation function. The operator can perform the surveying operation with reference to the position of the target T displayed on the overview image and the position of the surveying point to be surveyed.
[0065]
In the case of the non-prism TS, distance measurement is possible without a target, and a symbol + or the like is used instead of the symbol T at the target position at the survey position of the survey (continuous survey) performed at arbitrary time intervals. It may be displayed on the overview image, and the collimation position of the collimating telescope and the movement of the collimating telescope may be displayed to serve as a collimation guide.
[0066]
In addition, already measured survey points (for example, Q ₁ , Q ₂ , Q ₃ , Q ₅ , Q ₉ If the measurement point is selected using the pointing device 30, the measurement point (for example, Q ₂ ) And the target T (for example, 500) can be displayed in a predetermined unit (for example, mm). In addition, on the overview map, the reference point (P ₁ ~ P ₃ Etc.) can also be displayed, and the distance between the target T and the reference point can be displayed.
[0067]
In step S306, surveying of the measurement point collimated in step S305 is performed. In step S307, the survey points for which the survey has been completed are indicated by symbols indicating that the survey has been completed (for example, a white circle indicates a survey uncompleted station, a large black circle indicates a survey completed station, a triangle indicates a survey uncompleted station, Are displayed on the overview image as completed measurement points (circles) (for example, Q ₁ , Q ₂ , Q ₃ , Q ₅ , Q ₉ ). At this time, besides the surveyed measurement points and reference points, for example, survey coordinates, absolute coordinates, or position data such as the oblique distance L, the horizontal angle θh, and the altitude angle θv can also be displayed. When the position of a measurement point or a reference point is represented using an oblique distance, a horizontal angle, or an altitude angle, the horizontal angle θ _h Can be expressed based on a reference line (horizontal angle reference line) H arbitrarily specified using an input device such as the pointing device 30, for example.
[0068]
In step S308, a plurality of measured points can be selected using the pointing device 30. For example, a distance between two points, an angle formed by three points, or three or more points are used. It is possible to calculate and display survey data such as the area of the closed region to be measured and the volume of the closed region composed of four or more measurement points.
[0069]
In step S309, it is determined whether to end the surveying work. When a predetermined switch of the switch group 29 is operated to end the surveying operation, the process proceeds to step S310. On the other hand, when the surveying operation is to be continued, the process returns to step S304, and the processes from step S304 are performed again.
[0070]
On the other hand, if it is determined in step S304 that mode 2 has been selected, or if it has been determined that mode 2 has been selected, then in step S311 an image is captured with the CCD 18 incorporated in the surveying instrument 10 ', as shown in FIG. The enlarged image S in the collimated direction is superimposed and displayed on the overview image. In step S312, similarly to step S305, the target or the like is collimated with reference to the enlarged image S and the overview image captured by the surveying instrument, and thereafter, the survey of the measurement point collimated in step S306 is performed. Is In step S310, survey data such as the position of a survey point displayed on the overview image, an enlarged image photographed by a survey instrument, and the like are recorded in a file on the recording medium 27 in association with each other. With the above, the survey according to the present embodiment ends.
[0071]
Further, for example, as shown in FIG. 12, a mode may be provided in which the position of the surveying instrument 10 ', the digital still camera 20, and the measurement point is displayed on the display unit 24 as a plan view. In this case, a plan view is also recorded on the recording medium 27 in association with, for example, survey data, an overview image, and the like.
[0072]
As described above, also in the third embodiment, substantially the same effects as those in the first and second embodiments can be obtained.
[0073]
In the present embodiment, the reference point is arbitrarily specified on the overview image using a pointing device. May be used as a reference point to determine an external orientation element. In this case, the position of the reference scale or the reference mark on the overview image is selected using a pointing device or the like. When a reference scale or a reference mark is used, the position of the reference point on the overview image may be automatically detected using, for example, image processing.
[0074]
In the present embodiment, a total station capable of measuring an oblique distance and an (altitude, horizontal) angle has been described as a surveying instrument. Any other surveying instrument may be used as long as the surveying instrument can calculate, for example, a surveying instrument using a GPS (global positioning system) or the like. Further, the angle measured in the survey report may be an angle other than the altitude angle and the horizontal angle, and may be, for example, an angle between two points on an oblique plane.
[0075]
Further, in the second embodiment, the computer connected to the surveying instrument is used, but the function of the computer in the second embodiment may be integrally provided in the surveying instrument.
[0076]
In this embodiment, the transmission of the survey data from the surveying instrument to the digital still camera or the computer is performed via the interface circuit. Data may be input.
[0077]
Further, in the present embodiment, a description has been given of a digital image captured by a digital still camera, but a video camera or the like may be used as long as a digital image can be obtained.
[0078]
【The invention's effect】
As described above, according to the present invention, survey information obtained by a surveying instrument and image information of a survey site obtained by a camera can be easily and efficiently associated.
[Brief description of the drawings]
FIG. 1 is a block diagram schematically showing a configuration of a survey system according to a first embodiment of the present invention.
FIG. 2 is a flowchart illustrating a survey procedure in the survey system according to the first embodiment.
FIG. 3 is a diagram conceptually showing an arrangement of a surveying instrument and a camera in the surveying system of the first embodiment.
FIG. 4 is a flowchart illustrating a modification of the surveying procedure in the surveying system of the first embodiment.
FIG. 5 shows three reference points P ₁ , P ₂ , P ₃ And image point P on imaging surface S ₁ ', P ₂ ', P ₃ FIG. 6 is a diagram schematically showing the relationship with '.
FIG. 6 shows an external orientation element (X) representing the position and inclination of the digital still camera. _O , Y _O , Z _O , Ω, φ, κ) is a flowchart of a program of the spatial backcrossing method.
FIG. 7 is a block diagram illustrating a schematic configuration of a survey system according to a second embodiment.
FIG. 8 is a block diagram illustrating a schematic configuration of a surveying system according to a third embodiment.
FIG. 9 is a flowchart illustrating a surveying procedure according to the third embodiment.
FIG. 10 is an example of an image display of an overview image when a survey is performed using mode 1;
FIG. 11 is an example of an image display of an overview image when a survey is performed using mode 2;
FIG. 12 is an example of an image display in which a survey point, a surveying instrument, and a camera position at which an overview image is captured are represented on a plan view.
[Explanation of symbols]
10, 10 'surveying instrument
16, 28 Interface circuit
20 Digital Still Camera
24 Display
26 System control circuit
27, 42 Recording medium
30 pointing device
40 Computer
41 Input device
43 Image display device

Claims (36)

Positional relationship calculating means for calculating the positional relationship between the coordinate system used as the reference by the surveying information of the surveying point and the overview image of the surveying site including the surveying point,
A surveying system, comprising: associating means for associating survey information of the survey point with position information relating to a position on the overview image corresponding to the survey point from the positional relationship. The surveying system according to claim 1, further comprising surveying means for obtaining surveying information of the surveying points. Image display means for displaying the overview image, and input means for specifying a position on the image in the image display means, the position of a survey point in the overview image measured by the surveying means, The surveying system according to claim 2, further comprising: surveying point displaying means for instructing on the overview image using an input means, and displaying the position on the overview image. The surveying system according to claim 1, wherein the positional relationship is calculated from a relationship between surveying information of three or more arbitrarily set reference points and a position of the reference point on the overview image. . 2. The surveying system according to claim 1, wherein a positional relationship between the coordinate system and the overview image is represented by an external orientation element representing a position and an inclination of the camera at the time of capturing the overview image with respect to the coordinate system. 3. . Image display means for displaying the overview image, and input means for designating a position on the image in the image display means, wherein the position of the reference point is set to an arbitrary position on the overview image by the input means. The surveying system according to claim 4, wherein the surveying system is determined by designating the surveying system. Image display means for displaying the overview image, and measurement point display means for displaying the position of the measurement point on the overview image by the image display means based on the correspondence between the survey information and the position information of the overview image The surveying system according to claim 1, comprising: The positional relationship is calculated from a relationship between surveying information of three or more arbitrarily set reference points and a position of the reference point on the overview image, wherein one or more of the reference points have been measured. The surveying system according to claim 7, wherein the surveying system is designated from the following. The positional relationship is calculated from a relationship between three-dimensional position information of three or more arbitrarily set reference points and a position of the reference point on the overview image, and three-dimensional position information of the reference point. The surveying system of claim 7, wherein one or more of the following is given geographic data. A surveying means for obtaining surveying information of the surveying point, and after the positional relation calculating means is executed, when a surveying point is measured by the surveying means, the position of the surveying point is determined by the associating means. The surveying system according to claim 7, wherein the surveying system displays the surveying image on the surveying image by associating the surveying image with position information of the surveying image. The surveying information indicating the position of the measurement point can be displayed adjacent to the position of the measurement point displayed by the measurement point display means or the position of the measurement point. Surveying system. The surveying system according to claim 10, wherein a position of the target for surveying is measured, and a symbol representing the target can be displayed at a corresponding position on the overview image. Input means for designating a position on an image in the image display means, and the survey analysis information calculated based on a relative positional relationship between a plurality of measurement points designated by the input means is provided in the overview image The surveying system according to any one of claims 7 to 10, wherein the surveying system can be displayed above. The surveying system according to claim 13, wherein the surveying analysis information is a distance between surveying points. The surveying system according to claim 13, wherein the surveying analysis information is an angle formed by a line connecting three surveying points. The surveying system according to claim 13, wherein the surveying analysis information is an area of a closed region formed by three or more surveying points. The surveying system according to claim 13, wherein the surveying analysis information is a volume of a closed area formed by four or more surveying points. 2. The surveying system according to claim 1, wherein a relationship between a position of the survey point and a position at which the overview image is captured or a position of the surveying unit can be displayed or recorded as a plan view. 3. 2. The surveying system according to claim 1, further comprising a data recording unit capable of recording surveying information on the survey points and image data of the overview image in association with each other. 3. The surveying means includes imaging means capable of capturing an enlarged image at a higher magnification than the overview image, and the imaging means can display an enlarged image in the collimating direction of the surveying means on the overview image. The surveying system according to claim 2, characterized in that: The surveying system according to claim 1, further comprising a recording unit capable of recording a correspondence between the survey information and the position information on the overview image by the associating unit. The surveying system according to claim 2, wherein the surveying means includes a distance measuring means and an angle measuring means, and the surveying information is an oblique distance and an angle to a measuring point. The surveying system according to claim 2, wherein the surveying means includes a distance measuring means and an angle measuring means, and the surveying information is a coordinate value calculated from an oblique distance and an angle to a measuring point. 24. The surveying system according to claim 22, wherein the angles are a horizontal angle and an altitude angle. The surveying system according to claim 1, further comprising a digital camera for photographing the overview image. Imaging means for capturing an image of a subject;
The overview is performed based on two-dimensional position information of the reference point and three-dimensional measurement information of the reference point by a surveying instrument in an overview image of a survey site including three or more reference points captured by the imaging unit. A positional relationship calculating means for calculating a positional relationship between the image and the surveying instrument,
A digital camera, comprising: associating means for associating survey information of a survey point measured by the surveying instrument with position information about a position on the overview image corresponding to the survey point based on the positional relationship. 27. The digital camera according to claim 26, further comprising a data transmission unit for transmitting data relating to the survey information to and from the surveying instrument. Image display means for displaying the overview image, and input means for designating a position on the image in the image display means, wherein the position of the reference point is set to an arbitrary position on the overview image by the input means. 28. The digital camera according to claim 26, wherein the digital camera is determined by designating. Image display means for displaying the overview image, and the position of the measurement point in the overview image measured by the surveying instrument based on the correspondence between the survey information of the measurement point and the position information on the overview image. 27. The digital camera according to claim 26, further comprising: a measurement point display unit that is displayed on the overview image displayed by the image display unit. Image display means for displaying the overview image, and the survey image calculated from the survey points measured by the surveying instrument based on the correspondence between the survey information of the survey points and the position information on the survey image. 28. The digital camera according to claim 26, further comprising: a measurement point display unit that displays the position of the measurement point on the overview image displayed by the image display unit. A positional relationship calculating means for calculating a positional relationship between the overview image of the survey site including the survey points and a coordinate system based on the survey information,
A surveying support apparatus, comprising: associating means for associating survey information of a survey point with position information on a position on the overview image corresponding to the survey point based on the positional relationship. The positional relationship calculating means, based on the two-dimensional position information of three or more reference points on the overview image and the three-dimensional measurement information of the reference points by the surveying instrument, based on the overview image, the surveying instrument, 32. The surveying support apparatus according to claim 31, wherein a positional relationship between the two is calculated. 32. The surveying support apparatus according to claim 31, further comprising a data transmission unit for transmitting data relating to the surveying information to and from the surveying instrument. Image display means for displaying the overview image, and input means for designating a position on the image in the image display means, wherein the position of the reference point is set to an arbitrary position on the overview image by the input means. 33. The surveying support apparatus according to claim 32, wherein the surveying support apparatus is determined by designating. Image display means for displaying the overview image, and the position of the measurement point in the overview image measured by the surveying instrument based on the correspondence between the survey information of the measurement point and the position information on the overview image. 32. The surveying support apparatus according to claim 31, further comprising: a survey point display unit that is displayed on the overview image displayed by the image display unit. A step of calculating a positional relationship between the survey image and the surveying instrument including the surveying point including the surveying point on the computer, and the surveying information corresponding to the surveying point and the surveying point measured by the surveying instrument from the positional relationship. And a procedure for associating position information with respect to a position on the overview image with a survey support program.

Images