JP2004170429A - Method and apparatus for generating three-dimensional information - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To integrally recognize three-dimensional form of an object to be measured by a laser and its appearance. <P>SOLUTION: Scanning laser distance measuring devices 210/220 measure the topographic features and the distance to a ground object. A GPS 240 and an inertial sensor 260 detect the position and attitude of a helicopter. A video camera 270 photographs the object to be measured. A ground analyzing system 290 calculates the three-dimensional position of the object to be measured from the position and the attitude of the helicopter, the laser irradiation angle, and the distance to the object to be measured. The ground analysis system 290 extracts the image information of the location, to which laser light is irradiated from the photographed image and generates three-dimensional information of the object to be measured configured by superimposing the photographed images. <P>COPYRIGHT: (C)2004,JPO

Description

  The present invention relates to an apparatus and a method for generating three-dimensional information, and more particularly, to an apparatus and a method for generating three-dimensional information from laser measurement values from a flying object.

  An aerial laser measurement system that measures the topography and the three-dimensional position of a ground object by irradiating a laser beam from a flying object does not measure the relative separation of features, but measures geodetic coordinates for all laser reflection points Therefore, it is possible to create a topographic map and measure the temporal change of the terrain.

  In addition, since there is no need to set control points on the ground, it can be applied to topographical surveys and snowfall surveys at disaster sites where access to the site is difficult. In particular, since data recording and data processing are automated, the time required to obtain a result is extremely short as compared with the photogrammetry method, and the present invention can be applied to urgent tasks such as disaster prevention information collection.

  As a method of mounting a laser ranging device on an aircraft, especially a helicopter, measuring the distance between a transmission line and a tree below the line, and obtaining basic data for controlled logging, a method described in Patent Document 1 described in “Patent Document 1 And an "approaching tree separation detecting device" described in Patent Document 2.

These aerial laser measurement techniques can be generally used as means for measuring the topography and the three-dimensional shape of a ground object.
JP-A-6-313715 JP-A-7-043109

  An aerial laser measurement system that measures the terrain and the three-dimensional position of a ground object by irradiating a laser beam from a flying object only obtains sample position data obtained by sampling the terrain and the ground object. It is not easy to recognize and understand the exact shape of an object or the like.

  The present invention provides a three-dimensional information generation system and method for generating three-dimensional information capable of integrally recognizing the three-dimensional shape and appearance of a laser measurement target.

  A three-dimensional information generation system according to the present invention is provided with a laser scanning device mounted on a flying object and scanning a measurement object with laser pulse light, and a laser pulse light mounted on the flying object and output from the laser scanning device. A light receiving device that receives light reflected by the measurement object, a distance measuring device that measures a distance to the measurement object by an output of the light receiving device, and a scanning area of the laser scanning device mounted on the flying object. An imaging device for photographing the object, a flight position measuring device mounted on the flying object to measure a three-dimensional position and attitude of the flying object, and a laser beam irradiation point position based on measurement results of the distance measuring device and the flight position measuring device And a three-dimensional unit for extracting pixel information of the position of the laser beam irradiation point from a captured image of the imaging apparatus and generating three-dimensional information of the measurement target on which the captured image is superimposed. Characterized by comprising a multi-address generation means.

  A three-dimensional information generation method according to the present invention includes a step of scanning a measurement target with laser pulse light by a laser scanning device mounted on a flying object, and a step of scanning the laser pulse light output from the laser scanning device with the measurement target. Measuring the distance to the object to be measured by receiving the reflected light by the imaging device; capturing the scanning area of the laser scanning device with the imaging device; and performing laser scanning by the laser scanning device. Measuring the three-dimensional position and orientation of the flying object, calculating the laser beam irradiation point position from the distance to the measurement target, and the three-dimensional position and orientation distance of the flying object; Extracting pixel information of a laser beam irradiation point position and generating three-dimensional information of the measurement object on which the photographed image is superimposed. .

  According to the present invention, since the captured image of the measurement target is superimposed on the three-dimensional position data of the measurement target measured by laser scanning, the three-dimensional shape and the appearance of the measurement target can be integrally expressed, and the measurement target Can be recognized accurately and easily.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  As shown in FIG. 1, an aerial laser measurement device 100 for an aircraft according to an embodiment of the present invention performs an analysis based on an aerial system 101 that measures geodetic coordinates of terrain, trees, and transmission lines, and an approach based on approaching tree survey technical standards. And a link to a conventional approach tree management system 103 based on aerial photogrammetry.

  The laser range finder of the aerial system 101, which will be described later, has a sensor unit in which a two-axis galvo mirror scanner is integrated with a high-frequency laser range finder that can measure a long distance without using a reflector or the like, and a travel time detection of a laser pulse. Parts. The travel time data, reflectance data, and mirror scanning data detected by these are processed by a control main computer controlled by a dedicated operation panel and a sub-computer supporting the data, and recorded on a data tape of a recording unit.

  The high-frequency laser range finder used in the aerial measurement system 101 is a high-output type having a class 4 standard. In the case of a non-mirror, the distance is 750 m for general features and 350 m for electric wires having a diameter of 1 cm. The reflected signal can be captured from a distance of. That is, in the approaching tree survey, when measuring from an altitude of about 150 m, a higher reflection intensity is obtained, and a result with no measurement omission and high measurement accuracy is obtained. In addition, the frequency of the laser pulse is 25 kHz, and high-density reflection data is obtained, so that there is no measurement omission at the tip of the tree.

  FIG. 7 is a schematic block diagram of the aerial measurement system 101. With reference to FIG. 7, the scanning laser ranging device 210/220 of the aerial measurement system 100 will be described.

  The laser pulse generated by the laser generator 211 is once sent from the laser head to the collimator 212, the beam width is adjusted in two stages of wide and narrow, and sent to the two-axis galvo mirror scanner 213. The scanner 213 that vibrates in two axes reflects the adjusted laser pulse from the collimator 212 and transmits the laser pulse toward the ground so as to move along a parallel trajectory. At this time, part of the laser pulse is directly sent to the laser receiver 221 as reference light. Further, the scanning angles θx and θy of the scanner 213 are recorded and sent to the control computer 200.

  Laser pulses reflected from ground equipment and trees are guided to a laser receiver 221 by a scanner mirror 213. The laser receiver 221 compares the reflected laser pulse with the above-described reference light, and the discriminator 222 identifies the comparison result of the receiver 221 in the fast mode or the last mode. The travel time measuring device 223 converts the discrimination result of the discriminator 222 into travel time data, and transmits the travel time data to the control computer 200 together with the reflectance data R.

  The laser receiver 221 can measure the reflection intensity in addition to the travel time data of the laser pulse. The reflection intensity is used for discriminating the tree type by utilizing the property that the reflection intensity is relatively small in conifers and large in hardwoods. In particular, in the present embodiment, since high-density data can be obtained geographically, a pseudo image model in which shading is added to three-dimensional information on the ground surface is obtained, and detailed analysis can be performed in combination with a video image.

  The two-axis galvo mirror scanner 213 has a mechanism that simultaneously vibrates in both the traveling direction (Y axis) of the aircraft and the orthogonal direction (X axis). That is, when the aircraft is stationary, the trajectory of the laser pulse becomes X-shaped as indicated by 121 in FIG. 2, and when flying at the speed of Vo, the scan speed Vy in the X-axis direction is synchronized, thereby 2 is obtained.

  The width (W) of the scanning line and the scanning speed (Vx, Vy) are determined by the operator together with the flight speed (Vo) according to the purpose of the investigation, and are controlled by the operation panel. An example of the width (W) of the scanning line and the scanning speed (Vx, Vy) is shown as 123/124 in FIG. As shown by reference numeral 124 in FIG. 2, when the laser beam images are measured so that they are in contact with each other, it is possible to efficiently investigate, but there are portions that are omitted from the measurement. As shown by 123 in FIG. 2, when laser pulses are overlapped by 50%, measurement omission does not occur, but the investigation efficiency is poor. Actually, the operator controls in this intermediate state.

  In the approaching tree measurement, a wide beam laser pulse as indicated by 131 in FIG. 3 is used, and in the terrain measurement, a narrow beam laser pulse that easily passes through the branches and leaves is used.

  As shown in 132 of FIG. 3, there are two measurement modes, a first mode (F) for taking the first reflected pulse and a last mode for taking the last reflected pulse. The former is used for approach tree measurement, and the latter is used for topographical survey. Use for The distance is calculated from the reciprocation at t1 and t2, respectively. An example of a combination of the laser pulse and the measurement mode is shown in FIG.

The distance (D) from the transmission / reception point A of the laser pulse to the reflection point B is calculated using the round trip time (t),
D = c × t / 2
Is required. Here, c indicates the velocity of the laser light in the atmosphere. Reference numeral 141 in FIG. 4 indicates a positional relationship between the points A and B and a coordinate system.

D, between the position of transmission / reception point A (X0, Y0, Z0) and the position of reflection point B (X1, Y1, Z1)
^{D = √ {(X1-X0} ) 2 + (Y1-Y0) 2 + (Z1-Z0) 2}
There is a relationship. From the inclination of the helicopter with respect to the geodetic coordinates and the scanning angle of the scanner 213, the direction angles (θx, θy) of the laser pulse with respect to the vertical direction C are obtained as shown by 142 in FIG. The coordinates (X1, Y1, Z1) of the reflection point B can be obtained from the coordinates (X0, Y0, Z0) of A and the distance D.

  In the coordinate calculation, the error of the direction angle of the laser pulse obtained from the scanning angle of the scanner 213 and the rotation angle of the transmitter / receiver due to the attitude of the body is not more than 20 cm at a distance of 150 m, and there is no practical problem. For example, the accuracy of the vibration angle is within 0.05 degrees, and 150 m is only 13 cm.

  The aerial measurement system 101 incorporates GPS (Global Positioning System) units 240 and 250 for determining a laser transmission / reception point position. The GPS unit 240 includes a plurality of antennas and a receiver, and is installed in a helicopter. The GPS unit 250 is installed at a fixed point on the ground and measures reference data. A plurality of terrestrial GPSs 250 are prepared as needed in order to increase reference accuracy. FIG. 6 shows a configuration and an arrangement example of the GPS units 240 and 250.

  The greatest influence on the coordinates of the reflection point B is the positional accuracy of the transmission / reception point A based on the GPS position. In the GPS positioning, the measurement position changes every moment as shown by 151 in FIG. 5 due to the influence of the satellite arrangement and the ionosphere. Since these measurement positions can be statistically approximated to the true coordinates as indicated by 152 in FIG. 5, the differential processing is performed with reference to the measurement data of the ground GPS 250 (163). Further, kinematic processing using the phase component of the carrier of the GPS signal is performed to obtain a more accurate position.

  In the differential processing, the GPS data on the ground and the GPS data in the air must be obtained by measuring radio waves from the same satellite (plural). However, since the installation location of the antenna is limited in an aircraft, the helicopter mast Some of the receiving satellites such as 164 (FIG. 6) may be shielded by the aircraft. In order to avoid this, a plurality of antennas 161 and 162 and receivers corresponding to the respective antennas are prepared as the aerial GPS unit 240. By mutually referencing a plurality of reception results, deterioration of accuracy is prevented.

  The clock data of the GPS clock is sent to the control computer 200, and is also used for timing with other data.

  As shown in FIG. 7, the aerial measurement system 101 incorporates an inertial sensor device 260 for detecting the attitude of the aircraft. As a result, the movement direction of the airframe, and the inclination and position of the laser ranging device with respect to the geodetic coordinates are detected, and are recorded on the recording medium via the control computer 200 together with data such as laser reflection travel time.

  The aerial measurement system 101 is further provided with a video camera 270 that records an image of a measurement object immediately below, and is used for accurate tree species / forest phase discrimination in combination with laser reflectance data. The video signal from the video camera 270 is recorded in the video recorder 232 by superimposing the annotation information from the control computer 200. This annotation information is used for matching with other data.

  The laser data and the inertial sensor data are edited into an original data file, sent to the tape drive 231 and recorded.

  An original data file for recording measurement results, a GPS data (GPS 1, 2,...) File and a video tape are brought into the ground analysis system 290, and each data is analyzed.

  FIG. 8 is a schematic block diagram of the ground analysis system 102 (290). As shown in FIG. 8, the ground analysis system 290 mainly includes a personal computer 320 to which a large-capacity storage device 340 is connected, a laser data reader 310, an analysis result display monitor 331, a chart and image image output device 332, and a video playback device. It comprises a device 333 and a backup data reader 350.

  The recording time of the aerial data is up to 2 hours. The laser reflection data recorded on the original data tape 301 is about 200 million. The original data recorded on the original data tape 301 is temporarily stored in the mass storage device 340 and read out by the computer 320 as required for analysis.

  The GPS data 302 is directly read by the computer 320 and stored in a built-in storage device.

  The video recorded on the video tape 303 is reproduced by a video reproducing device. The reproducing operation is controlled by the computer 320, and the video at a necessary portion is reproduced.

  Transmission line and tower information 304 required for data processing and analysis is input to the computer 320 according to a format determined by the operator and stored in a database.

  The operator performs data processing and analysis interactively while checking the result of each step on the analysis result display monitor 331. Each process of data processing and analysis is automatically executed.

  The analysis result is stored in the database of the computer 320, output from the chart and image output device 332 according to the purpose, and stored separately on the backup tape 350. The management felling information can be provided to the approaching tree management system 360 offline.

  FIG. 9 is a configuration diagram of data processing / analysis processing in the computer 320. As shown in FIG. 9, data processing / analysis includes data processing st. 401, primary analysis processing st. 402, secondary analysis processing st. 403, chart output st. 405 and result creation st. 406, the operator arbitrarily selects individual processes, reads necessary information from the database and the backup 400, and executes them.

  FIG. 10 shows a detailed flow configuration of the data processing (St. 401). The first mode data 421 is automatically processed by dedicated software in the following steps. That is, the laser original data, GPS data (ground / air) and transmission line information are read and rearranged (st. 411). The kinematic differential processing is performed using the airborne GPS data and the ground GPS data (st. 412). The three-dimensional wake of the aircraft is calculated (st. 413). The geodesic coordinate value of the laser pulse reflection point is calculated from the time, travel time, scanner vibration angle, attitude rotation angle data, and GPS data (st. 414). The data processing result is stored in the database (st. 415). The terrain survey mode data 422 is similarly processed and stored in the database.

  FIG. 11 shows a detailed flow configuration of the primary analysis processing. The primary analysis process is a process of processing the database 430 of the laser reflection points given geodetic coordinates and creating each file shown in FIG. That is, only the wire data is extracted by a method described later (st. 431), and the catenary (slack) of each wire is obtained using the wire data (st. 432). The intersection is obtained from the wire catenary, and the position of the support point is determined (st. 433). The data of the tower is extracted from the data file, and the coordinates of the center point are calculated (st. 434). Using the data other than the electric wire catenary and the electric wire / pylon, the separation from the approaching tree is analyzed (st. 435). The separation analysis at this stage is executed for the wire position at the time of measurement. Therefore, this analysis result is reported to the user as a flash report. Next, each data file is created and recorded (st. 436).

  The data measured in the terrain survey mode is read from the database to the same arithmetic unit, and the following processing is performed to create respective data files. That is, data other than the ground is removed (st. 437), and a DTM is created (st. 438).

The result of scanning the laser pulse is usually as shown in FIG. That is, reflection points from the electric wire 441, the tree 442, and the ground 443 are distributed along the trajectory of the laser pulse. In order to separate the wires from these data, the distance from the aircraft is compared in order according to the scanning order, and its variation is examined. For example, when moving from point a to point b, there is a large difference of d1, and when returning to point c, the distance returns to a small distance of d2.
d1 = | ab | >>>> d2 = | ac |
The point b is determined as an electric wire. Thus, an electric wire data file is created by leaving only the data determined to be electric wires.

  Even in the extraction of the ground surface data in the terrain measurement, unnecessary data can be removed by comparing the data before and after similarly.

  Next, by dividing the electric wire data in a certain level in the vertical direction (from the first layer to the fourth layer in the above example) and further dividing in the horizontal direction, a data group for each electric wire is obtained. .

  By obtaining the three-dimensional optimal wire catenary curve equation using the data of each wire, a catenary model at the time of measurement is obtained for each wire. Next, the coordinates of the support point 447 are calculated by using the catenary model 445/446 (FIG. 12) of the adjacent tower section with respect to the electric wire on one side of the same stratum. That is, the common solution of the two quadratic curves is the coordinate value of the support point 447.

  In the secondary analysis (st. 403), after an abnormal temperature catenary / rolling calculation process, a tree representative point extraction process, and a tree height calculation process, an approaching tree separation analysis and a forest phase analysis are executed.

  As shown in FIG. 13, in the abnormal temperature catenary / rolling calculation process, the electric wire catenary and electric wire at the time of abnormal temperature are used using the transmission tower / support point file 501 and the transmission line facility information file 502 such as the shape and the insulator type of the electric tower. Is calculated (st. 503), and a file is created (st. 504).

  14 and 15, the support points 2 and 4 are obtained from the wire catenary. The length of the insulator between 1-2 and 4-5 is known in advance. Therefore, if the positions of the support points 2 and 4 and at least one electric wire position 3 are known, the catenary 521 (FIG. 14) of the electric wire can be reproduced. The wire catenary 522 (FIG. 14) at the time of abnormal temperature calculates slack using the coefficient of linear expansion for the wire elongation when an abnormal wire temperature is given, and determines the position of the lowest point 3 ′. Desired.

  In the roll analysis of the electric wire, a curved surface 531 (FIG. 15) swept by the electric wire when the support point is fixed and the electric wire moves like a jump rope is obtained. When stationary, the electric wire located at a moves to c via b due to wind or the like. At this time, as shown by 532 in FIG. 15, an arc is drawn centering on point P on an imaginary line connecting the support points. If the point P is moved from the support point to the next support point, and the locus of the arc at each position is determined, the roll position of the electric wire can be determined. The roll angle may be generally up to about ± 60 degrees.

  FIG. 16 shows the flow of tree representative point extraction processing. The laser original data file is processed, and the remaining reflection point data file excluding the electric wire reflection point data is set as a tree reflection point file mainly including tree reflection points (st. 541). Tree representative point extraction processing is applied to this (st. 542), and a tree representative point file is created (st. 543).

  Although the laser data covers the entire area scanned by the laser pulse, one tree does not correspond to one data, but is composed of a large number of data. Tree management in managed logging is performed on a tree-by-tree basis, so it is necessary to determine a representative point of the tree. In the tree representative point extraction process (st. 542), the reflection point indicating the highest altitude is taken as the tree representative point in consideration of the symmetry of the tree shape. FIG. 17 illustrates representative points 551, 552, and 553 of each tree.

  When the tree reflection point data is developed on the ground plane, as shown at 561 in FIG. 18, the distribution is such that the points at higher elevations are surrounded by the points at lower elevations. On the slope, the high point H is biased toward one edge, but the relationship surrounded by the low point remains unchanged. For these data, a mesh area 562 of an arbitrary size is prepared, and a mesh including a reflection point indicating a higher elevation than the surrounding mesh is extracted. A smaller mesh is further set in the frame of the extracted mesh, and the mesh having the highest point is selected. This is repeated, and the finally remaining points are set as representative points.

  As shown in FIG. 19, each tree height is calculated from tree representative point data 571 and topographic data (DTM) 572. The terrain data file is stored in the form of a DTM (see 581 in FIG. 20). That is, the data at the non-measurement points are complemented in order to suppress data variations due to the density of the ground reflection points. As shown by 582 in FIG. 20, when the plane coordinate values (X, Y) of the tree representative points are superimposed on this topographical data, points are dropped on an oblique triangular plane created from the DTM. As shown at 583 in FIG. 20, the elevation on the triangular plane is interpolated, the elevation at that point is obtained, and the difference from the elevation of the tree representative point is obtained to obtain the tree height.

  As shown in FIGS. 21 and 22, in the approaching tree separation analysis, from various data files 601 to 606 obtained from the results of the primary analysis and the secondary analysis, the analysis device 607 determines the electric wire stationary separation and the electric wire related to the approaching tree. Analyze roll separation, tree fall separation, and separation at abnormal temperatures. The output device 610 outputs the analysis result as an approaching tree separation plan view, an approaching tree separation study diagram, and a separation analysis result table, and these data are recorded as a data file 609 on a medium such as an FD, It is sent to the management system 620.

  The user updates the data with the new approaching tree separation information in the approaching tree management system 620, and uses these for planning a management logging plan and managing the approaching tree.

  The laser reflection point data has information on the reflection intensity Re in addition to the coordinates (X, Y, Z) of the reflection point. Using this, the tree species can be determined. For example, the wavelength of the laser light used in this system is in the near infrared region and is related to the activity of the plant. For example, it is known that a hardwood has a higher reflectance than a softwood. By using the reflectance measured with high density and no gap, a pseudo image 631 of vegetation information can be formed as shown in FIG. When data is rearranged to match the pixels of the video image 632 in the manner of creating a DTM, information of seven dimensions (X, Y, Z, Re, R, G, B) is obtained for one pixel area. Will be done. The image processing system 626 performs an emphasis process using Re, R, G, and B among these pieces of information. The tree type can be determined from the result of the emphasis processing (628), and the forest area can be classified by identifying its distribution area (627). These analysis results can be output not only as a plan view but also as an arbitrary sectional view.

  FIG. 24 schematically shows the contents of the separation study. The distance between the tree and the stationary position of the electric wire at an arbitrary temperature is the distance between point A and point B (for example, a portion represented by △). When the electric wire rolls, the closest distance is the distance between the intersection of the straight line connecting the points P and B and the arc drawn by the electric wire A around the point P and the point B (for example, the portion indicated by +). is there. The separation when the tree falls is the shortest distance between point A or an arc drawn by point A centering on P and an arc drawn by point B with point C as a fulcrum (for example, represented by a circle). These examination results are arranged in a file 702 for each tree, and output together with the separation study diagram.

  As shown in FIG. 25, the result of the separation study is also filed as a separation plan view 710 and output. Each study separation is illustrated in an arbitrary scale by color coding for each separation type. In FIG. 25, they are indicated by symbols Δ, + and ○. Nearby trees are indicated by dotted circles, and the numerical value at the center indicates the position of the tree.

  In the conventional topographic survey of forest areas by aerial photogrammetry, the height of the ground was measured by estimating the tree height, which was inevitably accompanied by inaccurate factors.However, the aerial laser measurement system of this embodiment uses It has a function to generate DTMDTM (Digital Terrain Model; Digital Terrain Model) of only terrain by removing objects, and can be used to collect basic design data in the civil engineering field where accurate earthwork is required. . Conversely, the volume required for forest management can be obtained from the data of the forest part.

Explanatory drawing which shows the flow of generation of approaching tree management felling information. FIG. 4 is an explanatory diagram of a laser pulse operation state by a two-axis galvo mirror scanner. FIG. 3 is an explanatory diagram showing a laser beam and a measurement mode. Explanatory drawing of coordinate calculation. The distribution map of kinematics differential GPS positioning. Explanatory drawing of a GPS positioning system. FIG. 2 is a block diagram of an aerial measurement system. The block diagram of a ground analysis system. Block diagram of data processing and analysis. FIG. 3 is a block diagram of data processing. The block diagram of the primary analysis. Explanatory drawing of the separation method of electric wire and topographical data from measurement data. Block diagram of abnormal temperature catenary / rolling calculation processing. Explanatory drawing of the shape type of a steel tower and an electric wire catenary element. Explanatory drawing at the time of rolling of an electric wire. The tree representative point extraction block diagram. The main type explanatory drawing of a tree shape. FIG. 4 is an explanatory diagram of a method for determining a tree representative point. Tree height calculation block diagram. Explanatory drawing of calculation of tree height. FIG. 3 is a block diagram of an approaching tree separation analysis. Forest facies analysis block diagram. FIG. FIG. FIG.

Explanation of reference numerals

REFERENCE SIGNS LIST 100 Survey system 101 Aerial measurement system 102 Ground analysis system 103 Approaching tree management system 200 Computer for controlling equipment 201 Operation panel 210 Scanning laser ranging device 220 Scanning laser ranging device 230 Data recording device 240 Kinematec GPS reception Device 250 kinematics GPS receiver 260 inertial navigation device 270 video image device 290 terrestrial analysis system 310 data reading device 320 data processing / analysis computer 331 monitor image reproducing device 332 diagram output device 333 monitor image reproducing device 340 large capacity storage device 350 Backup of any media 360 Access tree management system

Claims (4)

A laser scanning device mounted on a flying object and scanning a measurement target with laser pulse light;
A light receiver that is mounted on the flying object and receives a laser pulse light output from the laser scanning device and receives light reflected by the measurement target,
A distance measuring device that measures the distance to the measurement target by the output of the light receiver,
An imaging device mounted on the flying object and capturing an image of a scanning area of the laser scanning device;
A flight position measuring device mounted on the flying object and measuring a three-dimensional position and attitude of the flying object;
Calculating means for calculating the laser light irradiation point position based on the measurement results of the distance measuring device and the flight position measuring device,
A three-dimensional information generating unit that extracts pixel information of the laser beam irradiation point position from a captured image of the imaging device and generates three-dimensional information of the measurement target on which the captured image is superimposed. 3D information generation system.   Further, there is provided a reflection intensity measuring means for measuring a reflection intensity of the measurement target from an output of the light receiver, and the three-dimensional information generating means generates the three-dimensional information including the distribution information of the reflection intensity. 3. The three-dimensional information generation system according to 1. Scanning the measurement target with laser pulse light by a laser scanning device mounted on the flying object,
A step of receiving the reflected light of the measurement target of the laser pulse light output from the laser scanning device, and measuring a distance to the measurement target;
Imaging the scanning area of the laser scanning device with an imaging device;
Measuring the three-dimensional position and attitude of the flying object during laser scanning by the laser scanning device;
Calculating the laser beam irradiation point position from the distance to the measurement target, and the three-dimensional position and attitude distance of the flying object;
Extracting pixel information of the position of the laser beam irradiation point from a captured image of the imaging apparatus and generating three-dimensional information of the measurement target on which the captured image is superimposed. Method. Further, the method includes a step of measuring the intensity of the reflected light by the measurement object,
The three-dimensional information generation method according to claim 3, wherein the three-dimensional information includes distribution information of the intensity of the reflected light.

Images