JP2004348575A - Three-dimensional model construction system and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional model construction system that can easily construct a three-dimensional model of an object from a three-dimensional point group data and image data. <P>SOLUTION: In the three-dimensional model construction system, the image data and three-dimensional point group data are associated with each other and stored, and the three-dimensional model is constructed by using these models. The system includes a data file for storing the three-dimensional model data, a display means for displaying the image data and three-dimensional point group data on a screen, a specification means for specifying a polygonal area on the screen where the image data are displayed, an extraction means for extracting the three-dimensional group data contained in the polygonal area, and a surface object generation means for specifying a surface object by finding a three-dimensional coordinate value of the polygonal area on the basis of the extracted three-dimensional point group data and for writing it in the data file. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a three-dimensional model construction system and a three-dimensional model construction program for constructing a three-dimensional model of an object from three-dimensional point cloud data and image data acquired by a laser scanner or the like.
[0002]
[Prior art]
The real world is composed of diverse and complex objects, as represented by urban spaces consisting of buildings, roads, signs, and various facilities. There are many fields in which such objects are measured and used as three-dimensional models, including computer graphics. However, in many fields, the cost that can be put into a three-dimensional model is limited, so a technique for efficiently measuring and modeling a three-dimensional shape is indispensable. Speaking of cities, there have been many practical methods of acquiring three-dimensional data of cities from the sky using techniques such as aerial photogrammetry. This is an excellent way to cover a wide area efficiently. However, in the future use of three-dimensional spatial data, it is expected that the number of cases where detailed three-dimensional representation from the viewpoint of pedestrians and drivers on the ground will be required will increase very much. Therefore, it is necessary to more accurately model a complicated target object such as a traffic signal.
[0003]
On the other hand, a system that acquires three-dimensional information from the ground by using a technique such as a stereo photograph or a moving image and extracts signboards and signs serving as landmarks, telephone poles, and white lines of roads has been developed so far (for example, see Patent Literature). 1, 2). In recent years, a laser range scanner using an eye-safe laser has been reduced in price, and is being applied to a three-dimensional measurement system for an urban area, a large indoor environment, an archeological site, and the like. Since the laser range scanner can directly and highly accurately acquire the shape of an object as point cloud data (three-dimensional point cloud data), the laser range scanner uses a relatively large scale and a simple shape. It is applied to object modeling (for example, Patent Document 3).
[0004]
[Patent Document 1]
JP-A-2002-081941
[Patent Document 2]
JP-A-09-319896
[Patent Document 3]
JP 2003-021507 A
[0005]
[Problems to be solved by the invention]
However, since spatial resolution is limited in performing modeling using point cloud data, it is not always easy to automate the process of generating a surface from a point cloud and constructing a three-dimensional model. Further, it is very difficult to perform a process of automatically reading an object from images and point cloud data. For this reason, model creation technology with full automation in mind is very effective for objects that can be easily automated, but in most cases simple and complex models are mixed. There is a problem that the scope of application is very limited. As a result, many of the remaining objects and objects for which automation has failed have to be manually modeled, and in many cases, the efficiency of automation is hardly effective. For this reason, there is a demand for a method that makes use of the excellent object identification / classification capabilities possessed by humans while simplifying and improving the efficiency of human operations.
[0006]
The present invention has been made in view of such circumstances, and a three-dimensional model construction system and a three-dimensional model construction program capable of easily constructing a three-dimensional model of an object from three-dimensional point cloud data and image data. The purpose is to provide.
[0007]
[Means for Solving the Problems]
According to the first aspect of the present invention, there is provided a three-dimensional model construction system in which image data and three-dimensional point group data are stored in association with each other, and a three-dimensional model is constructed from these data. A data file for storing data; display means for displaying the image data and the three-dimensional point cloud data on a screen; designating means for specifying a polygonal area on the screen on which the image data is displayed; Extracting means for extracting three-dimensional point cloud data included in the area, and determining a three-dimensional coordinate value of the polygonal area based on the extracted three-dimensional point cloud data to specify a plane object; Surface object generating means for writing to a data file.
[0008]
The invention according to claim 2, wherein the three-dimensional model construction system is configured such that, based on the three-dimensional point group data, a unit that specifies an end point or a bending point of a line segment on a screen on which the image data is displayed. A line object generating unit for specifying a line object by obtaining three-dimensional coordinate values of the line segment and writing the line object in the data file;
Is further provided.
[0009]
The invention according to claim 3, wherein the three-dimensional model construction system includes: a unit that specifies a feature point on a screen on which the image data is displayed; and a three-dimensional model based on the three-dimensional point group data. A point object generating means for specifying a point object by obtaining a dimensional coordinate value and writing the point object in the data file is further provided.
[0010]
The invention according to claim 4 is characterized in that the plane object generating means extracts image data in the polygonal area and writes the image data as a texture in the data file.
[0011]
The invention according to claim 5 is characterized in that the three-dimensional model construction system further includes a data complementing means for complementing three-dimensional polygon surface data generated by another measuring means based on the image data. Features.
[0012]
According to a sixth aspect of the present invention, image data and three-dimensional point cloud data are stored in association with each other, a three-dimensional model is constructed from these data, and the obtained three-dimensional model data is stored in a data file. A three-dimensional model construction program to be written, a display process of displaying the image data and the three-dimensional point cloud data on a screen, a designation process of designating a polygonal area on the screen on which the image data is displayed, An extraction process for extracting three-dimensional point cloud data included in a polygonal area, and determining a three-dimensional coordinate value of the polygonal area based on the extracted three-dimensional point cloud data to specify a surface object. And causing the computer to perform a plane object generation process for writing to the data file.
[0013]
The invention according to claim 7, wherein the three-dimensional model construction program is configured to specify an end point or a bending point of a line segment on a screen on which the image data is displayed, and to execute the processing based on the three-dimensional point group data. A line object is specified by calculating three-dimensional coordinate values of the line segment, and a line object generating process to be written to the data file is further performed by a computer.
[0014]
The invention according to claim 8, wherein the three-dimensional model construction program includes a process of designating a feature point on a screen on which the image data is displayed, and a process of specifying the feature point based on the three-dimensional point group data. A point object is specified by obtaining a dimensional coordinate value, and a point object generation process for writing to the data file is further performed by a computer.
[0015]
According to a ninth aspect of the present invention, in the plane object generation processing, image data in the polygon area is extracted, and the image data is written to the data file as a texture.
[0016]
According to a tenth aspect of the present invention, the three-dimensional model construction program causes a computer to further perform a data complementing process for complementing three-dimensional polygon surface data generated by another measuring unit based on the image data. It is characterized by the following.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a three-dimensional model construction system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the embodiment. In this figure, reference numeral 1 denotes an image data file in which image data of an object to be modeled obtained using a line CCD camera is stored. Reference numeral 2 is a distance measurement data file that stores distance measurement data of the object to be modeled obtained using a laser range scanner. Reference numeral 3 denotes a position and orientation data file that stores the position and orientation data of the line CCD camera and the laser range scanner when the image data and the distance measurement data have been acquired. Reference numeral 4 denotes a data integration unit that converts distance measurement data into coordinate values in the earth coordinate system based on the position and orientation data, and integrates data obtained by associating the image data with coordinate values in the earth coordinate system. is there. Reference numeral 5 denotes a three-dimensional point group data file that stores data (herein, referred to as three-dimensional point group data) obtained by converting the measurement point group of the object to be modeled obtained by the data integration unit 4 into the earth coordinate system. is there. Reference numeral 6 denotes a data integration unit 4 that associates the image data stored in the image data file 1 with the distance measurement data stored in the distance measurement data file 2 and the position and orientation stored in the position and orientation data file 3. This is an integrated image data file that stores image data corrected based on the data (herein, referred to as integrated image data).
[0018]
Reference numeral 7 denotes a model generation unit that generates three-dimensional model data using the three-dimensional point cloud data and the integrated image data. Reference numeral 8 denotes a three-dimensional model data file that stores the generated three-dimensional model data. Reference numeral 9 denotes an input unit including a keyboard and a mouse. Reference numeral 10 denotes a screen processing unit that performs screen display and position designation processing on the screen. Reference numeral 11 denotes a display capable of displaying an image. Reference numeral 12 denotes a plane object generation unit that generates a plane object forming a three-dimensional model. Reference numeral 13 denotes a line object generation unit that generates a line object forming a three-dimensional model. Reference numeral 14 denotes a point object generation unit that generates a point object forming a three-dimensional model. Reference numeral 15 denotes a data complementing unit that complements data based on the integrated image data. Reference numeral 16 denotes a data reading unit that reads out the integrated image data and the three-dimensional point cloud data from the integrated image data file 6 and the three-dimensional point cloud data file 5. Reference numeral 17 denotes a logo database in which data such as a signboard serving as a mark is stored in advance. Reference numeral 18 denotes a three-dimensional polygon surface data file in which three-dimensional polygon surface data generated by another measuring unit is stored.
[0019]
Next, a method of acquiring each data stored in the image data file 1, the distance measurement data file 2, and the position and orientation data file 3 will be briefly described. Data acquisition was performed by installing three laser range scanners, six line CCD cameras, and a navigation device (GPS / INS / Odometer) on the roof of the measurement vehicle. This is performed by acquiring measurement data. The laser range scanner used here is of a single scan type. The measurement rate is 20 Hz (20 rotations per second). One rotation measures 480 laser range points within a distance range of 70 m within a measurement range of 300 degrees. it can. The line CCD camera is equipped with an 8 mm, F4 fisheye lens, and the measurement rate is about 80 Hz (80 lines per second). Each line image can measure 2048 RGB pixels during 180 degrees. The measurement planes of each laser range scanner and the line CCD camera are arranged on the vertical plane of 45, 90, and 135 degrees with the traveling direction of the measurement vehicle, respectively, and the cross-sectional view of the roadside object is measured from three directions while the measurement vehicle is traveling. Also, the position and orientation and time data output by the navigation device, or the laser range data and the line CCD image measured at each point by the relative orientation element between the sensors are integrated into the earth coordinate system. FIG. 7 shows an arrangement diagram when three laser range scanners, six line CCD cameras, and a navigation device (GPS / INS / Odometer) are mounted on the roof of a measurement vehicle. As a method for acquiring each data stored in the image data file 1, the distance measurement data file 2, and the position and orientation data file 3 shown in FIG. 1, a data acquisition method described in JP-A-2002-031528 is applied. Therefore, detailed description of the operation and the like is omitted.
[0020]
Next, an operation of generating the three-dimensional point group data file 5 and the integrated image data file 6 from the data stored in the image data file 1, the distance measurement data file 2, and the position and orientation data file 3 will be described. First, the data integration unit 4 corrects the distortion of the image data with reference to the position and orientation data. The image data measured by mounting the line CCD on the measurement vehicle is to acquire a two-dimensional image as the vehicle travels, but the roll, pitch, bounce (vertical vibration) of the measurement vehicle, and the traveling The change in speed results in distorted image data. Therefore, it is possible to correct this distortion by performing correction based on the position and orientation data for each pixel data. Subsequently, the data integration unit 4 converts all the distance measurement data of each measurement point measured by the three laser range scanners into coordinate values of one earth coordinate system by referring to the position and orientation data, and Dimensional point cloud data.
[0021]
Next, the data integration unit 4 projects each of the distance measurement data (three-dimensional point cloud data) onto image data captured on a measurement surface in the same direction. For example, distance measurement data (three-dimensional point group data) obtained by measurement by the second laser range scanner is projected onto the second and fifth line CCD images. Then, with respect to each laser range scan line i (data of one rotation), image data j2 and j5 photographed on the total matching surface which is the most matched are searched from the image data of the second and fifth line CCDs. Next, for each laser range point s in each laser range scan line i, the pixel t2 in j2 and j5 in the measurement direction that best matches is searched, and the laser range point s is projected on the pixel t. And the image data are associated with each other, and the result is stored in the integrated image data file 6 and the three-dimensional point cloud data file 5.
[0022]
By this data integration processing, the coordinate values of the measurement points in the earth coordinate system are stored in the three-dimensional point group data file 5, and the measurement points are associated with the image data and stored in the integrated image data file 6. .
The method of generating the three-dimensional point cloud data file 5 and the integrated image data file 6 is not limited to the above-described method, but may be data generated by another method.
When supplementing the three-dimensional polygon surface data file 18 generated by other measuring means based on the CCD image, the data integration unit 4 projects the three-dimensional polygon surface data onto the CCD image data. First, with respect to the center point p of the three-dimensional polygon surface data f, a pixel t in the line CCD image data that matches the shooting direction is searched for. The distance measurement data s associated with the pixel t is the shooting center of the pixel t. It is verified whether the distance is equal to the distance d from to p. The line CCD image data j having the shortest distance d and the largest angle of incidence on the plane f from the line CCD image data for which the validity of the projection has been verified is associated with the three-dimensional polygon surface data f. Next, with respect to each vertex of the three-dimensional polygon surface data f, a pixel in the line CCD image data j that has the best matching of the photographing direction is searched and associated. The result is stored in the integrated image data file 6.
The method of integrating the three-dimensional polygonal surface data file 18 and the image data file 1 generated by the other measuring means, and the method of generating the integrated image data file 6 are not limited to the above-described methods. It may be.
[0023]
Here, a three-dimensional model generated by the method of the present invention will be described. The three-dimensional model generated by the present invention is composed of a combination of a plane object expressed by a polygonal plane, a line object expressed by a line segment, and a point object expressed by a feature point. The realism is obtained by using the image data as a texture.
[0024]
Next, an operation in which the model generation unit 7 shown in FIG. 1 generates a three-dimensional model from data stored in the three-dimensional point cloud data file 5 and the integrated image data file 6 will be described. Here, in order to simplify the description of the operation principle, description will be made with reference to FIGS. 2 and 3 as an example. FIG. 2 is a diagram illustrating an example of image data stored in the integrated image data file 6. FIG. 3 is a diagram in which a laser range scanner is installed at the measurement position shown in FIG. 2, and the laser range data obtained by measuring the building imaged in FIG. 2 is plotted in the earth coordinate system, and the viewpoint position is higher than the measurement position. This is an example in which a state in which coordinate conversion for changing the viewpoint position has been performed is displayed on the display unit 11. The image data in FIG. 2 is an image in a state where the viewpoint position is higher than the actual image data in order to make the state of the building easily understandable. A line CCD camera is installed at the measurement position, and an image of the measurement range scanned by the laser range scanner is stored in the integrated image data file 6.
[0025]
Next, an operation of generating each object will be described. First, when an operator inputs an instruction to generate a three-dimensional model from the input unit 9, the model generation unit 7 instructs the data reading unit 16 to read out image data and three-dimensional point cloud data. In response to this, the data reading unit 16 reads the image data shown in FIG. 2 and the three-dimensional point cloud data shown in FIG. Then, the model generation unit 7 outputs the received data to the screen processing unit 10. At this time, the screen processing unit 10 performs arbitrary viewpoint position conversion on the three-dimensional point cloud data received from the model generation unit 7 and then outputs the data to the display unit 11 to display the data. By this operation, the images shown in FIGS. 2 and 3 are simultaneously displayed on the display unit 11.
[0026]
Next, the operator specifies generation of a plane object from the input unit 9. In response to this, the model generation unit 7 displays a message on the display unit 11 so as to specify the vertices of the polygon. Subsequently, the operator uses the mouse of the input unit 9 to specify the vertex position of the polygon indicating the range of the plane object on the screen (FIG. 2) on which the image data is displayed. Here, it is assumed that symbols A, B, C, and D shown in FIG. 4 are sequentially specified. The screen processing unit 10 reads the coordinate values on the screen and notifies the model generation unit 7. Then, the model generation unit 7 transfers the four coordinate values to the plane object generation unit 12. In response to this, the plane object generation unit 12 extracts the laser range point projected in the polygonal area specified by the coordinate values of the vertices, and fits a spatial plane. FIG. 5 shows a screen display example when a laser range point projected in a polygonal area specified by the coordinate values of vertices is extracted and a space plane is applied.
[0027]
Next, the plane object generation unit 12 projects the pixels of the image data in the corresponding polygonal area onto the space plane along the projection direction line, and cuts out the texture of the corresponding plane from the image data. Subsequently, the vertices of the corresponding polygon area are projected onto a plane along the projection direction line of the pixel of the corresponding image data, and the vertices of the space plane polygon area are obtained and transferred to the model creation unit 7.
[0028]
Next, the model generation unit 7 matches the cut-out texture image with data stored in the existing logo database 17, finds a type of a shop signboard or a road traffic sign, and assigns an attribute to the corresponding plane object. I do. If the matching fails, the model generation unit 7 assigns the attribute input from the input unit 9 to this plane object. Then, the model generation unit 7 writes the obtained surface object into the three-dimensional model data file 8. This means that the surface object has been written to the three-dimensional model data file 8, and when this three-dimensional model data is displayed, the surface object indicated by reference numeral P1 in FIG. 6 is displayed. This plane object not only displays a polygon but also uses image data as a texture.
[0029]
Most of the flat objects in urban space can be divided into two types, almost vertical and almost horizontal. Therefore, especially small-scale objects and data such as pedestrians, vehicles, trees, telephone poles, and electric wires are mixed around. With regard to the fitting of the plane, the following may be obtained. First, an extracted laser range point is projected onto a substantially horizontal surface of a grid for a substantially vertical plane object to create an image called Z-image. The value of the pixel in Z-image is the number of laser range points projected on the corresponding grid. A line segment in Z-image represents a vertical plane in space. In such a process, a vertical plane having a large accumulation of points in the vertical direction is strongly emphasized, and other objects are weakened. Next, the sharpest and longest line segment is extracted from the Z-image, and the plane parameters are determined by the least square method at the laser range points projected around the line segment. Also, for an almost horizontal plane object, a histogram is created based on the elevation values of the extracted laser range points, the highest peak value is obtained, and the elevation value within an allowable range centered on the corresponding elevation value is calculated. The laser range points possessed are extracted, and the plane parameters are obtained by the least square method.
Note that, here, the description has been given of only a plane as a surface, but a similar process may be applied to generate a curved object such as a cylinder or a sphere.
[0030]
Next, the operator specifies generation of a line object from the input unit 9. In response to this, the model generation unit 7 displays a message on the display unit 11 so as to specify a bending point or an end point of the line object. Subsequently, the operator uses the mouse of the input unit 9 to specify the position of the bending point or end point of the line object on the screen (FIG. 2) on which the image data is displayed. Here, it is assumed that the positions of the symbols J and K (outside lights) in FIG. 4 have been designated. In response to this, the screen processing unit 10 reads the coordinate values on this screen and notifies the model generation unit 7. Then, the model generation unit 7 transfers the designated coordinate values to the line object generation unit 13. In response to this, the line object generation unit 13 takes the center point of the laser range point (three-dimensional point group data) projected within a predetermined allowable range around the pixel of the image data corresponding to the inflection point or the end point, The inflection point or end point of a line object in space. However, in such a process, an erroneous point may be extracted due to a pedestrian, a passing vehicle, a tree, an error generated during data integration, or a measurement error due to direct sunlight or the like. Therefore, the following auxiliary procedure reliably performs point extraction even in an environment where various data are mixed.
[0031]
The line object generation unit 13 extracts laser range points (three-dimensional point cloud data) projected within a predetermined allowable range around a plurality of designated line segments, obtains a space plane by the least square method, and projects the space plane. Face. Then, the obtained projection plane is formed into a grid, and the extracted laser range points (three-dimensional point group data) are projected on the projection plane to generate an image called hybrid Z-image. Therefore, the value of the pixel in the hybrid Z-image is the number of laser range points (three-dimensional point cloud data) projected on the corresponding grid. Through such a process, the shape of a plurality of line segments in the three-dimensional space can be expressed in a two-dimensional image at the maximum. Subsequently, the bending point or the end point obtained above is projected on the hybrid Z-image, and it is confirmed whether or not the shape matches the shape of the line segment represented by the laser range point (three-dimensional point group data). Then, when they do not match, the operator corrects the polyline projected on the hybridZ-image. The center point of the laser range point (three-dimensional point cloud data) projected on the corresponding hybrid Z-image is determined for the bending point or the end point of the corrected line segment, and is determined as the bending point or the end point in space. . A plurality of line segments specified by the inflection points or end points are line objects.
[0032]
Next, the line object generation unit 13 transfers the data of the line object to the model generation unit 7. Subsequently, the model generation unit 7 matches the line object with the data stored in the logo database 7, classifies the street light, the sidewalk world, and the like, and assigns an attribute to the line object. When the matching fails, the attribute input from the input unit 9 is added. Then, the model generator 7 writes the obtained line object into the three-dimensional model data file 8. As a result, the line object has been written to the three-dimensional model data file 8, and when this three-dimensional model data is displayed, the line object indicated by reference numeral L1 in FIG. 6 is displayed. Similarly, in FIG. 4, when symbols G, H, and I and symbols E and F are designated, line objects indicated by symbols L2 and L3 in FIG. 6 are respectively generated.
Although a straight line has been described as an example here, a curved line object such as an arc may be generated by a group of short line objects.
[0033]
Next, the operator specifies generation of a point object from the input unit 9. In response to this, the model generation unit 7 displays a message on the display unit 11 so as to specify the position of the feature point. Subsequently, the operator specifies the position of the feature point on the screen (FIG. 2) on which the image data is displayed using the mouse of the input unit 9. In response to this, the screen processing unit 10 reads the coordinate values on this screen and notifies the model generation unit 7. Then, the model generation unit 7 transfers the designated coordinate values to the point object generation unit 14. In response, the point object generation unit 13 takes the center point of the laser range point projected within a predetermined allowable range around the pixel of the image data corresponding to the coordinate value, and obtains the spatial coordinate value of the point object. And The point object generation unit 14 transfers the coordinate values to the model generation unit 7. In response to this, the model generating unit 7 writes the spatial coordinate values into the three-dimensional model data file 8.
[0034]
Next, an operation of complementing the three-dimensional polygon surface data stored in the three-dimensional polygon surface data file 18 generated by the other measuring means will be described. Due to a measurement error of the distance measurement data or a limitation of the existing three-dimensional model data producing means, there is an error in the three-dimensional polygon surface data stored in the three-dimensional polygon surface data file 18 generated by other measuring means. May be included, and lack of realism may occur due to lack of texture data. Therefore, interpolation is performed based on line CCD image data. First, when receiving an instruction to supplement data from the input unit 9, the model generating unit 7 issues an instruction to supplement data to the data complementing unit 15. In response, the data complementing unit 15 projects the three-dimensional model data generated by the other measuring means on the image data, and the object shape drawn thereby matches the one captured on the image data. Confirm whether or not.
[0035]
Next, the operator specifies a correct projection location on the screen with the mouse for the vertices of the non-matching polygon projected on the image data. Then, a new spatial coordinate value is given to the vertex by finding an intersection between the shooting direction line of the pixel of the corresponding image data and the spatial plane of the polygon to which the corresponding vertex belongs. Subsequently, the pixels of the image data surrounded by the projected polygon are projected onto the space plane of the polygon along the shooting direction line, and a texture image of the polygon is generated by resampling.
In this way, even if the three-dimensional polygon surface data stored in the three-dimensional polygon surface data file 18 generated by the other measuring means has a large error, it can be complemented based on the image data. Become. Further, it is possible to obtain a more realistic feeling by generating the texture data.
[0036]
By repeating the above operation, three-dimensional model data is generated as a set of objects including surfaces, lines, and points. 8 and 9 show an example in which the vehicle is actually driven in a city area by a measurement vehicle, three-dimensional model data is generated based on the acquired data, and displayed on a screen. According to the present invention, as shown in FIG. 8, the surface of a building uses a CCD image as a texture as it is, so that realistic three-dimensional model data can be created. Further, since the positional relationship of objects such as planes and lines is determined based on the three-dimensional point cloud data, it is possible to obtain accurate three-dimensional model data. Further, as shown in FIG. 9, a signboard or the like serving as a mark in an urban area can also use the CCD image as it is, and a sign, a signal, and a pedestrian crossing can be realistically represented. Generation of optimal data as display data of the system can be realized.
[0037]
In the past, there have been many development cases in which three-dimensional measurement of various objects is performed using distance images by a laser scanner or multiple stereoscopic images by a CCD camera or the like, and a three-dimensional model is automatically constructed. When the shape and structure are complicated, complete automatic construction is extremely difficult, resulting in a lot of manual work, and after all, introduction of an automation system often does not provide a significant labor saving effect.
[0038]
However, in the present invention, a three-dimensional point cloud data and a CCD image are superimposed, and a three-dimensional model of the target object can be obtained by simply tracing the contour of the target object on the CCD image which is easy for humans to read. It can be constructed, and the efficiency of manual work can be greatly improved. In particular, a three-dimensional model is constructed by cutting out three-dimensional point group data corresponding to the input contour line and appropriately fitting a surface (line), a line segment, a point, and the like to the three-dimensional point group data. Not only buildings and roads but also a wide variety of three-dimensional spatial models including complex shapes such as store signs, traffic lights, road traffic signs, traffic lights, sidewalks, and benches can be constructed extremely efficiently. This can be used for measuring a three-dimensional model of a real object such as computer graphics, a digital map, surveying, and CAD, and for creating display data for a navigation system.
[0039]
A program for realizing the functions of the respective processing units in FIG. 1 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed to execute a three-dimensional model. Data generation processing may be performed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer system” also includes a WWW system provided with a homepage providing environment (or display environment). The “computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, and a CD-ROM, and a storage device such as a hard disk built in a computer system. Further, the “computer-readable recording medium” refers to a volatile memory (RAM) inside a computer system that becomes a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. In addition, those that hold programs for a certain period of time are also included.
[0040]
Further, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. Further, the program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.
[0041]
【The invention's effect】
As described above, according to the present invention, three-dimensional point cloud data obtained by converting laser range data having high-precision three-dimensional information is projected onto image data having texture information, and the screen of the image data is displayed. By manually inputting the area of the object to be measured as a work screen and obtaining the three-dimensional shape of the object using the three-dimensional point cloud data integrated into the area, not only buildings and roads but also shop signs, traffic lights, The effect is that wide three-dimensional spatial data such as road traffic signs and sidewalks can be efficiently and easily generated.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.
FIG. 2 is an explanatory diagram showing an example of a display screen for explaining an operation of the apparatus shown in FIG. 1;
FIG. 3 is an explanatory diagram showing an example of a display screen for explaining an operation of the apparatus shown in FIG. 1;
FIG. 4 is an explanatory diagram showing an example of a display screen for explaining an operation of the apparatus shown in FIG. 1;
5 is an explanatory diagram showing an example of a display screen for explaining the operation of the device shown in FIG. 1.
FIG. 6 is an explanatory diagram showing an example of a display screen for explaining the operation of the apparatus shown in FIG. 1;
FIG. 7 is a layout diagram when three laser range scanners, six line CCD cameras, and a navigation device are mounted on a roof of a measurement vehicle.
FIG. 8 is an explanatory diagram showing an example of generated three-dimensional model data.
FIG. 9 is an explanatory diagram illustrating an example of generated three-dimensional model data.
[Explanation of symbols]
1 ... Image data file
2 ・ ・ ・ Ranging data file
3 Position and orientation data file
4 Data integration unit
5 3D point cloud data file
6 ... Integrated image data file
7 ... Model generation unit
8 ... 3D model data file
9 Input unit
10 Screen processing unit
11 Display unit
12 ... plane object generation unit
13 ... line object generation unit
14 point generator
15 ・ ・ ・ Data complementer
16 Data reading unit
17 ... Logo database
18 ... 3D polygon surface data file

Claims (10)

A three-dimensional model construction system for constructing a three-dimensional model from image data and three-dimensional point cloud data, wherein the three-dimensional model is constructed from these data,
A data file for storing three-dimensional model data,
Display means for displaying the image data and the three-dimensional point cloud data on a screen;
Specifying means for specifying a polygonal area on the screen on which the image data is displayed;
Extracting means for extracting three-dimensional point cloud data included in the polygonal area;
Surface object generation means for specifying a surface object by obtaining three-dimensional coordinate values of the polygonal region based on the extracted three-dimensional point cloud data, and writing the surface object in the data file. 3D model construction system. The three-dimensional model construction system includes:
Means for specifying an end point or a bending point of a line segment on the screen on which the image data is displayed,
A line object generating means for specifying a line object by obtaining three-dimensional coordinate values of the line segment based on the three-dimensional point cloud data and writing the line object into the data file. 3. The three-dimensional model construction system according to 1. The three-dimensional model construction system includes:
Means for designating feature points on a screen on which the image data is displayed;
2. The method according to claim 1, further comprising: a point object generation unit that specifies a point object by obtaining three-dimensional coordinate values of the feature points based on the three-dimensional point cloud data, and writes the point object into the data file. 3. The three-dimensional model construction system according to 1 or 2. 4. The three-dimensional model construction according to claim 1, wherein the plane object generating unit extracts image data in the polygon area and writes the image data as a texture to the data file. 5. system. The three-dimensional model construction system includes:
The three-dimensional model according to any one of claims 1 to 4, further comprising data complementing means for complementing three-dimensional polygon surface data generated by another measuring means based on the image data. Building system. A three-dimensional model construction program in which image data and three-dimensional point cloud data are stored in association with each other, a three-dimensional model is constructed from these data, and the obtained three-dimensional model data is written in a data file. ,
A display process of displaying the image data and the three-dimensional point cloud data on a screen;
A designation process of designating a polygonal area on the screen on which the image data is displayed;
Extraction processing for extracting three-dimensional point cloud data included in the polygonal region;
Based on the extracted three-dimensional point group data, a three-dimensional coordinate value of the polygonal area is determined to specify a surface object, and the computer performs a surface object generation process of writing the data in the data file. 3D model construction program. The three-dimensional model construction program includes:
A process of specifying an end point or a bending point of a line segment on the screen on which the image data is displayed;
A line object is specified by obtaining three-dimensional coordinate values of the line segment based on the three-dimensional point cloud data, and a line object generating process to be written to the data file is further performed by a computer. A three-dimensional model construction program according to claim 6. The three-dimensional model construction program includes:
A process of designating a feature point on the screen on which the image data is displayed;
On the basis of the three-dimensional point cloud data, a three-dimensional coordinate value of the feature point is determined to specify a point object, and the computer further performs a point object generation process of writing the point object in the data file. A three-dimensional model construction program according to claim 6. 9. The three-dimensional model construction according to claim 6, wherein the plane object generation processing extracts image data in the polygonal area and writes the image data as a texture to the data file. program. The three-dimensional model construction program includes:
10. The computer-readable storage medium according to claim 6, further comprising: causing the computer to further perform a data complementing process for complementing three-dimensional polygon surface data generated by another measuring unit based on the image data. Dimensional model construction program.

Images