JP2007255955A - Attitude angle detector and camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To measure an attitude angle even of a moving body whose small mounting weight and small mounting space. <P>SOLUTION: First, a horizontal line detecting section 9 extracts horizontal lines from the longitudinal video and side video of the moving body photographed by a camera system 7. Next, the horizontal line detecting section 9 calculates the pitch angle ϕ and roll angle θ, based on the position of the horizontal line in the longitudinal video and the position of the horizontal line in the side video. A target extraction section 11 extracts a known object from at least one of the longitudinal video and side video. Next, the target extraction section 11 calculates the vector P<SB>1</SB>showing the direction from the moving body to the known object based on the longitudinal video and side video. An attitude angle calculation section 14 calculates the vector P<SB>0</SB>showing the direction from the moving body to the known object based on the positioning coordinate of the moving body positioned by a GPS (Global Positioning System) 33 and a known coordinate of the known object. The attitude angle calculation section 14 calculates the yaw angle ψ, based on the vector P<SB>0</SB>, vector P<SB>1</SB>, pitch angle ϕ and roll angle θ. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an attitude angle detection device and a camera in a system that detects an attitude angle of a moving body, for example.

  Many means already exist as means for detecting the posture angle of the moving body, and generally a device specialized for posture angle detection is mounted on the moving body.

  As an example of such a system, a conventional technique for detecting an attitude angle by a mechanical sensor such as a gyro is known (for example, Patent Document 1).

In addition, since a small mobile body has a limited payload (weight and space), a dedicated device for measuring such an attitude angle cannot be mounted in addition to a camera for performing shooting.
JP 2000-97637 A

In other words, in the past, when a sensor such as a camera was mounted on a small mobile body and an observation system was constructed, it was difficult to mount a system that detects the posture angle from the viewpoint of mounting weight and mounting space. It was.
In this case, a posture angle detection system sharing a camera for shooting is required.
In addition, in order to identify the position of the video acquired by the observation system, it is necessary to determine the video position by comparing the characteristics of roads and rivers in the video with the roads and rivers on the map. It was.

An object of the present invention is to make it possible to measure a posture angle even with a moving body that has a small mounting weight and a small mounting space.
Another object of the present invention is to make it possible to measure a posture angle without having to collate a video with a map.

The posture angle detection device of the present invention is a posture angle detection device that detects a pitch angle φ, a roll angle θ, and a yaw angle ψ as a posture angle of a moving body, and includes a front and rear of the moving body photographed by a camera. A video storage device for storing at least one of the front and rear video images and a side video image of at least one of the right side and the left side of the moving object photographed by the camera; A horizontal line extraction unit that extracts a horizontal line from a front and rear image and a side image acquired by using a central processing unit, and a position of the horizontal line extracted from the front and rear image by the horizontal line extraction unit and the horizontal line extraction A pitch-roll calculating unit that calculates a pitch angle φ and a roll angle θ using a central processing unit based on the position in the side image of the horizontal line extracted from the side image by the unit, and a positioning device A vector P ₀ calculation unit for calculating a direction vector P ₀ from the moving object to the known object using the central processing unit based on the positioning coordinates of the measured moving object and the known coordinates of the known object, and the video storage device A known object extraction unit that extracts a known object using a central processing unit from at least one of the front and rear image and the side image obtained by acquiring the front and rear image and the side image, and the known object extracted by the known object extraction unit A vector P ₁ calculation unit that calculates a direction vector P ₁ from the moving object to the known object using a central processing unit based on a position in at least one of the front and rear images and the side image of the object, and the vector P ₀ calculation the parts with the direction vector P ₀ calculated is the vector P ₁ calculation unit and the direction vector P ₁ calculated pitch - the pitch angle φ of the roll calculating unit has calculated pitch - b roll calculating unit has calculated And a yaw angle ψ calculating unit for calculating a yaw angle ψ using a central processing unit based on the control angle θ.

According to the present invention, since the posture angle of the moving body is detected based on the image taken by the camera, it is not necessary to separately mount a gyro etc. for detecting the posture angle, so the mounting weight is small and the mounting space is small. The posture angle can be measured even with a small moving body.
In addition, the posture angle detection time can be shortened without the need for collation with the map.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a mobile body (posture angle detection system) that detects a posture angle in the first embodiment.
The configuration of the moving body that is the posture angle detection system in the first embodiment and the configuration of the posture angle detection apparatus 30 that detects the posture angle of the moving body will be described below with reference to FIG.

A mobile body that is an attitude angle detection system includes a camera system 7, a GPS 33, and an attitude angle detection device 30. The moving body is, for example, an aircraft, a vehicle, an unmanned airplane, an autonomous walking robot, or the like.
The camera system 7 (camera) performs imaging in a viewing direction of 360 ° in the horizontal direction and a wide angle (180 ° or more) in the vertical direction. Details of the camera system 7 will be described separately (see Embodiment 2). Further, the camera system 7 does not have to face upward as shown in FIG. For example, the camera system 7 may face downward.
The GPS 33 (positioning device) performs positioning of the moving object using GPS (Global Positioning System). In general, the observation system includes a GPS 33 for detecting the position.
The posture angle detection device 30 receives the video signal 8 from the camera system 7, and the yaw angle ψ (Yaw angle: azimuth angle), pitch angle φ (Pitch angle: elevation angle), and roll angle θ (Roll angle) as the posture angle of the moving body. : Rotation angle).

  When the gravity direction is the Z direction, the front-rear direction of the moving body is the Y direction, and the lateral direction is the X direction on a horizontal plane perpendicular to the gravity direction, the yaw angle ψ is the posture in which the moving body is directed left and right. The angle in the X direction formed on the −Z plane, the pitch angle φ is the posture that the moving body is looking up or looking down, the angle in the Z direction that the moving body forms with respect to the XY plane, and the roll angle θ Is an angle formed with respect to the XY plane or the YZ plane when the moving body rotates about the Y direction as a rotation axis.

In addition, the posture angle detection device 30 includes a horizontal line detection unit 9, a target extraction unit 11, a posture angle calculation unit 14, a video storage device 31, and a position storage device 32.
The video storage device 31 receives the video signal 8 from the camera system 7 (camera), and the front and rear images representing at least one of the front and rear of the moving object photographed by the camera system 7 and the camera system 7 photographed. A side image representing at least one of the right side and the left side of the moving body is stored.
The horizontal line detection unit 9 (horizontal line extraction unit, pitch-roll calculation unit) acquires the front and rear images and the side images from the video storage device 31, and the CPU 911 (see FIG. 2) determines the horizontal lines from the acquired front and rear images and the side images. Extract using. Further, the horizontal line detection unit 9 uses the CPU 911 to calculate the pitch angle φ and the roll angle θ based on the position of the horizontal line extracted from the front and back images in the front and rear images and the position of the horizontal line extracted from the side images in the side images. To calculate. The horizontal line detection unit 9 outputs the calculated pitch angle φ and roll angle θ as horizontal line position information 10 to the posture angle calculation unit 14.
The position storage device 32 receives the camera position information 13 from the GPS 33 and stores the coordinates (positioning coordinates) of the moving body measured by the GPS 33. Further, the position storage device 32 stores coordinates (known coordinates) of known objects such as the sun, the moon, and the North Star.
Target extracting unit 11 (known extraction unit, a vector P ₁ calculation unit) acquires the front and rear image and the lateral image from the video storage device 31, a known material from at least one of the acquired longitudinal image and the side image Extraction is performed using the CPU 911. Further, the target extraction unit 11 sends the polar coordinate vector P ₁ (direction vector P ₁ ) from the moving object to the known object to the CPU 911 based on the position of at least one of the front and rear images and the side image of the extracted known object. Use to calculate. The target extraction unit 11 outputs the calculated polar coordinate vector P ₁ (direction vector P ₁ ) to the attitude angle calculation unit 14 as the known target direction 12.
The attitude angle calculation unit 14 (vector P ₀ calculation unit, yaw angle ψ calculation unit) changes from the moving object to the known object based on the positioning coordinates of the moving object and the known coordinates of the known object stored in the position storage device 32. The polar coordinate vector P ₀ (direction vector P ₀ ) is calculated using the CPU 911. The posture angle calculation unit 14 also calculates the polar coordinate vector P ₀ (direction vector P ₀ ) calculated by itself, the polar coordinate vector P ₁ (direction vector P ₁ ) calculated by the target extraction unit 11, and the pitch angle calculated by the horizontal line detection unit 9. Based on φ and the roll angle θ, the CPU 911 is used to calculate the yaw angle ψ.
The posture angle calculation unit 14 stores the posture angle in a storage device. Further, the posture angle calculation unit 14 may transmit the posture angle using a communication device, may display the posture angle using a display, or may print using a printer.

FIG. 2 is a diagram illustrating an example of hardware resources of the attitude angle detection device 30 according to the first embodiment.
In FIG. 2, the attitude angle detection device 30 includes a CPU 911 (also referred to as a central processing unit, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a processor) that executes a program. The CPU 911 is connected to the ROM 913, the RAM 914, the communication board 915, and the magnetic disk device 920 via the bus 912, and controls these hardware devices. Instead of the magnetic disk device 920, a storage device such as an optical disk device or a memory card read / write device may be used.
The RAM 914 is an example of a volatile memory. The storage medium of the ROM 913 and the magnetic disk device 920 is an example of a nonvolatile memory. These are examples of a storage device, a storage device, or a storage unit.
The communication board 915 is an example of an input / output device, an input / output device, or an input / output unit.

The communication board 915 is wired or wirelessly connected to a communication network such as a LAN (Local Area Network), the Internet, a WAN (Wide Area Network) such as ISDN, and a telephone line.
The magnetic disk device 920 stores an OS 921 (operating system), a program group 923, and a file group 924. The programs in the program group 923 are executed by the CPU 911 and the OS 921.

The program group 923 stores a program for executing a function described as “˜unit” in the description of the embodiment. The program is read and executed by the CPU 911.
In the file group 924, in the description of the embodiment, result data such as “determination result of”, “calculation result of”, “processing result of”, and the like when the “˜part” function is executed, Data to be passed between programs that execute the function of “˜part”, other information and data, signal values, variable values, and parameters are stored as items of “˜file” and “˜database”. The “˜file” and “˜database” are stored in a recording medium such as a disk or a memory. Information, data, signal values, variable values, and parameters stored in a storage medium such as a disk or memory are read out to the main memory or cache memory by the CPU 911 via a read / write circuit, and extracted, searched, referenced, compared, and calculated. Used for CPU operations such as calculation, processing, output, printing, and display. Information, data, signal values, variable values, and parameters are stored in the main memory, cache memory, and buffer memory during the CPU operations of extraction, search, reference, comparison, operation, calculation, processing, output, printing, display, and extraction. Temporarily stored.
In addition, arrows in the flowcharts described in the description of the embodiment mainly indicate input / output of data and signals, and the data and signal values are recorded in the memory of the RAM 914, the magnetic disk of the magnetic disk device 920, and other recording media. Is done. Data and signal values are transmitted online via a bus 912, signal lines, cables, or other transmission media.

  In addition, what is described as “˜unit” in the description of the embodiment may be “˜circuit”, “˜device”, “˜device”, “means”, and “˜step”, “ ~ Procedure "," ~ process ". That is, what is described as “˜unit” may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented only by software, or only by hardware such as elements, devices, substrates, and wirings, by a combination of software and hardware, or by a combination of firmware. Firmware and software are stored as programs on a magnetic disk or other recording medium. The program is read by the CPU 911 and executed by the CPU 911. That is, the program causes the computer to function as “to part”. Alternatively, the procedure or method of “to part” is executed by a computer.

FIG. 3 is a flowchart showing a posture angle detection method of the moving body (posture angle detection system) in the first embodiment.
Attitude angle detection processing executed by the attitude angle detection device 30, the camera system 7, and the GPS 33 in the first embodiment will be described below with reference to FIG.

<S101: Shooting process>
First, the camera system 7 captures an image of almost the entire periphery of the moving body.
The camera system 7 outputs the video signal 8 by a camera system according to a second embodiment described later or a camera system capable of photographing almost the entire periphery using a plurality of cameras. Note that when the camera system 7 is attached to the moving body, the displacement of the body axis of the camera system 7 is measured with respect to the body axis of the moving body, and the image taken by the camera system 7 is corrected by correcting the measured displacement. The upper position can be expressed by the coordinate system (polar coordinates) of the body axis of the moving body. And the position on the image | video image | photographed with the camera system 7 can be represented by the polar coordinate vector which shows the direction seen from the moving body. The attitude angle detection device 30 can be expressed by, for example, at least one of a roll angle θ, a pitch angle φ, and a yaw angle ψ for one point on an image captured by the camera system 7.
The attitude angle detection device 30 stores the video (front video, side video, specific video, etc.) indicated by the video signal 8 output from the camera system 7 in the video storage device 31.

<S102: Positioning process>
The GPS 33 measures the position of the moving body.
The GPS 33 measures the coordinates at which the moving body is located at the time of photographing by the camera system 7 and outputs camera position information 13 indicating the measured coordinates. The coordinates determined by the GPS 33 and the polar coordinates of the moving body can be represented by respective coordinate systems. For example, the attitude angle detection device 30 can convert coordinates measured by the GPS 33 into polar coordinates.
The attitude angle detection device 30 stores the coordinates of the moving body indicated by the camera position information 13 output from the GPS 33 in the position storage device 32.

  Then, the posture angle detection device 30 executes the following processing (S103 to S108) using the CPU 911 to detect the posture angle of the moving body.

<S103, S104: Horizontal Line Extraction Processing, Pitch-Roll Calculation Processing>
First, the horizontal line detection unit 9 extracts a horizontal line from the video stored in the video storage device 31 (S103), and then the horizontal line detection unit 9 forms a pitch angle φ / roll angle formed by the focal length of the camera system 7 and the horizontal line. θ is calculated (S104).

4 and 5 are conceptual diagrams illustrating a pitch-roll calculation method of the horizontal line detection unit 9 according to the first embodiment.
FIG. 4 is a perspective view of the image 16 viewed from the left side.
FIG. 5 is a side view of the image 16 as viewed from the left side, and is a relationship diagram showing the relationship between the image 16 and the lens 2.
The horizontal line extraction process (S103) and the pitch-roll calculation process (S104) executed by the horizontal line detection unit 9 will be described below with reference to FIGS.

As shown in FIG. 4, the horizontal line detection unit 9 performs image processing on the video 16 indicated by the video signal 8 and extracts the horizontal line 15 (S103). At this time, for example, the horizontal line detection unit 9 detects a difference in brightness and brightness between the sky above the horizontal line 15 and the ground plane below the horizontal line 15, and extracts the boundary between the sky and the ground plane as the horizontal line 15.
Here, the camera system 7 is attached to the moving body so that the horizontal line 15 appears on the horizontal axis passing through the center 17 of the image 16 when the moving body is located on a horizontal plane perpendicular to the direction of gravity. To do. That is, the longer the distance from the horizontal axis passing through the center 17 of the video 16 to the horizontal line 15 (the distance from the center 17 to the intersection 18), the larger the pitch angle φ and roll angle θ of the moving body.
Therefore, first, as shown in FIG. 4, the horizontal line detection unit 9 has the shortest distance between the center 17 and the horizontal line 15 with respect to the front image 16 (front and rear images) and both side images 16 (side images) of the moving body. The intersection 18 is obtained. The intersection 18 is a point where a perpendicular to the horizontal line 15 and the horizontal line 15 intersect from the center 17 of the image.
Next, as shown in FIGS. 4 and 5, the horizontal line detection unit 9 obtains a displacement angle 20 formed by the horizontal line 15 and the center 17 from the focal length 19 of the lens 2 of the camera system 7. Then, the horizon detection unit 9 outputs the displacement angle 20 in the front image 16 as the pitch angle φ of the moving object, and outputs the displacement angle 20 in the side image 16 as the roll angle θ of the moving object.
In the above, “the camera system 7 is attached to the moving body so that the horizontal line 15 appears on the horizontal axis passing through the center 17 of the image when the moving body is located on a horizontal plane perpendicular to the direction of gravity”. However, the camera system 7 may not satisfy this condition.
When the condition is not satisfied, when the camera system 7 is attached to the moving body, the angle between the horizontal axis passing through the center 17 of the image and the horizontal line 15 when the moving body is positioned on a horizontal plane perpendicular to the direction of gravity. Measure the difference. And the horizontal line detection part 9 can calculate the displacement angle 20 of the horizontal line 15 which deducted the measured angle difference as the pitch angle (phi) and roll angle (theta) of a moving body.

<S105, S106: known extraction process, the vector _{P 1} calculation processing>
In FIG. 3, the target extraction unit 11 extracts a target from the video (S105), and the target extraction unit 11 polar coordinates vector P ₁ (X ₁ , Y ₁ , Z ₁ ) from the moving object to the target based on the video. Is calculated (S106).
At this time, the target extraction unit 11 extracts a target (known object) having known coordinates such as the sun, the moon, and the north pole from the video 16 indicated by the video signal 8 (S105). For example, the target extraction unit 11 performs image processing for determining luminance, brightness, and size in the video and extracts the target.
Then, the target extraction unit 11 calculates a target polar coordinate vector P ₁ (X ₁ , Y ₁ , Z ₁ ) based on the target position on the video and outputs it as the known target direction 12. The target extraction unit 11 calculates a target polar coordinate vector P ₁ (X ₁ , Y ₁ , Z ₁ ) based on, for example, the number of pixels from the video center to the target. For example, the target extraction unit 11 sets the ratio of the number of pixels in the X direction, the Y direction, and the Z direction from the video center to the target as a target polar coordinate vector P ₁ (X ₁ , Y ₁ , Z ₁ ). The polar coordinate vector P ₁ (X ₁ , Y ₁ , Z ₁ ) is a unit vector indicating the direction from the moving object to the target, and is a measured value calculated based on the video.
The target may be a building on the ground or an artificial satellite.

<S107: vector _{P 0} calculation process>
Next, the attitude angle calculation unit 14 calculates a polar coordinate vector P ₀ (X ₀ , Y ₀ , Z ₀ ) from the moving object to the target based on the positioning coordinates.
At this time, the attitude angle calculation unit 14 subtracts the coordinate value of the moving object indicated by the camera position information 13 output from the GPS 33 from the coordinate value of the known target, and shows the polar coordinates indicating the direction of the known target viewed from the position of the moving object. A vector P ₀ (X ₀ , Y ₀ , Z ₀ ) is calculated. The polar coordinate vector P ₀ (X ₀ , Y ₀ , Z ₀ ) is a unit vector indicating the direction from the moving body to the target, and is a theoretical value calculated based on the coordinate value.

<S108: Yaw Angle ψ Calculation Process>
Then, the posture angle calculator 14 calculates the yaw angle ψ, based on the polar coordinate vector P ₁ and the pitch angle φ and the roll angle θ is measured and polar coordinate vector P ₀ is a theoretical value.
At this time, the posture angle calculation unit 14 calculates the polar angle vector P ₁ calculated by the pitch angle φ of the moving object and the roll angle θ of the moving object, the known target direction 12 calculated by the horizontal line detection unit 9, and the polar coordinate vector P calculated by itself. The yaw angle ψ of the moving object is calculated by substituting ₀ into the following formula 1. The posture angle calculation unit 14 sets (yaw angle ψ, pitch angle φ, roll angle θ) as the posture angle of the moving body with respect to the absolute space coordinates of the moving body.

In the first embodiment, by using the detection of the horizon and one known target, the camera can be used without installing a dedicated device for posture angle measurement such as a gyro, and without matching with a map. The observation system (attitude angle detection system) that can detect the attitude angle of the moving object relative to the absolute space coordinates of the moving object only by the system 7 has been described.
The posture angle detection device 30 in the first embodiment is characterized in that the pitch angle φ and the roll angle θ are detected by detecting the inclinations of the horizontal lines on the front and side of the moving body.
Another feature is to detect the yaw angle ψ from the image position of a known target (sun, moon, etc.).

Embodiment 2. FIG.
In the second embodiment, a camera system 7 that performs imaging in a viewing direction of 360 ° in the horizontal direction and a wide angle (180 ° or more) in the vertical direction, that is, almost the entire periphery will be described.

6 is a cross-sectional view of the camera system 7 according to the second embodiment as viewed from the side, and is a cross-sectional view taken along the line AA of the camera system 7 in FIG. 1 described in the first embodiment.
FIG. 7 is a cross-sectional view of the camera system 7 in the second embodiment as viewed from the lens direction, and is a cross-sectional view of the camera system 7 in FIG. 1 described in the first embodiment as viewed from the B direction.

  An element 1 included in the camera system 7 is a light receiving element having a two-dimensional array of FPA (Focal Plane Array) lenses, and forms a visual field 3 through the lens 2. The element 1 periodically performs video recording and output of the recorded video to the video storage device 31. Further, the camera system 7 has a half-moon-like reflecting mirror 4 in the visual field 3. In addition, the drive device 34 included in the camera system 7 rotates the reflecting mirror 4 so that the reflecting mirror 4 is arranged on the entire circumference in the rotation direction within the image acquisition cycle, with the optical axis of the lens 2 as the rotation axis. For example, the driving device 34 rotates the reflecting mirror 4 at a speed of one rotation or more per video acquisition period. The element 1 simultaneously photographs the front visual field 5 on the side where the reflecting mirror 4 is not located and the side visual field 6 on the side where the reflecting mirror 4 is located. Further, the drive device 34 rotates the reflecting mirror 4 stepwise only while the image recorded by the element 1 is output. The reflecting mirror 4 has a contact point where the field of view 3 is a tangent to the reflecting mirror 4 to form a curved surface, so that when the front field of view 5 and the side field of view 6 are joined together, The visual field 6 is continuous, and it is possible to prevent missing of the image. That is, the reflecting mirror 4 has a curved surface shape. The reflecting mirror 4 constitutes a curved surface having a contact point D at which the angle α formed by the tangent of the curved surface with respect to the optical axis is the same as (or less than the light incident angle β) the light incident angle β of the lens 2. At this time, the angle α and the incident angle β are based on the focal point C of the lens 2, and the incident angle β is an angle at which the lens 2 can enter the element 1, and an angle formed by the optical axis of the lens 2 and the visual field 3. It is.

FIG. 8 is a flowchart showing the photographing process (S101) of the camera system 7 according to the second embodiment.
The shooting process (S101) of the camera system 7 in one video acquisition cycle will be described below with reference to FIG.
When shooting 30 times per second, the camera system 7 executes the following processing (S201 to S206) 30 times per second. In this case, one video acquisition cycle is 1/30 seconds, and a quarter cycle is 1/120 seconds.

<S201: Image Acquisition Process 1 (1/4 period)>
In the first quarter period of the image acquisition period, the element 1 acquires the image of the front visual field 5 from the half-circumferential part on the side where the reflecting mirror 4 is not located, and the side visual field 6 from the half-circular part where the reflective mirror 4 is located. Get the video. Here, it is assumed that the reflecting mirror 4 is located on the left side of the lens 2. That is, the reflecting mirror 4 acquires an image of the front visual field 5 on the right side of the lens and an image of the side visual field 6 on the left side of the lens.
<S202: Lens Movement Processing 1 (2/4 Period)>
In the next ¼ period of the image acquisition period, the driving device 34 rotates the reflecting mirror 4 half a turn in the rotation direction.
<S203: Video Output Process 1 (2/4 Period)>
In parallel with the driving device 34 rotating the reflecting mirror 4, the element 1 outputs the acquired image of the front visual field 5 on the right side of the lens and the image of the side visual field 6 on the left side of the lens to the video storage device 31.
<S204: Video Acquisition Process 2 (3/4 Period)>
In the next 1/4 period of the image acquisition period, the element 1 acquires the image of the front visual field 5 from the half-circumferential part on the side where the reflecting mirror 4 is not located, and the side visual field 6 from the half-circular part where the reflecting mirror 4 is located. Get the video. At this time, the reflecting mirror 4 is positioned on the right side of the lens 2, and the reflecting mirror 4 acquires an image of the front visual field 5 on the left side of the lens and an image of the side visual field 6 on the right side of the lens.
<S205: Lens Movement Processing 2 (4/4 Period)>
In the next ¼ period of the image acquisition period, the driving device 34 rotates the reflecting mirror 4 half a turn in the rotation direction.
<S206: Video Output Process 2 (4/4 Period)>
In parallel with the driving device 34 rotating the reflecting mirror 4, the element 1 outputs the acquired image of the front visual field 5 on the left side of the lens and the image of the side visual field 6 on the right side of the lens to the video storage device 31.

  The camera system 7 according to the second embodiment can realize almost all-round photographing with one camera by the above-described camera configuration and photographing processing.

In the above description, the reflecting mirror 4 has been described in a semimoon shape (semicircular shape). That is, the reflecting mirror 4 has been described with the angle d (see FIG. 7) formed in the rotation direction being 180 °, but the angle d formed in the rotation direction of the reflecting mirror 4 may be larger or smaller than 180 °.
In the above description, the video acquisition time and the rotation time of the reflecting mirror 4 (and the video output time) have been described as having the same length of time (1/4 cycle), but the time may not be the same. .
That is, the shooting process (S101) of the camera system 7 in the second embodiment can be expressed as shown in FIG.

FIG. 9 is a flowchart showing the photographing process (S101) of the camera system 7 according to the second embodiment.
The photographing process (S101) of the camera system 7 will be described below based on FIG.

<S301: Video Acquisition Process>
The element 1 acquires the image of the front visual field 5 from the direction where the reflecting mirror 4 is not located, and acquires the image of the side visual field 6 from the direction where the reflecting mirror 4 is located.
<S302: Lens Movement Processing>
The drive device 34 rotates the reflecting mirror 4 in the rotation direction by a specific angle. For example, the driving device 34 rotates the reflecting mirror 4 by an angle d formed by the reflecting mirror 4 in the rotation direction.
<S303: Video Output Processing>
In parallel with the driving device 34 rotating the reflecting mirror 4, the element 1 outputs the acquired image of the front visual field 5 and the image of the side visual field 6 to the video storage device 31.

The camera system 7 performs the photographing process by repeating the above processes (S301 to S303).
When the driving device 34 rotates the reflecting mirror 4 by the angle d in the lens movement process (S302), the camera system 7 performs the above process (S301 to S303) as “360 [°] / d [°]” per one image acquisition period. Repeat once.

Although it has been described above that the lens movement process (S202, S205, S302) and the video output process (S203, S206, S303) are performed in parallel, the process may not be performed in parallel. In other words, the video output process may be executed after the lens movement process, the lens movement process may be executed after the video output process, or only part of the lens movement process and part of the video output process are performed in parallel. Can be executed.
However, if the lens movement process and the video output process are performed in parallel, the video acquisition cycle can be shortened, and more videos can be taken in a unit time.

  In the second embodiment, the camera system 7 has been described in which, by providing the reflecting mirror 4 that rotates, the field of view of the camera can be expanded to almost the entire circumference when the ground is projected.

In addition, the following imaging method has been described in the second embodiment.
A lens 2, an element 1 (image generator) that generates an image based on light incident on the lens 2, a reflecting mirror 4 that reflects incident light to enter the lens 2, and an optical axis of the lens 2 is rotated. An imaging method of a camera system 7 (camera) including a driving device 34 that rotates the reflecting mirror 4 about an axis.
In this photographing method, the driving device 34 performs a lens movement process (rotation process) for rotating the reflecting mirror 4 at a speed at which the reflecting mirror 4 is arranged on the entire circumference in the rotation direction within an image acquisition period for generating an image.
Further, the element 1 inputs incident light directly incident on the lens 2 from the entire circumference of the rotation axis within the image acquisition cycle, and receives incident light incident from the reflecting mirror 4 on the rotation axis within the image acquisition cycle. A light incident process (part of the video acquisition process) is performed for acquiring images by inputting from the circumferential direction.
Further, the element 1 has the same image of the front visual field 5 (image in the incident angle direction of the lens 2) and the image of the side visual field 6 (image in the incident angle direction of the reflecting mirror 4) based on the input incident light. A video generation process (a part of the video acquisition process) for generating a video at time (same video acquisition cycle) is performed.

Embodiment 3 FIG.
In the third embodiment, a mobile body (posture angle detection system) in which the posture angle detection device 30 does not include the horizon detection unit 9 as compared with the first embodiment will be described below.
Here, matters different from the moving body in the first embodiment will be described, and other matters are the same as those in the first embodiment.

FIG. 10 is a configuration diagram of a mobile body (posture angle detection system) that detects a posture angle in the third embodiment.
The configuration of the moving body that is the posture angle detection system according to the third embodiment and the configuration of the posture angle detection apparatus 30 that detects the posture angle of the moving body will be described below with reference to FIG.

A mobile body that is an attitude angle detection system includes a camera system 7, a GPS 33, and an attitude angle detection device 30 as in the first embodiment.
The third embodiment is different from the first embodiment in that the attitude angle detection device 30 does not have the horizontal line detection unit 9.

As in the first embodiment, the video storage device 31 receives the video signal 8 from the camera system 7, and the front and rear images representing at least one of the front and the rear of the moving object photographed by the camera system 7, A side image representing at least one of the right side and the left side of the moving object photographed by the camera system 7 is stored.
As in the first embodiment, the position storage device 32 receives the camera position information 13 from the GPS 33 and stores the coordinates of the moving body (positioning coordinates) measured by the GPS 33. Further, the position storage device 32 stores coordinates (known coordinates) of known objects such as the sun, the moon, and the North Star.
The target extraction unit 11 (known object extraction unit, vector P ₁ calculation unit) acquires the front and rear video and the side video from the video storage device 31 as in the first embodiment, and acquires the acquired front and rear video and the side video. A known object is extracted from at least one of the images using the CPU 911. Further, the target extraction unit 11 sends the polar coordinate vector P ₁ (direction vector P ₁ ) from the moving object to the known object to the CPU 911 based on the position of at least one of the front and rear images and the side image of the extracted known object. Use to calculate. The target extraction unit 11 outputs the calculated polar coordinate vector P ₁ (direction vector P ₁ ) to the attitude angle calculation unit 14 as the known target direction 12. Here, the target extraction unit 11 according to the third embodiment is different from the target extraction unit 11 according to the first embodiment in that three or more known objects are extracted, and the polar coordinate vector P ₁₁ and the polar coordinate vector P ₁₂ . The difference is that three polar coordinate vectors P ₁ (direction vector P ₁ ) with the polar coordinate vector P ₁₃ are calculated.
As in the first embodiment, the attitude angle calculation unit 14 (vector P ₀ calculation unit) is based on the positioning coordinates of the moving object stored in the position storage device 32 and the known coordinates of the known object. A polar coordinate vector P ₀ (direction vector P ₀ ) to a known object is calculated using the CPU 911. Further, the posture angle calculation unit 14 uses the CPU 911 based on the polar coordinate vector P ₀ (direction vector P ₀ ) calculated by itself and the polar coordinate vector P ₁ (direction vector P ₁ ) calculated by the target extraction unit 11 to use the pitch angle. φ, roll angle θ, and yaw angle ψ are calculated. Here, the posture angle calculation unit 14 according to the third embodiment has three polar coordinates of a polar coordinate vector P ₀₁ , a polar coordinate vector P _02, and a polar coordinate vector P ₀₃ compared to the posture angle calculation unit 14 according to the first embodiment. The point that the vector P ₀ (direction vector P ₀ ) is calculated is different from the point that the pitch angle φ and the roll angle θ are also calculated.

  The hardware resources of the posture angle detection device 30 in the third embodiment are the same as those in the posture angle detection device 30 in the first embodiment.

FIG. 11 is a flowchart showing a posture angle detection method for a moving body (posture angle detection system) in the third embodiment.
The attitude angle detection process executed by the attitude angle detection device 30, the camera system 7, and the GPS 33 in the third embodiment will be described below with reference to FIG.

<S401: Shooting Process>
First, the camera system 7 performs imaging in the same manner as in the first embodiment (S101).
<S402: Positioning process>
The GPS 33 performs positioning in the same manner as in the first embodiment (S102).

  Then, the posture angle detection device 30 executes the following processing (S403 to S406) using the CPU 911 to detect the posture angle of the moving body.

<S403, S404 :: known extraction process, the vector _{P 1} calculation processing>
The target extraction unit 11 extracts three targets from the video in the same manner as in the first embodiment (S105, S106) (S403), and the target extraction unit 11 moves from the moving object to the target based on the video. the polar vector _{P 1} 3 one calculates (S404).
At this time, the target extracting unit 11 in the third embodiment is different from the first embodiment in that the number of targets to be extracted from the video is three. The target extracting section 11 in the third embodiment performs the calculation of the polar coordinate vector _{P 1} for three targets, polar coordinate vector _{P 1} number is polar vector _P 11 to calculate the _{(X 11,} Y _{11, Z 11)} The third embodiment is different from the first embodiment in that there are three polar coordinate vectors P ₁₂ (X ₁₂ , Y ₁₂ , Z ₁₂ ) and polar coordinate vectors P ₁₃ (X ₁₃ , Y ₁₃ , Z ₁₃ ).

<S405: vector _{P 0} calculation process>
Next, the posture angle calculation unit 14 calculates three polar coordinate vectors P ₀ from the moving object to the target based on the positioning coordinates, as in the first embodiment (S107).
At this time, the posture angle calculation unit 14 according to the third embodiment calculates the number of polar coordinate vectors P ₀ as polar coordinate vectors P ₀₁ (X ₀₁ , Y ₀₁ , Z ₀₁ ) and polar coordinate vectors P ₀₂ (X ₀₂ , Y ₀₂ , Z ₀₂ ) and polar coordinate vector P ₀₃ (X ₀₃ , Y ₀₃ , Z ₀₃ ) are different from the first embodiment.
Three targets corresponding to polar coordinates vector P ₀ is the same as the three targets that correspond to the polar coordinates vector P _1.

<S406: Attitude angle calculation process>
Then, the attitude angle calculation unit 14 calculates the pitch angle φ, the roll angle θ, and the yaw angle ψ based on the polar coordinate vector P ₀ and the polar coordinate vector P ₁ .
At this time, the posture angle calculation unit 14 generates Formula 1 shown in the first embodiment (S108) for the three targets, solves the ternary simultaneous equation with the generated formula, and the pitch angle φ · The roll angle θ and yaw angle ψ are calculated. That is, the polar coordinate vector P ₀₁ (X ₀₁ , Y ₀₁ , Z ₀₁ ) and the polar coordinate vector P ₁₁ (X ₁₁ , Y ₁₁ , Z ₁₁ ) are substituted into the following equation 2 to obtain the polar coordinate vector P ₀₂ (X ₀₂ , Y ₀₂ , Z ₀₂ ) and the polar coordinate vector P ₁₂ (X ₁₂ , Y ₁₂ , Z ₁₂ ) are substituted into the following Expression 3, and the polar coordinate vector P ₀₃ (X ₀₃ , Y ₀₃ , Z ₀₃ ) and the polar coordinate vector P ₁₃ ( X ₁₃ , Y ₁₃ , Z ₁₃ ) are substituted into the following formula 4 to generate three formulas. Then, the attitude angle calculation unit 14 calculates the generated ternary simultaneous equations of Equation 2, Equation 3, and Equation 4 to calculate the unknown pitch angle φ, roll angle θ, and yaw angle ψ.

In the third embodiment, by using three known targets, it is possible to use only the camera system 7 without providing a dedicated device for posture angle measurement such as a gyro, and without matching with a map. The observation system (attitude angle detection system) that can detect the attitude angle of the moving object relative to the absolute space coordinates of the moving object has been described.
The posture angle detection device 30 according to the third embodiment is characterized by detecting a yaw angle, a pitch angle, and a roll angle from three known target image positions.

Embodiment 4 FIG.
In the fourth embodiment, a system for detecting one of three types of posture angles (yaw angle ψ, pitch angle φ, roll angle θ) of a moving body will be described.
Hereinafter, a case where the yaw angle ψ is detected will be described.
The pitch angle φ and roll angle θ can also be detected in the same manner as the yaw angle ψ.
Here, matters different from the moving body in the first embodiment will be described, and other matters are the same as those in the first embodiment.

FIG. 12 is a configuration diagram of a mobile body (posture angle detection system) that detects a posture angle in the fourth embodiment.
The configuration of the moving body that is the posture angle detection system according to the fourth embodiment and the configuration of the posture angle detection apparatus 30 that detects the posture angle of the moving body will be described below with reference to FIG.

A mobile body that is an attitude angle detection system includes a camera system 7, a GPS 33, and an attitude angle detection device 30 as in the first embodiment.
The fourth embodiment is different from the first embodiment in that the posture angle detection device 30 does not have the horizontal line detection unit 9 and the target extraction unit 11 but has a movement direction detection unit 21.

As in the first embodiment, the video storage device 31 receives the video signal 8 from the camera system 7 and the video P ₀ (specific video) representing the specific direction of the moving object photographed at the time T ₀ by the camera system 7. P ₀ ) and an image P ₁ (specific image P ₁ ) representing the specific direction of the moving object photographed at time T ₁ by the camera system 7 are stored. Here, the “specific direction” only needs to be the same direction at time T ₁ and time T _2, and may be any of downward, upward, forward, backward, right side, and left side. Hereinafter, the “specific direction” is defined as “downward”. In the fourth embodiment, that stores the point where the camera system 7 is taken at different times T ₀ and time T ₁ Tokyo, a video P ₁ video storage device 31 in the image P ₀ and time T ₁ at time T ₀ Is different from the first embodiment.
The movement direction detection unit 21 (specific object extraction unit, posture angle change amount calculation unit) acquires the video P ₀ and the video P ₁ from the video storage device 31 as in the target extraction unit 11 of the first embodiment. The same specific object is extracted from the acquired video ₀ and video ₁ using the CPU 911. Here, the “specific object” only needs to be the same in the image P ₀ and the image P _1, and may be a building on the ground, an artificial satellite, the sun, the moon, or an arctic star. Further, the movement direction detection unit 21 uses the CPU 911 to calculate the amount of change in the yaw angle ψ from time T ₀ to time T ₁ based on the position of the specific object extracted by the moving direction detection unit 21 in the image P _{0 and} the position in the image P ₁ . To calculate.
The attitude angle calculation unit 14 adds the amount of change in the yaw angle ψ calculated by the moving direction detection unit 21 to the yaw angle ψ at time T ₀ to calculate the yaw angle ψ at time T ₁ using the CPU 911.

  The hardware resources of the posture angle detection device 30 in the fourth embodiment are the same as those in the posture angle detection device 30 in the first embodiment.

FIG. 13 is a flowchart showing a posture angle detection method for a moving body (posture angle detection system) in the fourth embodiment.
A posture angle detection process performed by the posture angle detection device 30, the camera system 7, and the GPS 33 in the fourth embodiment will be described below with reference to FIG.

<S501: Shooting process 1>
First, the camera system 7 captures the lower video P ₀ at time T ₀ as in the first embodiment (S101).
<S502: Positioning process 1>
Further, the GPS 33 measures the position L ₀ of the moving body at time T ₀ as in the first embodiment (S102).
<S503: Shooting process 2>
First, the camera system 7, in the same manner as the first embodiment (S101), capturing an image _{P 1} of the downward time _{T 1.}
<S504: Positioning process 2>
Further, the GPS 33 measures the position L ₁ of the moving body at time T ₁ as in the first embodiment (S102).

  Then, the posture angle detection device 30 executes the following processing (S505 to S507) using the CPU 911 to detect the posture angle of the moving body.

<S505: Specific object extraction process>
First, the moving direction detection unit 21 extracts the same target (specific object) from the video P ₀ and the video P ₁ in the same manner as the target extraction unit 11 (S105, S106) of the first embodiment ( S505).
<S506: yaw angle ψ variation calculation process>
Next, the moving direction detector 21 calculates the amount of change in the yaw angle ψ based on the target shown in the video P ₀ and the target shown in the video P ₁ .
At this time, the moving direction detection unit 21 compares consecutive videos (video P ₀ , video P ₁ ) with different shooting times, and the feature point (target) is the center of the video (for example, the target object) with respect to the body axis of the mobile The angle rotated with respect to the moving object is detected and output as a rotation angle amount 22 (change amount) of the image.
In addition, the moving direction detection unit 21 compares consecutive videos with different shooting times, and outputs the upper azimuth of the video as the video reference azimuth 23 from the direction in which the moving body has advanced.

<S507: Yaw Angle ψ Calculation Process>
Then, the attitude angle calculation unit 14 adds the amount of change in the yaw angle ψ to the yaw angle ψ at time T ₀ to calculate the yaw angle ψ at time T ₁ .
At this time, the posture angle calculation unit 14 adds the rotation angle amount 22 (change amount) and the video reference orientation 23 to the yaw angle ψ at time T ₀ to calculate the yaw angle ψ of the moving object.

FIG. 14 is a conceptual diagram showing a yaw angle ψ variation calculation process (S506) and a yaw angle ψ calculation process (S507) executed by the movement direction detection unit 21 and the posture angle calculation unit 14 in the fourth embodiment.
FIG. 14 shows an example in which the yaw angle ψ of the moving body is calculated by the moving direction detection unit 21 and the posture angle calculation unit 14.

Here, based on the camera position information 13 of the moving body output from the GPS 33, changes in the positions (positions L ₀ , L ₁ ) at which continuous images (video P ₀ , video P ₁ ) with different shooting times are acquired are obtained. When the direction indicates that the moving body has traveled to “north” as shown in FIG. 14, the moving direction detector 21 outputs “north” as the video reference azimuth 23 (yaw angle = 0 °).
Further, the moving direction detection unit 21 uses the yaw angle ψ, which is the amount of change in the feature point when the video P ₀ and the video P ₁ captured at time T ₀ and time T ₁ shown in FIG. Output as.
Then, the attitude angle calculation unit 14 can obtain the yaw angle ψ with respect to the absolute space coordinates of the moving body by adding the upper direction (north) of the video and the rotation angle amount 22 (yaw angle ψ).

In the fourth embodiment, three types of posture angles (yaw angles) of the moving body can be obtained by using only the camera system 7 without providing a dedicated device for posture angle measurement such as a gyro and without collating with a map. An observation system (moving body, posture angle detection system) that can detect one angle among (ψ, pitch angle φ, roll angle θ) has been described.
One feature of the posture angle detection device 30 in the fourth embodiment is that the amount of change in angle can be detected by comparing consecutive images with different shooting times.
Also, the GPS 33 can know the yaw angle ψ when shooting at an old time out of two images compared from the reference direction (for example, north in the case of the yaw angle ψ) from the moving direction of the moving object and the direction in which the image flows. One feature.
If only one of yaw angle ψ, pitch angle φ, and roll angle θ can be detected, it is possible to know one angle (for example, yaw angle ψ) at a new time by adding the two. One feature.

Embodiment 5 FIG.
In the fifth embodiment, a system for detecting the posture angle of a moving body will be described by combining the first embodiment and the fourth embodiment.
Here, matters different from the moving body in the first embodiment will be described, and other matters are the same as those in the first embodiment.

FIG. 15 is a configuration diagram of a mobile body (posture angle detection system) that detects a posture angle in the fifth embodiment.
The configuration of the moving body that is the posture angle detection system according to the fifth embodiment and the configuration of the posture angle detection apparatus 30 that detects the posture angle of the moving body will be described below with reference to FIG.

  The mobile body, which is an attitude angle detection system, includes the camera system 7, the GPS 33, and the attitude angle detection device 30 as in the first embodiment, and the attitude angle detection device 30 has a horizontal line detection unit as in the first embodiment. 9, the posture angle calculation unit 14, the video storage device 31, and the position storage device 32, and the movement direction detection unit 21 as in the fourth embodiment.

  The hardware resources of the posture angle detection device 30 in the fifth embodiment are the same as those in the posture angle detection device 30 in the first embodiment.

FIG. 16 is a flowchart showing a posture angle detection method for a moving body (posture angle detection system) in the fifth embodiment.
Attitude angle detection processing executed by the attitude angle detection device 30, the position storage device 32, and the GPS 33 in the fifth embodiment will be described below with reference to FIG.
In FIG. 16, S601 to S604 are the same as S501 to S504 in the fifth embodiment, S605 to S606 are the same as S103 to S104 in the first embodiment, and S607 to S609 are the fifth embodiment. Same as S505 to S507.

  That is, the horizontal line detection unit 9 calculates the pitch angle φ and the roll angle θ from the horizontal line position information 10 as shown in the first embodiment. Further, the posture angle calculation unit 14 reversely rotates the feature points in the continuous video having different shooting times by the pitch angle φ and the roll angle θ, and removes the influence of the pitch angle φ and the roll angle θ. Then, the attitude angle calculation unit 14 performs the process of the fourth embodiment on the removed video to obtain the yaw angle ψ of the moving object, and calculates the attitude angle of the moving object with respect to the absolute space coordinates of the moving object. .

In the fifth embodiment, based on the detection of the horizontal line and the direction in which the lower image flows, only with the camera system, without providing a dedicated device for posture angle measurement such as a gyro, and without matching with a map. The observation system that can detect the attitude angle of the moving body relative to the absolute space coordinates of the moving body is explained.
As in the first embodiment, the posture angle detection device 30 in the fifth embodiment detects the pitch angle φ and the roll angle θ by detecting the inclination of the horizontal line on the front and side of the moving body. One feature. Further, the posture angle detection device 30 in the fifth embodiment is characterized in that the yaw angle ψ is detected from the direction in which the image flows as in the fourth embodiment.

  In each embodiment, the attitude angle detection device 30 may or may not be mounted on the moving body.

FIG. 3 is a configuration diagram of a mobile body (posture angle detection system) that detects a posture angle in the first embodiment. FIG. 3 is a diagram illustrating an example of hardware resources of the attitude angle detection device 30 according to the first embodiment. 3 is a flowchart showing a posture angle detection method for a moving body (posture angle detection system) in the first embodiment. FIG. 3 is a conceptual diagram illustrating a pitch-roll calculation method of the horizontal line detection unit 9 according to the first embodiment. FIG. 3 is a conceptual diagram illustrating a pitch-roll calculation method of the horizontal line detection unit 9 according to the first embodiment. Sectional drawing which looked at the camera system 7 in Embodiment 2 from the side surface. Sectional drawing seen from the lens direction of the camera system 7 in Embodiment 2. FIG. 9 is a flowchart illustrating a shooting process (S101) of the camera system 7 according to the second embodiment. 9 is a flowchart illustrating a shooting process (S101) of the camera system 7 according to the second embodiment. FIG. 9 is a configuration diagram of a mobile body (posture angle detection system) that detects a posture angle in the third embodiment. 10 is a flowchart showing a posture angle detection method for a moving body (posture angle detection system) in the third embodiment. The block diagram of the mobile body (posture angle detection system) which detects the posture angle in Embodiment 4. FIG. 10 is a flowchart showing a posture angle detection method for a moving body (posture angle detection system) in the fourth embodiment. The conceptual diagram which shows the yaw angle (psi) change amount calculation process (S506) and the yaw angle (psi) calculation process (S507) which the moving direction detection part 21 and the attitude angle calculation part 14 in Embodiment 4 perform. FIG. 10 is a configuration diagram of a mobile body (posture angle detection system) that detects a posture angle in the fifth embodiment. 10 is a flowchart showing a posture angle detection method for a moving object (posture angle detection system) in the fifth embodiment.

Explanation of symbols

  1 element, 2 lens, 3 field of view, 4 reflector, 5 forward field of view, 6 side field of view, 7 camera system, 8 video signal, 9 horizontal line detection unit, 10 horizontal line position information, 11 target extraction unit, 12 known target direction, 13 camera position information, 14 posture angle calculation unit, 15 horizontal line, 16 images, 17 center, 18 intersection, 19 focal length, 20 displacement angle, 21 movement direction detection unit, 22 rotation angle amount, 23 image reference azimuth, 30 posture angle Detection device, 31 video storage device, 32 position storage device, 33 GPS, 34 drive device, 911 CPU, 912 bus, 913 ROM, 914 RAM, 915 communication board, 920 magnetic disk device, 921 OS, 923 program group, 924 file group.

Claims (11)

A posture angle detection device that detects a pitch angle φ, a roll angle θ, and a yaw angle ψ as a posture angle of a moving body,
Video storage for storing front and rear images representing at least one of the front and rear of the moving object photographed by the camera and a side image representing at least one of the right side and the left side of the moving object photographed by the camera Equipment,
A horizontal line extraction unit that extracts a horizontal line from the front and rear video and the side video obtained by acquiring the front and rear video and the side video from the video storage device using a central processing unit;
The pitch angle φ and the roll angle θ are centrally processed based on the positions of the horizontal lines extracted from the front and rear images by the horizontal line extraction unit in the front and rear images and the positions of the horizontal lines extracted from the side images by the horizontal line extraction unit. A pitch-roll calculating unit that calculates using an apparatus;
A vector P ₀ calculation unit for calculating a direction vector P ₀ from the moving object to the known object based on the positioning coordinates of the moving object measured by the positioning machine and the known coordinates of the known object using a central processing unit;
A known object extraction unit for extracting a known object from at least one of the front and rear images and the side images obtained by acquiring the front and rear images and the side images from the image storage device; and
Vector P ₁ calculated using the central processing unit direction vector P ₁ to a known object from the moving body based on the position of at least one of the front and rear image and a lateral image of the known object extraction unit known product extracted by the A calculation unit;
The vector P ₀ calculator and direction vectors P ₀ calculated is the vector P ₁ calculation section and the direction vector P ₁ calculated the pitch - the pitch angle φ of the roll calculating unit has calculated pitch - roll calculating unit has calculated A posture angle detection device comprising: a yaw angle ψ calculation unit that calculates a yaw angle ψ using a central processing unit based on the roll angle θ. The posture angle detection device according to claim 1, wherein the yaw angle ψ calculating unit calculates the yaw angle ψ based on the following equation.

The pitch-roll calculating unit
Based on the distance from the center line of the front and rear images to the horizontal line of the front and rear images and the focal length of the camera lens, the pitch angle φ is calculated using a central processing unit, and the distance from the center line of the side images to the horizontal line of the side images is calculated. The posture angle detection device according to claim 1, wherein the roll angle θ is calculated using a central processing unit based on the distance and the focal length of the camera lens. A posture angle detection device that detects a pitch angle φ, a roll angle θ, and a yaw angle ψ as a posture angle of a moving body,
At least one of a front and rear image representing at least one of the front and rear of the moving object photographed by the camera and a side image representing at least one of the right side and the left side of the moving object photographed by the camera. A video storage device to store,
Based on the positioning coordinates of the moving body measured by the positioning machine and the known coordinates of three or more known objects, the direction vector P ₀₁ , the direction vector P ₀₂ and the direction vector P ₀₃ from the moving body to each known object are centered. A vector P ₀ calculation unit to be calculated using a processing device;
A known object extraction unit that extracts three or more known objects from at least one of the front and rear images and the side images obtained by acquiring the front and rear images and the side images from the image storage device; ,
The known product direction vector P ₁₁ and the direction vector P ₁₂ of the extraction unit based on the position of at least one of the front and rear image and the side image of each known product extracted from the mobile to the known object and the direction vector P ₁₃ And a vector P ₁ calculation unit that calculates using a central processing unit;
Based on the direction vector P ₀₁ , the direction vector P ₀₂ , the direction vector P ₀₃ calculated by the vector P ₀ calculation unit, the direction vector P ₁₁ , the direction vector P _12, and the direction vector P ₁₃ calculated by the vector P ₁ calculation unit. And a posture angle calculation unit that calculates a pitch angle φ, a roll angle θ, and a yaw angle ψ using a central processing unit. The posture angle detection device according to claim 4, wherein the posture angle calculation unit calculates a pitch angle φ, a roll angle θ, and a yaw angle ψ based on the following simultaneous equations.

A posture angle detection device that detects any of a yaw angle ψ, a pitch angle φ, and a roll angle θ as a posture angle of a moving body,
A video storage device for storing a specific video P ₀ representing a specific direction of the moving body photographed by the camera at time T ₀ and a specific video P ₁ representing the specific direction of the mobile body photographed by the camera at time T ₁ ; ,
A specific object extraction unit for extracting with a central processing unit of the same specific object from a specific image P ₀ and the specific image P ₁ and the specific image P ₀ to obtain specific image P ₁ Metropolitan from the video storage device,
The yaw angle ψ, the pitch angle φ, and the roll angle θ from time T ₀ to time T ₁ based on the position of the specific object extracted by the specific object extraction unit in the specific image P _{0 and} the position in the specific image P ₁ . A posture angle change amount calculation unit for calculating any change amount using a central processing unit;
The change amount of any one of the yaw angle ψ, the pitch angle φ, and the roll angle θ calculated by the posture angle change amount calculation unit is added to any of the yaw angle ψ, the pitch angle φ, and the roll angle θ at time T ₀ . And a posture angle calculation unit that calculates any _one of the yaw angle ψ, the pitch angle φ, and the roll angle θ at time T1 using a central processing unit. A posture angle detection device that detects a pitch angle φ, a roll angle θ, and a yaw angle ψ as a posture angle of a moving body,
Time T ₀ by the front and rear images representing at least one of the front and rear of the moving object photographed by the camera, the side image representing at least one of the right and left sides of the moving object photographed by the camera, and the camera. A video storage device that stores a specific video P ₀ representing a specific direction of the moving body photographed at a time T1 and a specific video P ₁ representing a specific direction of the moving body photographed by the camera at time T ₁ ;
A horizontal line extraction unit that extracts a horizontal line from the front and rear video and the side video obtained by acquiring the front and rear video and the side video from the video storage device using a central processing unit;
The pitch angle φ and the roll angle θ are centrally processed based on the positions of the horizontal lines extracted from the front and rear images by the horizontal line extraction unit in the front and rear images and the positions of the horizontal lines extracted from the side images by the horizontal line extraction unit. A pitch-roll calculating unit that calculates using an apparatus;
A specific object extraction unit for extracting with a central processing unit of the same specific object from a specific image P ₀ and the specific image P ₁ and the specific image P ₀ to obtain specific image P ₁ Metropolitan from the video storage device,
The yaw angle ψ change for calculating the change amount of the yaw angle ψ from time T ₀ to time T ₁ based on the position of the specific object extracted by the specific object extraction unit in the specific video P _{0 and} the position in the specific video P ₁ . A quantity calculator;
A yaw angle ψ calculating unit that calculates the yaw angle ψ at time T ₁ by adding the change amount of the yaw angle ψ calculated by the yaw angle ψ change amount calculating unit to the yaw angle ψ at time T ₀ . A characteristic posture angle detection device. In a camera that generates an image based on light incident on a lens,
A reflecting mirror that reflects incident light and enters the lens;
A camera comprising: a driving device that rotates the reflecting mirror with the optical axis of the lens as a rotation axis. 9. The camera according to claim 8, wherein the reflecting mirror has a curved surface and an angle formed by a tangent to the curved surface and an optical axis of the lens is equal to or smaller than a light incident angle of the lens. The camera according to any one of claims 8 to 9, wherein the driving device rotates the reflecting mirror by arranging the reflecting mirror around the entire circumference in a rotation direction within an image acquisition cycle for generating an image. . The reflector is semicircular;
The camera according to any one of claims 8 to 9, wherein the driving device rotates the reflecting mirror at a speed of one rotation or more per image acquisition period for generating an image.

Images