JP2007271869A - Map creating method by image processing, its device and its computer program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for creating a simple map having immediacy, from a photo image data obtained by an imaging device. <P>SOLUTION: By using a digital camera, a global positioning system (GPS), an electronic compass, a numeric map database and a personal computer, with excellent portability and high performance, which can be easily and inexpensively obtained, a position/attitude of the camera is obtained, and a computer image created from the numeric map data, in which the same direction as the photo image is viewed, is created, and the photo image is overlapped with the computer image, and position information is reversely projected to the overlapped image. Thereby, a map corresponding to the photo image is obtained and a moving image can be obtained by utilizing a video or a frame advance image. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a map creation method by image processing, an apparatus thereof, and a map thereof capable of creating a map (image having position information) used for disaster monitoring or the like using consumer goods at low cost and high performance It relates to computer programs.

Conventionally, in the event of disasters such as volcanic eruptions, avalanches, slope failures, forest fires, river floods, tsunamis, etc., and when you want to investigate changes in vegetation distribution, it is highly advanced by airplane, helicopter, artificial satellite, etc. A map of an image showing a disaster situation or the like has been made using a photographic image taken from above by a special dedicated measuring device.
However, in case of urgent need, artificial satellites have a long period of going around the earth and cannot keep up, and even if they can be used, they are expensive. In airplanes and helicopters, not only can you not fly depending on the weather, or you need permission to fly, but also the measurement is very expensive and unsuitable for emergencies.
In addition, in order to convert to a map image having position information using a photographic image, a so-called reference point, which is a known point of map coordinates, must be set on the ground, and a reference point should be set in a mountain area in an emergency. Was not easy. There is also a method using feature lines indicating the outline of the skyline, etc., but there are restrictions on the method of obtaining map images, such as when the rain, clouds, fog, smoke, etc. occur, the skyline cannot be captured, Since processing also takes time, there was a difficulty in quick measurement corresponding to an emergency situation.

On the other hand, the method of taking a general photograph from the ground is easy to shoot and sometimes convenient for observation, and is widely used, but since these are only landscape photographs, even if the outline of the phenomenon is known, The position cannot be determined immediately. For real-time observation, video images and fixed-point cameras are used at many sites, but they are not sufficient from the viewpoint of measurement.
For example, the location of volcanic plume, pyroclastic flow or lava flow downflow position (how much the total altitude has come down to), area, direction, speed, etc. are not known in photographic images. Furthermore, in order to convert these photographs taken from the ground into accurate positions on the map, a minimum of three reference points are required in the photographed photograph image, and a special dedicated device is required. However, there was a problem that taking a stereo photograph was indispensable.

  Under such circumstances, there has been a demand for a measurement device and a map creation method that do not require a special dedicated device, are inexpensive, simple, and instantaneous. Especially in emergency situations such as disasters, it is difficult to use an aircraft, and it is effective, low price, simplicity, and immediacy when a long-time continuous measurement is required and map creation A method was strongly desired.

Therefore, the present inventors, such as a commercially available digital camera as shown in FIG. 13 and FIG. 14, a GPS that outputs a digital position signal corresponding to the latitude, longitude, altitude at the shooting position of the camera, a terrain elevation database, A personal computer, and based on the latitude, longitude, and altitude of the GPS, the azimuth and vertical angle of the camera are calculated by the personal computer to create a mountain perspective image (computer image). A map creation method for creating a geometrically corrected map by superimposing a photographic image is proposed (Patent Document 1).
JP2003-139532A.

The invention described in Patent Document 1 does not require a special dedicated device, can create a low-priced, simple and immediate map, and is difficult to use an aircraft in an emergency situation such as a disaster. In addition, it is possible to create an effective, low-priced, simple and immediate map when continuous measurement is required for a long time.
More specifically, in FIGS. 13 and 14, the installation point of the imaging device 10 such as a digital camera is P, the volcano 29 as the subject is Q, the horizontal distance is D, the horizontal line is L, and the optical axis of the imaging device 10 O, the focal point of the imaging device 10 is F, the focal length is f, the azimuth angle is α, the depression angle of the volcano 29 is θ, the vertical angle of the imaging device 10 is β, the distance from the focal point F to the optical axis O is m, γ If α = θ−β, α, β, and γ are obtained by calculation processing.
Further, rotation, reduction, and scale conversion are also obtained by coordinate conversion.

However, in this method, the position of the point Q of the volcano 29 that is the subject is investigated in advance, and the azimuth and vertical angle of the camera are calculated by a personal computer based on the latitude, longitude, and altitude of the GPS. Since there is a problem, not only is there a problem with immediacy but also a problem with the accuracy of the azimuth angle and the vertical angle as calculated.
A first object of the present invention is to provide a method for creating a simple and immediate map based on photographic image data obtained by the device of the present invention, particularly photographic image data from the ground, which has been difficult in the past. It is.
A second object of the present invention is to provide a simple device that measures the position and orientation of a camera simultaneously with image shooting.
A third object of the present invention is a method for creating a map or a frame-advanced image that has been projected in real time from data obtained by the apparatus of the present invention, and creating a map in which the movement or change of the object to be photographed can be seen as a moving image on the earth. Is to provide.
The fourth object of the present invention is that the map coordinates of all points in the digital photographic image, the altitude, and the corresponding position on the digital topographic map are known from the data obtained by the apparatus of the present invention. To provide a method of creating a map that projects any position, straight line, or curve of a photograph onto a map in real time.

  The present invention relates to a commercially available consumer camera, a device that measures a position using a satellite (such as GPS), a device that can measure three axes including the orientation and orientation of the camera (electronic compass), and a notebook type. Focusing on the fact that personal computers are easily portable due to technological advances in recent years, high performance, low cost, and easy availability, numerical map data in which topographic elevation data is digitized in a grid pattern is generally used Focusing on the fact that it is commercially available and easily available, a computer image created from numerical map data viewed in the same direction as the photographic image to be photographed taken by a device that can simultaneously obtain the photographic image and the position and orientation of the camera And a back projection in which position information is given to a photographic image from a computer image, and a map corresponding to the photographic image can be obtained. Due to the recent improvement in accuracy of equipment, there is almost no deviation due to overlay. However, depending on the purpose, if higher accuracy is required, such as a magnified photograph, it can be more accurately superimposed using feature points and feature lines as necessary, and backprojected onto a map, so that it can correspond to a photographic image. An accurate map can be obtained. Since this deviation is small, even if geometric correction is performed, it can be processed in a short time. It has also been found that video or frame-by-frame images can be used, the conventional problems can be solved, and the present invention can be achieved.

This makes it possible to create a landscape image in which the position information of all points can be read immediately. When an arbitrary point in the landscape image is pointed to, the longitude and latitude are displayed, and the positional relationship with the map is known.
Since the apparatus of the present invention uses consumer products that are generally commercially available, it is possible to measure an object without using a conventional expensive dedicated device.
The map creation method of the present invention can be applied to any shape of terrain without setting a reference point, and can be processed in real time using a notebook personal computer or the like. If a communication device such as a mobile phone is connected to a personal computer, it is possible to install a camera in a dangerous place and process data at a safe place.

If the image of the present invention is distributed on the Internet, it is possible to monitor disaster images in real time all over the world.
As the photographic image used in the present invention, an image obtained by scanning a photograph using a film or thermography can be used in addition to the digital camera.
By using video or the like, it is possible to create a map that moves in real time, and by using thermography, it can also be used for nighttime monitoring.
According to the present invention, even in a terrain with few features for which a reference point cannot be obtained, for example, a cloudy image, a zoomed image, a thermographic image, an image from which a feature line such as a skyline cannot be extracted, etc. Map creation is possible by superimposing and backprojecting.

  The map creation method by image processing according to claim 1 is an image pickup apparatus 10 that outputs a photographed digital photographic image, and a position that outputs a digital position signal corresponding to latitude, longitude, and altitude at the shooting position of the image pickup apparatus 10. Based on the measurement device 11, an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation at the time of shooting of the imaging device 10, a numerical map database 13 that stores numerical map data, and these digital signals Using a personal computer 15 that performs computation and processing, a step of creating a computer image from the numerical map corresponding to the digital position signal and the digital orientation / attitude signal, and superimposing the photographic image on the computer image And a step of back-projecting the superimposed photographic image to create a map.

The image processing map creating apparatus according to claim 2 outputs an image pickup device 10 that outputs a photographed digital photographic image, and a position that outputs a digital position signal corresponding to latitude, longitude, and altitude at the image pickup position of the image pickup device 10. Based on the measurement device 11, an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation at the time of shooting of the imaging device 10, a numerical map database 13 that stores numerical map data, and these digital signals A personal computer 15 that performs computation and processing, and the personal computer 15 creates a computer image from the numerical map corresponding to the digital position signal and the digital orientation / attitude signal, and the computer image The photographic image is superimposed on the computer image created by the forming unit 23. The mating portion 24, characterized in that it comprises a back projection-mapping unit 25 to create a backprojected map image superimposed by the superimposition unit 24.

A computer program for creating a map by image processing according to claim 3 outputs an image pickup device 10 for outputting a photographed digital photographic image and a digital position signal corresponding to latitude, longitude and altitude at the shooting position of the image pickup device 10. A position measuring device 11 for performing the measurement, an electronic compass 12 for outputting a digital orientation / attitude signal corresponding to the orientation and orientation at the time of shooting of the imaging device 10, a numerical map database 13 for storing numerical map data, and these digital signals Means for creating a computer image from the numerical map corresponding to the digital position signal and the digital azimuth / attitude signal on the personal computer 15 using a personal computer 15 that performs computation and processing based on Means for superimposing said photographic image on a computer image; Characterized in that to serve as a means for creating a backprojected map allowed photographic images.

The map creation method by image processing according to claim 4 includes: an imaging device 10 that outputs a photographed digital photographic image; and a position that outputs a digital position signal corresponding to latitude, longitude, and altitude at the photographing position of the imaging device 10. Based on the measurement device 11, an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation at the time of shooting of the imaging device 10, a numerical map database 13 that stores numerical map data, and these digital signals Using a personal computer 15 that performs computation and processing, a step of creating a computer image from the numerical map corresponding to the digital position signal and the digital orientation / attitude signal, and extracting features of the photographic image and the computer image A step of performing geometric correction by superimposing based on this feature, What backprojected on the corrected image, characterized in that it comprises a step of creating a map.

The map creating apparatus by image processing according to claim 5 outputs an image pickup device 10 that outputs a photographed digital photographic image, and a position that outputs a digital position signal corresponding to latitude, longitude, and altitude at the shooting position of the image pickup device 10. Based on the measurement device 11, an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation at the time of shooting of the imaging device 10, a numerical map database 13 that stores numerical map data, and these digital signals A personal computer 15 that performs computation and processing, and the personal computer 15 creates a computer image from the numerical map corresponding to the digital position signal and the digital orientation / attitude signal, and the photographic image. And feature extraction units 26 and 27 for extracting respective features in the computer image, and the features A geometric correction-overlapping portions 28 which are superposed on the basis of performing geometric correction, characterized in that it comprises a back projection-mapping unit 25 to create a backprojected map image geometric correction by the superposition.

The computer program for map creation by image processing according to claim 6 outputs an image pickup device 10 for outputting a photographed digital photographic image and a digital position signal corresponding to the latitude, longitude and altitude at the shooting position of the image pickup device 10. A position measuring device 11 for performing the measurement, an electronic compass 12 for outputting a digital orientation / attitude signal corresponding to the orientation and orientation at the time of shooting of the imaging device 10, a numerical map database 13 for storing numerical map data, and these digital signals Means for creating a computer image from the numerical map corresponding to the digital position signal and the digital azimuth / attitude signal, using the personal computer 15 that performs computation and processing based on the computer, the photographic image and the computer image A means for extracting each feature in It means for correcting said superimposed backprojection geometric corrected image, characterized in that to serve as a means for creating a map.

  The map creation method by image processing according to claim 7 displays a digital photographic image photographed by the imaging device 10 on the display unit 22, and the coordinates and altitude on the map corresponding to a designated portion of the digital photographic image are displayed on the display unit 22. The method includes a step of displaying information displayed on the display unit 22 and added to a digital photographic image on a map.

  The map creation device by image processing according to claim 8 displays a digital photographic image taken by the imaging device 10 on the display unit 22, and the coordinates and altitude on the map corresponding to the designated portion of the digital photographic image are displayed on the display unit 22. It is characterized by comprising an adding means for displaying on the map the information displayed on the display unit 22 and written and added to the digital photographic image.

  The computer program for creating a map by image processing according to claim 9 displays a digital photographic image taken by the imaging device 10 on the display unit 22, and coordinates and altitude on the map corresponding to a designated portion of the digital photographic image. Is displayed on the display unit 22 and functions as means for displaying information written and added to a digital photographic image on a map.

11. The map creation method by image processing according to claim 1, 4 or 7, wherein the imaging device 10 comprises a device capable of moving images, and creates an image that changes every moment according to the moving images. It is characterized by.

12. The map creation apparatus according to claim 2, 5, or 8 according to claim 11, wherein the imaging device 10 is a device capable of moving images, and creates an image that changes every moment according to the moving images. It is characterized by.

13. The computer program for creating a map by image processing according to claim 3, 6 or 9, wherein the image pickup device 10 comprises a device capable of moving images, and images that change momentarily by the moving images are displayed on the personal computer 15. It is characterized by functioning as a means for creating.

Since this invention was comprised as mentioned above, it has the following specific effects.
(1) By combining consumer goods, it is possible to create a map creation method, an apparatus thereof, and a computer program thereof by low-cost and high-performance image processing.

(2) It is possible to immediately map the image to be imaged taken from the imaging device 10 locally. This makes it possible to add measurement and surveying functions to disaster monitoring and to know the actual distance.

  (3) Conventionally, it is possible to superimpose a computer image made from a numerical map because the positional relationship between the imaging device 10 and the object to be imaged is known without setting the reference points and reference lines required for photogrammetry. Therefore, accurate overlay can be performed without geometric correction, and geometric correction of a photographic image can be performed automatically.

(4) In the conventional method, geometric correction (called orientation in photogrammetry) is impossible unless a reference point such as a skyline, a building, or a feature point of terrain is visible. Even if feature lines cannot be extracted, superposition is possible.

(5) By using a video camera as the imaging device 10, it is possible to create a map that moves in real time. It can measure and monitor the current conditions of lava flows and tsunamis that change every moment in real time. Moreover, not only visible light but also a photographic image by an electronic image sensor such as a thermograph using thermal infrared rays can be used. By using a thermograph, it is possible to measure thermal images during the day and night. Furthermore, if an infrared camera is used, the change of vegetation distribution can also be known.

(6) By displaying the geometrically corrected map obtained by the present invention on the Internet over time, it is possible to convey the disaster situation to many people in real time. It is also possible to transmit images using a mobile phone.

(7) The present invention can also be applied to a fixed camera, and can add the value of specifying the position of information to a monitoring system (such as volcano monitoring) in which the position of an object or phenomenon is not measured although it is installed in large numbers.

(8) Although the information of the digital photographic image has already been mapped and displayed, it is often easier to identify the object on the digital photograph. For example, when it is easier to recognize digital photographic images such as forest fires, snow fronts, lava flow reach, and eruption locations, the digital photographic images are displayed on the computer display. The coordinates and elevation on the map corresponding to the point specified on the digital photographic image can be displayed immediately, and the identification result on the digital photographic image can be recorded on the map as it is. , Grasping the position and range is greatly facilitated. Conversely, a point designated on the map may be displayed on the corresponding digital photographic image.

  A device for carrying out the present invention includes a commonly used consumer camera, a device that measures a position using a satellite (such as GPS), and a device that can measure three axes including the orientation and orientation of the camera ( Electronic compass) and a notebook personal computer.

  A map creation method for carrying out the present invention includes a step of obtaining a computer landscape image using the position and orientation of a camera and a numerical topographic map, a step of superimposing a photographic image taken by a camera and a computer landscape image, The method includes a step of creating a map by back projecting the combined photographic images.

  The present invention relates to a map that moves in real time by using a video image as a photographic image by an imaging apparatus.

  The present invention relates to a computer program that causes a computer to function as map creation means.

  The present invention includes a step of transferring raw data or completed data, characterized in that any of the steps includes a step of communicating to a position distant from the photographing position, and the other steps are performed at a distant position. It is related to the map creation method.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.
In FIG. 1, a map creation device using image processing according to the present invention includes an imaging device 10 that captures a photographic image 30, and a GPS location that measures the installation position (latitude, longitude, altitude) of the imaging device 10 using a satellite. Electronic compass 12 that measures three axes (azimuth (yaw) angle, roll angle, pitch angle) including the orientation and orientation of the measuring device 11 and the imaging device 10, and topographic altitude data for each grid (for example, 50 m × 50 m, 10 m) A numerical map database 13 that is digitized to 10 ×, etc., a personal computer 15 such as a notebook personal computer that is convenient to carry, a memory 40 that consists of an LUT, the imaging device 10, a position measuring device 11, an electronic compass 12, and a numerical map database 13 includes a USB hub 14 for connecting the memory 40 to the personal computer 15.
The imaging device 10 is composed of a digital camera 16 that captures fixed photographic images and moving images. However, when the imaging device 10 is composed of a film camera 17, it may be converted into a digital signal by a scanner 18. The personal computer 15 includes an interface 20, an input unit 21, and a display unit 22.

More specifically, the personal computer 15 includes a computer image forming unit 23, an overlaying unit 24, a backprojection / map creating unit 25, a computer image feature extracting unit 26, and a photographic image feature extracting unit 27, as shown in FIG. , A geometric correction / superposition unit 28, an adding means 41 for inputting a photographic image from the input terminal 21a, and an adding means 42 for inputting a map image from the input terminal 21b.
Further, in the memory 40, based on the numerical map database 13, data converted into computer images corresponding to the installation position, posture, and orientation of the imaging device 10 measured by the position measuring device 11 and the electronic compass 12 is used as an LUT. Formed and stored.

The steps of the map creation method by image processing according to the present invention will be described below.
Process 1
As shown in FIG. 1, a map creation method by image processing according to the present invention includes an image pickup apparatus 10 composed of a general consumer camera, a position measurement apparatus 11 such as a GPS that measures a position using a satellite, and a camera posture. And an electronic compass 12 capable of measuring three axes including directions, a numerical map database 13 in which topographic elevation data are digitized in a grid, and a personal computer 15 such as a notebook personal computer.
The imaging device 10, the position measuring device 11, the electronic compass 12, and the numerical map database 13 are controlled by the personal computer 15, and simultaneously with shooting by the imaging device 10, shooting parameters such as the focal length and the number of pixels of the imaging device 10 at that time. In addition, the posture can be controlled including the shooting position and orientation. As the imaging parameters such as the focal length and the number of pixels of the imaging device 10, an angle of view that is the apparent size of the computer image 33 displayed on the display unit 22 is determined.
Each device is time-synchronized in detail. When functioning as a fixed camera, the position of the camera 10 does not change. Therefore, the position measuring device 11 may be removed after measurement or may be measured by another method.

Process 2
Photographing is performed by the imaging device 10 of the map creation device based on the image processing created in step 1, and a photographic image 30 shown in FIG. 3 is captured. In this photographic image 30, a volcano 29, a lava flow 31, a lava flow tip 32, and the like are taken.
The imaging device 10 outputs a digital signal of a photographed photographic image and simultaneously outputs imaging parameters such as the number of pixels and the focal length of the imaging device 10 as a digital signal. Further, the position measuring device 11 outputs digital data signals of latitude, longitude and altitude of the imaging device 10, and the digital compass 12 outputs digital data signals of azimuth angle (yaw angle), roll angle and pitch angle. Then, shooting information including the position and orientation of the imaging device 10 is obtained. Since the information of the position measuring device 11 and the electronic compass 12 can be obtained, the object can be photographed from any place such as the ground, a low sky, and an oblique sky. In particular, images taken from the ground can be used to the maximum.
Note that it is not possible to confirm in detail the location where the lava flow 31 flows and where the lava flow front end 32 reaches only by the information of the photographic image 30 obtained by the imaging device 10. Detailed confirmation is possible by the following steps based on the image 30.

Process 3
At the same time as the photographic image by the imaging device 10, information on the orientation including the imaging parameters, position, and orientation of the imaging device 10 obtained by the position measuring device 11 and the electronic compass 12 is used as an address, and the computer image forming unit 23 uses a known numerical value. A corresponding computer image 33 as shown in FIG. 6 is obtained from the map database 13.
More specifically, in the numerical map data digitized for each grid pattern as shown in FIG. 5A, the horizontal viewing angle δ of the imaging device 10 installed at the point P, the azimuth angle α of the optical axis O, and Then, a computer image 33 as shown in FIG. 6 is formed by the computer image forming unit 23 based on the numerical map data within this range. At this time, in FIG. 5B, only the data between Q1 and Q2 and between Q3 and Q4 (shaded portions in FIG. 5A) within the vertical viewing angle η is calculated by the altitude (Hx) at point P. It is displayed on the image 33. That is, the portion Q2-Q3 hidden behind the line connecting P-Q3 behind Q3 and the portion hidden below the line connecting P-Q1 behind Q1 do not appear in the computer image 33. Such processing forms a computer image 33 as shown in FIG. 6 in the computer image forming unit 23 based on all the numerical map data within the horizontal viewing angle δ and the vertical viewing angle η of the imaging device 10.
Accordingly, the computer landscape image 33 changes depending on the latitude, longitude, altitude, azimuth angle, and posture of the imaging device 10 installed at the point P.
When the image pickup apparatus 10 is fixedly installed at the point P, the computer image 33 at the point P changes the azimuth angle (yaw angle), roll angle, and pitch angle of the electronic compass 12 to various angles at the position P point. If the LUT storing the computer image 33 in the state is created and the corresponding computer image 33 is selected from the LUT, the computer image 33 is formed more quickly.

Process 4
The superimposing unit 24 in FIG. 2 superimposes the photographic image 30 of the imaging device 10 on the computer image 33 based on the numerical map database 13. Since this superimposition is the computer image 33 obtained from the position data of the photographic image 30 and the like, the two are essentially the same, so they may simply be superimposed.

Process 5
After the superposition, the backprojection / map creation unit 25 performs backprojection on the superposed image 43 to obtain a target map image 43 as shown in FIG. Here, the back projection means that a map is created by giving position information from the computer image 33 to the photographic image 30 or a superimposed image. Therefore, a map image 43 having position information is obtained in this step.

Step 6
8 converts the photographic image 30 shown in FIG. 3 taken from the ground into an orthographic projection image 36 viewed from directly above using a coordinate conversion formula, and creates a planar map 38 created by the numerical map database 13. It is added. Here, as a typical coordinate transformation equation, Helmart transformation, affine transformation is known, obtaining a coordinate transformation equation (an equation showing a geometric relationship) that holds between a photographic image and a numerical topographic map, This coordinate transformation is applied to geometric correction such as movement, rotation, reduction, scale conversion, etc., on the entire photographic image to be photographed taken from the ground, low sky, diagonally above and the like.
According to FIG. 8, not only the horizontal distance T (horizontal distance T in FIG. 4) of the lava flow 31 from the crater of the volcano 29 to the lava flow front end 32, which is not known in the photographic image 30 of FIG. You can also know the actual distance.

Step 7
9 converts the photographic image 30 shown in FIG. 3 taken from the ground into a birdcage image 37 taken from a different direction from the ground, for example, the depression angle δ direction, using the coordinate conversion formula. This is added to the birdcage map 39 in the depression angle δ direction created by the numerical map database 13. According to FIG. 9, not only the photographic image 30 of FIG. 3 but also the inclination distance U (inclination distance U in FIG. 4) of the lava flow 31 from the crater of the volcano 29 to the lava flow tip 32 can be known. You can also know the actual distance.

Process 8
The recent imaging device 10, position measuring device 11, and electronic compass 12 are excellent in accuracy, and hardly require correction. However, depending on the purpose of use, since it is an enlarged photo, there is a mismatch between the photographic image 30 and the computer image 33, and a map with higher accuracy may be required. In such a case, it is possible to create a map by overlaying more precisely using feature points and feature lines. Characteristic shapes (corners, vertices, workpieces, etc.) of the object to be imaged are extracted as feature points, and skylines, ridgelines, rivers, linear workpieces, etc., indicating the outline of the object to be imaged are extracted as feature lines. More specifically, the computer image 33 created by the computer image forming unit 23 is shown in the feature extracting unit 26, and the photographic image 30 created in the imaging device 10 is shown in the feature extracting unit 27. As shown in FIG. 11, for example, the skyline 35 is extracted. Then, precise matching between the photographic image 30 and the computer image 33 is performed.
In this step 8, if the skyline image 34a of the photographic image 30 and the skyline image 34b of the computer image 33 do not match as shown in FIG. Obtain a coordinate transformation formula (a formula showing the geometric relationship) that holds between topographic maps, and move, rotate, and reduce this coordinate transformation to the entire photographic image of the subject to be photographed from the ground, low sky, diagonally above, etc. Apply geometric correction such as scale conversion.
The amount of movement obtained in step 8 and the coordinate conversion for performing rotation, reduction, and scale conversion provide coordinate conversion formulas (Helmart conversion, affine conversion, etc.) between the photographic image and the map coordinate system of the numerical topographic map.
In Step 8, since the posture including the shooting parameters such as the number of pixels of the camera, the focal length, the position, and the orientation is obtained from the position measuring device 11 and the electronic compass 12, these values are used as initial values for the precise matching. Use and narrow down the search range of matching.
Since the recent imaging device 10, position measuring device 11, and electronic compass 12 are excellent in accuracy, the correction is limited to a small amount, and the calculation for correction can be performed in a short time.
This makes it possible to automate matching, reduce processing time, and improve accuracy.

Step 9
After precise matching in step 8, it is converted into an orthographic projection image 36 shown in step 6 to create a plane map 38 shown in FIG. 8, or converted into a birdcage image 37 shown in step 7 and converted into a birdcage image shown in FIG. If the map 39 is created, a more precise map can be created.

Step 10
In Step 1 to Step 9, a video camera or a frame advance image is taken instead of a digital camera, and a map is projected in real time so that the movement and change of the photographing target can be seen as a moving image on the map.
For example, the camera is installed at a fixed point and displayed as a moving image in which the tip 32 of the lava flow 31 changes every moment.
Specifically, an LUT 40 as a memory is used. The LUT 40 stores the following data.
(1) When the imaging device 10 is fixedly installed at the point P, the position of the point P is left as it is, and the azimuth angle (yaw angle), roll angle, and pitch angle of the electronic compass 12 are determined at the position P point. An LUT that stores the computer image 33 in a state changed to any angle is created in advance.
(2) When there are a plurality of positions and altitudes at which the imaging apparatus 10 is to be installed from now on, the computer image 33 in a state where the azimuth angle (yaw angle), roll angle, and pitch angle are changed to every angle for each of the plurality of points. Is created in advance.
By using the computer image 33 of the LUT 40 and superimposing a video camera or a frame advance image on the computer image 33, it is displayed as a moving image that changes in units of milliseconds such as a lava flow 31 in a fixed landscape. Can do. Further, it is possible to know the traveling speed and traveling direction of the lava flow 31 from the moving video.
Also, the computer image 33 of the LUT 40 is captured every moment to make a moving image, and a video camera or frame advance image is superimposed on this computer image 33 to display it as a moving image of the lava flow 31 etc. when the landscape image is swung. can do.
Moreover, not only the change of the lava flow 31 etc. but also thermography, an infrared camera, etc. can be utilized and it can display as a moving image, such as a temperature change at night. Further, it is possible to know the traveling speed and traveling direction of the lava flow 31 from the moving video.

Step 11
A communication device such as a mobile phone is connected to a personal computer, and data is processed at an arbitrary location. It is possible to distribute the image of the present invention on the Internet in real time.
In this way, it is possible to process the data of the camera installed in the dangerous place etc. in a safe place and transmit it to the whole world.

Step 12
The information of the digital photographic image shown in FIG. 3 is already mapped and displayed as shown in FIG. 8 or 9, but the digital photographic image shown in FIG. It is often easier to identify an object on a photograph.
For example, if the recognition in digital photographic images such as forest fires, snow fronts, reach of lava flows, and eruption locations is easier than the map shown in FIG. As shown in FIG. 2, the digital photographic image 30 and the map 36 (or 37) shown in FIG. 8 (or FIG. 9) are displayed on the display unit 22 of the computer, and the designated point on the digital photographic image 30 is displayed. The corresponding coordinates and elevations on the map 36 (or 37) of FIG. 8 (or FIG. 9) can be displayed immediately, and a snow front 44 on the digital photographic image 30 is added from the input terminal 21a. When added to 41, a snow front 44 is displayed at a corresponding position on the map 36 (or 37) of FIG. 8 (or FIG. 9). Conversely, when a snow front 44 is added to the adding means 42 from the input terminal 21b on the map 36 (or 37) of FIG. 8 (or FIG. 9), the snow front 44 is placed at a corresponding position on the digital photographic image 30. Is displayed. Thus, the identification result on the digital photographic image 30 (or the map 36 (or 37) in FIG. 8 (or FIG. 9)) is directly used as the map 36 (or 37) (or digital photographic image in FIG. 8 (or FIG. 9)). 30), the position and the range can be easily grasped.

It is a block diagram which shows one Example of the map preparation apparatus by the image processing by this invention. It is a detailed block diagram of the personal computer 15 in FIG. It is explanatory drawing of the photographic image 30 image | photographed with the imaging device 10 of the map creation apparatus by the image processing by this invention. FIG. 4 is a vertical view of FIG. 3. (A) is explanatory drawing of the state which has installed the imaging device 10 in the top view based on a numerical map database, and is observing the direction of the azimuth angle (alpha), (b) is a vertical view of (a). It is explanatory drawing of the computer image 33 based on the numerical map database 13, the position measuring device 11, and the electronic compass 12. FIG. It is explanatory drawing of the superimposition map image 43. FIG. It is explanatory drawing which converted the photographic image 30 into the orthographic projection image 36 seen from right above using the coordinate conversion type | formula, and added to the plane map 38 created with the numerical map database 13. FIG. It is explanatory drawing which converted the photographic image 30 into the birdcage image 37 image | photographed from the depression angle (delta) direction using the coordinate conversion type | formula, and added to the birdcage map 39 of the depression angle (delta) direction created by the numerical map database 13. FIG. It is explanatory drawing of the skyline 35a and the skyline 35b which are the characteristic lines when the photographic image 30 and the computer image 33 are piled up. It is explanatory drawing of the skyline 35 which is the characteristic line of the photograph image 30 or the computer image 33. FIG. It is explanatory drawing of image matching. It is explanatory drawing of the azimuth in the conventional map creation method. It is a vertical view in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Imaging device, 11 ... Position measuring device, 12 ... Electronic compass, 13 ... Numerical map database, 14 ... USB hub, 15 ... Personal computer, 16 ... Digital camera, 17 ... Film camera, 18 ... Scanner, 19 ... CPU, 20 ... interface, 21 ... input unit, 22 ... display unit, 23 ... computer image forming unit, 24 ... superposition unit, 25 ... backprojection / map creation unit, 26 ... feature extraction unit, 27 ... feature extraction unit, 28 ... geometry Correction / superposition part, 29 ... volcano, 30 ... photographic image, 31 ... lava flow, 32 ... lava flow tip, 33 ... computer image, 34 ... skyline image, 35 ... skyline, 36 ... orthographic projection image, 37 ... Torikan image, 38 ... Plane map, 39 ... Torikan map, 40 ... Memory (LUT), 41 ... Addition means, 42 ... Addition means, 43 ... Superimposed image, 4 ... snow fronts.

Claims (12)

  An imaging device 10 that outputs a photographed digital photographic image, a position measuring device 11 that outputs a digital position signal corresponding to the latitude, longitude, and altitude at the shooting position of the imaging device 10, and the imaging device 10 at the time of shooting Using an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation, a numerical map database 13 that stores numerical map data, and a personal computer 15 that performs computation and processing based on these digital signals, A step of creating a computer image from the numerical map corresponding to the digital position signal and a digital orientation / attitude signal, a step of superimposing the photographic image on the computer image, and a back projection to the superimposed photographic image A map creation method by image processing, comprising a step of creating a map. An imaging device 10 that outputs a photographed digital photographic image, a position measuring device 11 that outputs a digital position signal corresponding to the latitude, longitude, and altitude at the shooting position of the imaging device 10, and the imaging device 10 at the time of shooting An electronic compass 12 for outputting a digital azimuth / attitude signal corresponding to the azimuth and orientation, a numerical map database 13 for storing numerical map data, and a personal computer 15 for performing calculations and processing based on these digital signals, The personal computer 15 includes a computer image forming unit 23 for creating a computer image from the numerical map corresponding to the digital position signal and the digital orientation / attitude signal, and the computer image created by the computer image forming unit 23 on the computer image. The superimposing unit 24 for superimposing photographic images and the superimposing unit 24 Mapping apparatus using image processing, characterized in that it comprises a back projection-mapping unit 25 to create a backprojected map image superimposed.   An imaging device 10 that outputs a photographed digital photographic image, a position measuring device 11 that outputs a digital position signal corresponding to the latitude, longitude, and altitude at the shooting position of the imaging device 10, and the imaging device 10 at the time of shooting Using an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation, a numerical map database 13 that stores numerical map data, and a personal computer 15 that performs computation and processing based on these digital signals, Means for creating a computer image on the personal computer 15 from the numerical map corresponding to the digital position signal and the digital orientation / attitude signal; means for superimposing the photographic image on the computer image created by the means; To function as a means to create a map by backprojecting on the superimposed photographic images Map created for the computer program due to the image processing. An imaging device 10 that outputs a photographed digital photographic image, a position measuring device 11 that outputs a digital position signal corresponding to the latitude, longitude, and altitude at the shooting position of the imaging device 10, and the imaging device 10 at the time of shooting Using an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation, a numerical map database 13 that stores numerical map data, and a personal computer 15 that performs computation and processing based on these digital signals, A step of creating a computer image from the numerical map corresponding to the digital position signal and a digital orientation / attitude signal, a step of extracting each feature in the photographic image and the computer image, and geometric correction by superimposing based on the feature And a step of creating a map by back-projecting on the superimposed and geometrically corrected image Mapping method by the image processing, which comprises a. An imaging device 10 that outputs a photographed digital photographic image, a position measuring device 11 that outputs a digital position signal corresponding to the latitude, longitude, and altitude at the shooting position of the imaging device 10, and the imaging device 10 at the time of shooting An electronic compass 12 for outputting a digital azimuth / attitude signal corresponding to the azimuth and orientation, a numerical map database 13 for storing numerical map data, and a personal computer 15 for performing calculations and processing based on these digital signals, The personal computer 15 includes a computer image forming unit 23 that creates a computer image from the numerical map corresponding to the digital position signal and digital orientation / attitude signal, and a feature extraction unit that extracts respective features in the photographic image and the computer image 26, 27, and geometric correction that performs geometric correction by superimposing based on this feature I the mating portion 28, mapping device by image processing, characterized in that it comprises a back projection-mapping unit 25 to create a backprojected map image geometric correction by the superposition. An imaging device 10 that outputs a photographed digital photographic image, a position measuring device 11 that outputs a digital position signal corresponding to the latitude, longitude, and altitude at the shooting position of the imaging device 10, and the imaging device 10 at the time of shooting Using an electronic compass 12 that outputs a digital orientation / attitude signal corresponding to the orientation and orientation, a numerical map database 13 that stores numerical map data, and a personal computer 15 that performs computation and processing based on these digital signals, A means for creating a computer image from the numerical map corresponding to the digital position signal and the digital orientation / attitude signal, means for extracting respective features in the photographic image and the computer image, and overlaying based on the features. Means for performing geometric correction, and back-projecting onto the superimposed geometrically corrected image Image mapping computer program by the processing to function as a means to create.   A digital photographic image taken by the imaging device 10 is displayed on the display unit 22, coordinates on the map corresponding to a designated location of the digital photographic image and an altitude are displayed on the display unit 22, and the digital photographic image is displayed. 5. The map creation method by image processing according to claim 1, further comprising a step of displaying the information written and added to the map on a map.   A digital photographic image taken by the imaging device 10 is displayed on the display unit 22, coordinates on the map corresponding to a designated location of the digital photographic image and an altitude are displayed on the display unit 22, and the digital photographic image is displayed. 6. A map creation apparatus by image processing according to claim 2 or 5, further comprising an adding means for displaying the information written and added to the map on a map.   A digital photographic image taken by the imaging device 10 is displayed on the display unit 22, coordinates on the map corresponding to a designated location of the digital photographic image and an altitude are displayed on the display unit 22, and the digital photographic image is displayed. 7. The computer program for creating a map by image processing according to claim 3 or 6, wherein the information added to the function is displayed as a means for displaying on the map.   8. The map creation method by image processing according to claim 1, wherein the imaging device is made of a device capable of moving images, and creates an image that changes every moment according to the moving images.   9. The map creation device by image processing according to claim 2, 5 or 8, wherein the imaging device 10 comprises a device capable of moving images and creates an image that changes every moment according to the moving images. 10. The image according to claim 3, 6 or 9, wherein the imaging device 10 comprises a device capable of moving images, and causes the personal computer 15 to function as means for creating an image that changes every moment according to the moving images. Computer program for map creation by processing.

Images