JP2008076405A - Three-dimensional surveying apparatus and electronic storage medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional surveying apparatus or the like for computing three-dimensional coordinate data by a surveying device and an imaging device, especially to provide the three-dimensional surveying apparatus which determines the positions of corresponding points by the surveying device and which can produce a stereo display. <P>SOLUTION: A tilt or the like of a digital camera 3000 is calculated from the positions of at least three reference points a1, a2, a3 measured by the surveying device 1000 and an image by the camera 3000. The tilt or the like of the camera 3000 of the imaging device is calculated from the positions of collimation points measured by the surveying device 1000. Matching of the image of the camera 3000 is performed using the collimation points as the corresponding points. The positions of the collimation points measured by the surveying device 1000 and the collimation points in the image performed matching are associated, and the three-dimensional coordinate data of a measurement object can be computed based on the association. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a three-dimensional surveying device or the like for calculating three-dimensional coordinate data by a surveying device and an imaging device, and in particular, the position of a corresponding point is determined by a surveying device at a surveying site, and stereo display is possible. The present invention relates to a three-dimensional surveying device that generates data.

Conventionally, when obtaining three-dimensional coordinates from image data, for example, an imaging means such as a digital camera and a reference structure with a known size are used. A reference structure is placed in the vicinity of the object to be measured, and the reference structure is photographed from two or more directions with a camera. This camera is provided with an inclinometer for measuring the inclination of the front, rear, left and right of the image. The reference structure is known in size, for example, a triangular structure is used. The position where the camera captures the image and the position where the reference structure is placed are measured positions where the positional relationship is known in advance relative to the measurement object.

  From this shooting position, shooting is performed with a composition in which the object to be measured and the reference structure are shot simultaneously. The relationship is obtained by absolute orientation from the reference structure, the photographing position, and the position on the photographed image, and the three-dimensional coordinates of the object as the measurement target are calculated.

  However, in order to perform the above-described conventional absolute orientation, a reference structure having a known size must be installed in advance. In addition, the position where the reference structure is installed and the position of the camera to be photographed must be surveyed. It is very troublesome to place a reference structure, set up a camera, and perform surveying. Furthermore, in the case of a building or the like, there is a problem that the size is huge and it is very difficult.

  Furthermore, if the camera is not provided with an inclinometer for detecting the tilt, the photographing posture cannot be measured, and such a special camera is extremely expensive.

  The present invention has been devised in view of the above problems, and has an imaging device for capturing an image including a collimation target, and surveying for measuring the position of the collimation target from a distance and an angle. An apparatus and a camera for acquiring an image of a measurement object including the collimation target from a plurality of different directions, the position of at least three reference points is measured by the surveying device, and the arithmetic processing means includes: The image obtained by the imaging device and the image acquired by the camera are matched, and the tilt and position of the camera are obtained based on the reference point corresponding to the image taken by the imaging device. The position of the collimation point as the pass point measured by the surveying instrument is used to calculate the three-dimensional coordinate data of the measurement object acquired by the camera.

  In the present invention, the surveying device is placed at a known point, and the arithmetic processing means obtains a reference point coordinate, and converts the three-dimensional data of the measurement object into a coordinate in the ground coordinate system based on the reference point coordinate. It can also be.

  Furthermore, the present invention may be configured to manually or automatically generate a pass point that is a collimation point in the matched image.

  In the three-dimensional surveying method of the present invention, a first step of capturing an image including a collimating target with an imaging device and measuring the position of the collimating target from distance data and angle data by the surveying device, and a plurality of cameras. A second step of acquiring an image including the collimation target from different directions; positions of at least three reference points measured by the surveying device; an image by the imaging device; and a collimation measured in the first step A third step of matching the image of the camera from the target position with the collimation target as a corresponding point and calculating the tilt of the camera and the like, and a collimation as a pass point measured by the surveying device A fourth step of associating the position of the point with the collimation point in the image subjected to the matching, and the three-dimensional coordinate data of the measurement object based on the association obtained in the fourth step. And a fifth step of calculating the data.

  Further, the three-dimensional surveying method of the present invention includes a surveying device for measuring a position of a collimation target from a distance and an angle and acquiring an image including the collimation target, and a measurement including the collimation target from a plurality of different directions An image pickup device for acquiring an image of an object, an image including positions of at least three reference points measured by the surveying device, a collimation target obtained by the surveying device, and an image by the image pickup device And matching the image of the imaging device with the reference point as a corresponding point, calculating the inclination of the imaging device, and the position of the collimation point as a pass point measured by the surveying instrument, An arithmetic processing unit is provided for associating the collimation point in the matched image and calculating the three-dimensional coordinate data of the measurement object based on the association.

  Furthermore, the electronic storage medium of the present invention reads the collimation target distance data, angle data, and image data measured by the surveying device, and a plurality of imaging devices include images including the collimation target imaged from different directions. From the read and measured positions of at least three reference points, image data, and the image by the imaging device, the image of the imaging device is matched with the reference point as a corresponding point, and the inclination of the imaging device is determined. Further, the position of the collimation point as the pass point measured by the surveying instrument is associated with the collimation point in the image subjected to the matching, and based on the association, the three-dimensional coordinate data of the measurement object FD, CD, DVD, RAM, ROM, memory card, and the like in which a program indicating a procedure for calculating is stored.

effect

The present invention configured as described above has an imaging device for capturing an image including a collimation target, and a surveying device for measuring the position of the collimation target from a distance and an angle, A camera for acquiring an image of a measurement object including the collimation target from a plurality of different directions, the position of at least three reference points is measured by the surveying device, and the arithmetic processing means is the imaging device The image acquired by the camera and the image acquired by the camera, the tilt and position of the camera are obtained based on the reference point corresponding to the image captured by the imaging device, and the surveying device further Since the three-dimensional coordinate data of the measurement object acquired by the camera is calculated using the position of the collimation point as the measured pass point, the three-dimensional coordinate data is obtained easily and accurately. There is an effect that can be bet.

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention relates to a digital camera for stereo shooting and a surveying instrument (total station) having a distance measuring function for determining the coordinates of corresponding points (pass points) of a stereo image.
Is a three-dimensional measuring apparatus that calculates data for three-dimensional display on a screen such as a display.

  Embodiments of the present invention will be described with reference to the drawings.

A first embodiment in which no target mark is used as a pass point will be described with reference to FIGS. In the first embodiment, the surveying instrument 1000 is equipped with the imaging device 100.

The surveying instrument 1000 includes an imaging device 100 that can capture a collimation direction as an image. As a distance measuring function of the surveying instrument 1000, a surveying instrument having a non-prism function that captures direct reflection from a natural object and does not require a reflecting prism is used.

As shown in FIGS. 1 and 2, the surveying instrument 1000 collimates an arbitrary portion of the measurement object, measures the distance, and similarly measures the horizontal angle and the elevation angle. And the imaging device 100 acquires the image of a surveying point. Since the collimation point is the center of the optical axis, it coincides with the center of the image. Since the survey point becomes a pass point, survey values and images of at least three positions are acquired.

After surveying, the digital camera 3000 is used to acquire images from at least two directions.

Next, the image data of the digital camera 3000 is taken into the surveying instrument 1000, and the stereo image of the digital camera 3000 and the three images acquired by the surveying instrument 1000 are matched. A single photo orientation is performed to correct the magnification, brightness, and rotation of the stereo image based on the position coordinates of the three points. Based on this, a pass point is determined.

After the determination of the plurality of pass points, the data is transferred to a personal computer installed in an office, for example, and a mutual evaluation is performed to obtain a relative relationship between the digital cameras 3000 that photographed the left and right images, and the points constituting the measurement object 10000 are determined. Find the relative positional relationship. Absolute orientation is performed with data based on mutual orientation and converted to the ground coordinate system. Further, it can be displayed on the screen as an ortho image based on the positional relationship obtained by the relative orientation.

The imaging device 100 is for converting image device data into digital data, and is, for example, a solid-state imaging device such as a CCD. The image pickup apparatus 100 includes an image pickup device 110 configured by a CCD or the like, and an image circuit 120 for forming an image signal from an output signal of the image pickup device 110.

“First Example”
A first embodiment will be described with reference to FIGS.

A first embodiment in which no target mark is used as a pass point will be described with reference to FIGS. In the first embodiment, the surveying instrument 1000 is equipped with the imaging device 100.

The surveying instrument 1000 includes an imaging device 100 that can capture a collimation direction as an image. As a distance measuring function of the surveying instrument 1000, a surveying instrument having a non-prism function that captures direct reflection from a natural object and does not require a reflecting prism is used.

The surveying instrument 1000 collimates an arbitrary part of the measurement object, measures the distance, and similarly measures the horizontal angle and the elevation angle. And the imaging device 100 acquires the image of a surveying point. Since the collimation point is the center of the optical axis, it coincides with the center of the image. Since the survey point becomes a pass point, survey values and images of at least three positions are acquired.

The present embodiment will be described in detail based on FIG. First, in step 1 (hereinafter abbreviated as S1), as shown in FIG. 1, a surveying instrument 1000 with an image pickup device is installed at a known point A. In this embodiment, the image capturing apparatus 100 employs the image capturing apparatus 100 built in the surveying instrument 1000.

Next, in S2, the reference point is surveyed by the surveying instrument 1000. In this embodiment, there are three reference points a1, a2, and a3 as shown in FIG. The surveying instrument 1000 measures the three reference points a1, a2, and a3, and the imaging device 100 captures an image including the reference point.

In S3, as shown in FIGS. 1 and 2, the digital camera 3000 is moved to the B point and the C point, and an image including the reference point is captured. That is, the digital cameras 3000 are installed at the B point and the C point, and images including the reference points a1, a2, and a3 together with the measurement object 10000 are taken in stereo. As shown in FIG. 2, the digital camera 30 is at least viewed from the left and right directions.
A stereo image is taken at 00. In the present embodiment, the digital camera 3000 is moved to capture a stereo image, but a stereo camera may be prepared separately.

The digital camera 3000 preferably has a known image distortion due to lens characteristics.

In step S <b> 4, the image data captured by the digital camera 3000 is taken into the surveying instrument 1000.

  Next, in S5, single photo orientation is performed.

Single photo orientation refers to the position of the digital camera 3000 (X ₀ , Y ₀ , Z ₀ ) and the digital camera 300 that took a photo using the collinear condition that holds the reference point that is captured in one photo.
The inclination of 0 (ω, φ, κ; roll, pitch, yaw angle) is obtained, and the relationship between the photographic coordinates (x, y) and the ground coordinates (X, Y, Z) is obtained.

The position (X ₀ , Y ₀ , Z ₀ ) of the digital camera 3000 and the tilt (ω, φ, κ: roll, pitch, yaw angle) of the digital camera 3000 are called external orientation elements. Thus, the tilt and magnification of the digital camera 3000 can be calculated from the reference point.

Next, in S6, the surveying instrument 1000 performs collimation for generating a pass point on the measurement object 10000. That is, a surveying instrument 1000 with an image pickup device is installed at a point A which is a known point, and a desired point is collimated. As shown in FIGS. 3 and 4, in this embodiment, the collimation points b1, b2, and b3 are collimated so that the corners and the like of the measurement object 10000 become pass points.

In step S7, the collimation point is generated as a pass point on the image of each digital camera 3000. That is, in S7, a pass point for performing relative orientation is formed. This is for forming on a stereo image based on the position coordinates of three points. In order to perform stereo image measurement, 6 points or more are required for a plane, and many points are required for a building or the like as necessary.

Next, in S81, mutual evaluation is performed using the collimation point (pass point) obtained in S7.
In S81, the relationship between the tilt of the stereo image of the digital camera 3000 and the magnification can be calculated from the pass point.

In step S82, a displacement correction image for associating stereo image pass points is created. The creation of the displacement corrected image in S82 is performed by oblique transformation. The oblique transformation is a transformation in which a photographic coordinate of a certain point on the light receiving element of the digital camera 3000 is projected onto another plane. Here, feature points are extracted from one image, the same horizontal line of the other image is searched, and corresponding points are searched.

Therefore, it is necessary to convert the digital camera 3000 into an image projected by parallel translation in the horizontal direction. In other words, it is necessary to convert an image to be used into an image as if it was taken by moving the digital camera 3000 horizontally. By such conversion, it is possible to search for corresponding points even in an image in which the digital camera 3000 is naturally moved. In S83, a pass point is generated manually or automatically.

In S84, stereo matching is performed. This stereo matching is a method of automatically searching for corresponding points between two captured images.

Next, in S85, using the corresponding points searched in S84, the relative relationship of the digital camera 3000 that captured the left and right images can be obtained. Thereby, a three-dimensional coordinate system centered on the optical axis of the left camera can be defined.

Thus, a three-dimensional coordinate system centered on the optical axis of one digital camera 3000 can be defined.

Next, in S86, the coordinate position of the path point obtained by surveying with the surveying instrument 1000 is given to the model coordinate system obtained by the mutual rating, and an absolute rating is performed for conversion to the ground coordinate system.

Here, the absolute rating is an operation to convert the model coordinate system obtained by mutual rating to the ground coordinate system, and it is converted by giving a 3D coordinate value measured on the ground to a point on the image. Can do.

Next, in S87, it is converted into three-dimensional data in the ground coordinate system. For example, an ortho image developed on the ground can be displayed based on this data.

Here, the ortho image will be described. Whereas the photo taken with the camera is a central projection photo,
The orthographic projection of the central projection is called an orthophoto. Since the central projection photograph is taken through a lens, the scale of the entire photograph is not uniform like a map. In contrast, orthophotos are orthographically projected, so the scale is uniform and can be handled in the same way as a map.

The image of the digital camera 3000 is composed of small pixel unit data, and coordinates are given to each of them by mutual rating and absolute rating. In a two-dimensional display such as a display, shading is given according to the three-dimensional coordinates. In coordinate conversion, coordinates in pixel units are newly calculated and displayed as operations such as rotation.

As described above, the first embodiment relates to a three-dimensional survey apparatus capable of performing stereo display by calculating three-dimensional coordinate data using the surveying instrument 1000 and the digital camera 3000.

As shown in FIGS. 4 and 5, the surveying instrument 1000 is a total station and includes an electronic theodolite that detects angles (vertical and horizontal angles) and a lightwave distance meter.

In this embodiment, the surveying instrument 1000 and the digital camera 3000 are configured separately.

  Next, based on FIG. 6, the electrical configuration of the surveying instrument 1000 of the present embodiment will be described.

The surveying instrument 1000 includes a distance measuring unit 1100, an angle measuring unit 1400, a storage unit 4200, a display unit 4300, a control calculation unit 4000, and an operation / input unit 5000. Here, the storage unit 4200 is for storing data, programs, and the like. Display unit 43
00 and the operation / input unit 5000 allow the user to operate the surveying instrument 1000.

The distance measuring unit 1100 uses a light wave distance meter. The distance measuring unit 1100 is for measuring the distance from the phase difference, time difference, etc. of the reflected light to the distance measuring target. The distance measuring unit 1100 includes a light emitting unit 1110 and a light receiving unit 1120, and the distance measuring light emitted from the light emitting unit 1110 is
Injection in the direction of the measurement object. The reflection light from the measurement object is configured to enter the light receiving unit 1120, and the distance to the measurement object can be measured.

That is, the distance from the surveying instrument 1000 to the measurement object is calculated from the time difference from when the light emitting unit 1110 emits pulses until it is received by the light receiving unit 1120. This calculation is executed by the control calculation unit 4000.

The angle measuring unit 1400 is for calculating a horizontal angle and an elevation angle, and the vertical angle measuring unit 1
410 and a horizontal angle measuring unit 1420.

The vertical angle measuring unit 1410 can detect the amount of rotation as a horizontal or zenith using, for example, an elevation encoder. In the horizontal angle measuring unit 1420, for example, a horizontal angle encoder can detect the amount of horizontal rotation from the reference direction. These encoders are composed of, for example, a rotor attached to a rotating part and a stator on which a fixed part is formed.

An angle measuring unit 1400 including a vertical angle measuring unit 1410 and a horizontal angle measuring unit 1420 is configured to calculate a horizontal angle and an elevation angle based on the detected horizontal rotation amount and height rotation amount. .

The surveying instrument 1000 is equipped with an imaging device 100 including an imaging element 110 and an image circuit 120. The imaging apparatus 100 may be configured to be incorporated in the surveying instrument 1000 or may be configured to connect a separate body.

As shown in FIG. 7, the imaging apparatus 100 includes a wide-angle imaging element 111 and a telephoto imaging element 112.
It can also be configured to be switchable. The wide-angle image sensor 111 is a sensor capable of photographing a wide range, and the telephoto image sensor 112 is a sensor capable of photographing a finder image.

  The control calculation unit 4000 includes a CPU and executes various calculations.

Note that a program storing a procedure to be calculated by the calculation unit 1300 of the surveying instrument 1000 is an FD.
, CD, DVD, RAM, ROM, and an electronic storage medium such as a memory card.

As shown in FIG. 4, the surveying instrument 1000 includes a telescope unit 4, a rack part 3 that supports the telescope part 4 so that it can be rotated up and down, and a base part 2 that supports the rack part 3 so that it can rotate horizontally. Has been. The base part 2 can be attached to a tripod or the like via the leveling table 1.

In the surveying instrument 1000, an operation panel which is a part of the operation / input unit 5000 is formed, and a display which is a part of the display unit 4300 is attached. Further, the objective lens is exposed in the telescope unit 4.

If there are known points on the image, six reference points are necessary, but processing as shown in FIG. 7 is also possible. That is, it is also possible to measure the reference point in S91, and after acquiring an image including the reference point in S92, proceed to S81.

"Second Example"

The second embodiment is a three-dimensional measuring apparatus that uses target marks as at least three reference points serving as pass points.

As the surveying instrument 1000, a total station capable of measuring the distance to the reflecting prism placed at the reference point is used. Further, a target mark in which a mark is drawn on a reflection sheet can be used instead of the reflection prism.

An example of the relationship between the measurement data of the surveying instrument 1000 and the image of the digital camera 3000 will be described.

"Number 1"

Here, f is the focal length of the digital camera 3000, and a is the digital camera 30.
Is an inclination of 00 (rotation angle of three axes) (ω, φ, κ; roll, pitch, yaw angle), (
X, Y, Z) is three-dimensional data measured by the surveying instrument 1000, and (Xc, Yc, Zc)
Is the position coordinates of the digital camera 3000 with respect to the surveying instrument 1000.

The base of the target mark is composed of a retroreflective sheet. On the sheet, a cross line representing a collimation point and a circle centering on the cross line that facilitates collimation are drawn. A bar code is drawn above the circle so that it can be easily read when converted into an image. Below the circle, a number for the measurer to identify the target mark is drawn.

An adhesive is affixed to the back of the target mark and can be affixed to an arbitrary object. Moreover, you may combine with other attachment means other than an adhesive agent, for example, it can also be set as the structure affixed on the magnet on a sheet | seat.

The target mark corresponds to the collimation target, and the circle around the crosshair is
This corresponds to a mark that facilitates collimation.

Other configurations, operations, and the like of the second embodiment are the same as those of the first embodiment except that a prism is used for measuring the reference point, and thus the description thereof is omitted.

Note that image coordinates can also be converted into photo coordinates. The ground coordinates are calculated from the photographic coordinates using the projective transformation formula. The photograph coordinates of the search image are obtained from the ground coordinates by the inverse transformation formula of the projective transformation. It is also possible to convert the photograph coordinates of the search image into image coordinates and search for corresponding points using an appropriate matching method.

Also, point data of random three-dimensional coordinates are converted into DEM (DIGITAL ELEVA
(TION MODEL). In this method, point data of random three-dimensional coordinates are converted into irregular triangle network (TIN) data, and this TIN data is converted into a square lattice mesh DEM (DIGITAL ELEVATION MODEL).

The present invention is a three-dimensional surveying device or the like for calculating three-dimensional coordinate data by a surveying device and an imaging device, and in particular, a three-dimensional surveying device capable of determining the position of a corresponding point by the surveying device and performing stereo display. Can be provided.

It is a figure explaining 1st Example of this invention. It is a figure explaining 1st Example of this invention. It is a figure explaining 1st Example of this invention. It is a figure explaining 1st Example of this invention. It is a figure explaining the surveying instrument 1000 of 1st Example. It is a figure explaining the structure of the surveying instrument 1000 of 1st Example. It is a figure explaining the structure of the surveying instrument 1000 of 1st Example. It is a figure explaining the effect | action of 1st Example.

Explanation of symbols

1000 Surveying instrument 1100 Distance measuring unit 1400 Angle measuring unit 4000 Control operation unit 100 Imaging device 3000 Digital camera 10000 Measuring object

Claims (6)

An imaging device for capturing an image including a collimation target, and a surveying device for measuring the position of the collimation target from a distance and an angle, and the collimation target from a plurality of different directions A camera for acquiring an image of a measurement object, the position of at least three reference points is measured by the surveying device, and the arithmetic processing means includes an image acquired by the imaging device and an image acquired by the camera. And the tilt and position of the camera is obtained based on the reference point corresponding to the image captured by the imaging device, and the position of the collimation point as the pass point measured by the surveying device A three-dimensional surveying device that calculates the three-dimensional coordinate data of the measurement object acquired by the camera.
4. The surveying apparatus according to claim 1, wherein the surveying device is placed at a known point, and the arithmetic processing means obtains a reference point coordinate, and converts the three-dimensional data of the measurement object into a coordinate in the ground coordinate system based on the reference point coordinate. Dimensional surveying equipment.
The three-dimensional surveying apparatus according to claim 1, wherein a pass point that is a collimation point is manually or automatically generated in the matched image.
A first step of capturing an image including a collimation target with an imaging device, and measuring a position of the collimation target from distance data and angle data by the surveying device, and a plurality of cameras including the collimation target with different directions From the second step acquired from the above, the positions of at least three reference points measured by the surveying device, the image by the imaging device, and the position of the collimation target measured in the first step, the collimation target The matching of the image of the camera with the corresponding point as well as the third step of calculating the tilt of the camera and the position of the collimation point as the pass point measured by the surveying instrument were performed. A fourth step of associating the collimation point in the image with a fifth step of calculating three-dimensional coordinate data of the measurement object based on the association obtained in the fourth step. Dimension surveying method.
A surveying device for measuring the position of a collimation target from a distance and an angle and acquiring an image including the collimation target, and an imaging for acquiring an image of the measurement object including the collimation target from a plurality of different directions A reference point corresponding to a position of at least three reference points measured by the surveying instrument, an image including a collimation target obtained by the surveying instrument, and an image obtained by the imaging apparatus. The image of the imaging device is matched, the inclination of the imaging device is calculated, and the position of the collimation point as a pass point measured by the surveying device and the collimation in the image subjected to the matching A three-dimensional surveying apparatus comprising a calculation processing means for associating points and calculating three-dimensional coordinate data of the measurement object based on the association.
The distance data, the angle data, and the image data of the collimation target measured by the surveying device are read, and the plurality of imaging devices read the image including the collimation target imaged from different directions, and are measured at least three reference points From the position of the point, the image data, and the image by the imaging device, the image of the imaging device is matched with the reference point as a corresponding point, the inclination of the imaging device is calculated, and the surveying device further measures A program is stored that associates the position of a collimation point as a pass point with a collimation point in the image subjected to the matching, and calculates the three-dimensional coordinate data of the measurement object based on the association. Electronic storage media such as FD, CD, DVD, RAM, ROM, and memory card.

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