JP2009031206A - Position measuring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position measuring device that does not require manual matching of each point and the analysis of a specific pattern, and can accurately and easily detect the position of a measuring object point. <P>SOLUTION: A video, including a reference light source 31 and a measuring object light source 32 for transmitting different data with light, is photographed by an imaging section 11 in a plurality of parts. A video-processing section 12 demodulates the data from the photographed video and specifies the position in the video of the image of each light source. A reference light source position acquiring section 13 acquires the position of the reference light source 31, based on the data from the reference light source 31, and a photographic position specifying section 14 specifies the photographic position and the attitude in each photographic part. A target position specifying section 15 matches the images of the measuring object light source 32 in the video photographed in the plurality of photographing parts with each other based on the obtained data, and specifies the position of the measuring object light source 32, having transmitted the same data based on the positions in the plurality of videos and the photographic positions and attitude, or the like, of the plurality of parts. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a position measurement technique for measuring a position.

  It is important to measure the position accurately at various construction sites such as bridges and buildings. Traditionally, triangulation is used as a representative method for measuring position. However, since the trigonometric method needs to be measured by human eyes, there is a problem that human measurement errors occur, and there is also a problem that it is difficult to measure at night.

  In recent years, measurement methods using GPS satellites have also been used. In this method, position measurement is possible with an accuracy of several millimeters to several centimeters. However, one hour or more is required to obtain the accuracy. In addition, the measuring instrument is fixed in a stable place, and it is assumed that its position does not change for a long time, which is inconvenient. Another disadvantage is that this method cannot be used in tunnels and underground where radio waves from GPS satellites do not reach.

  As another method, a position measuring method by image analysis is also considered. For example, in Patent Document 1, a light reflecting member called a target is arranged in a tunnel, and the shape of the tunnel is measured using an image taken by a camera. In the case of this patent document 1, the length on the image is associated with the actual length by copying the reference target arranged at a predetermined interval into the same image, and each target is based on this. The position on the two-dimensional plane is determined. In Patent Document 1, only a position on a two-dimensional plane is known.

  A method for measuring a three-dimensional position using an image has also been developed. For example, a stereo method has been used in which a photograph is taken from a plurality of known positions and the position is obtained from the plurality of obtained photographs. In recent years, images such as digital cameras can be computer-processed, and position measurement has also been computerized.

  One method for measuring the exact position of an unknown point is the backward intersection method and the forward intersection method. FIG. 6 is an explanatory diagram of the forward intersection method and the backward intersection method. In the backward intersection method, the coordinates and orientation of the camera are obtained from a plurality of reference points whose coordinates are known in advance. As shown in FIG. 6A, the point O is the origin of the camera, and the reference point R is projected as an image on the imaging surface of the camera at the position of the point r. In an actual camera, the image is projected behind the camera origin, but here it is shown as an image formed in front of the camera origin for the sake of explanation.

  Based on the positions of the plurality of reference points R in the three-dimensional space and the positions (two dimensions) of the projected points r on the imaging surface, the coordinates of the camera origin O in the three-dimensional space are obtained. Note that the distance between the camera origin and the imaging surface is obtained from the focal length of the lens in an actual camera, and the projection point r is obtained as a three-dimensional position in the camera coordinate system including this value.

  Here, the camera coordinate system is rotated according to the posture of the camera, and therefore the imaging surface is also rotated. For this reason, it is necessary to obtain the posture of the camera as well as the position of the origin O of the camera. What is necessary is just to obtain | require the angle of a triaxial direction for the attitude | position of a camera. As described above, in the backward intersection method, a total of six variables, that is, three variables as the camera position and three variables as the camera posture are specified. For that purpose, the reference points should be 3 points or more, preferably 6 points or more, and if there are many reference points, the accuracy can be improved.

  In contrast to the backward intersection method described above, the forward intersection method captures the measurement target point from a plurality of known imaging positions and obtains the coordinates of the measurement target point. As shown in FIG. 6B, it is assumed that the measurement target point P is photographed when the camera is at the point O1 and the point O2. At this time, it is assumed that the measurement target point P is projected at the positions of the points p1 and p2 on the imaging surface. The positions (two-dimensional) of the points p1 and p2 on the obtained imaging surface, the positions (points O1 and O2) of the camera in the three-dimensional space, and the postures of the cameras at the respective photographing positions (rotation in the three-axis directions) Angle), the distance between the origin of the camera and the imaging surface, and the like, the position of the measurement target point P in the three-dimensional space may be obtained. In the forward intersection method, each measurement position and camera posture are known.

  Combining such backward intersection method and forward intersection method, the reference points and measurement target points are photographed at a plurality of locations, and the respective photographing positions and camera postures are obtained from the reference points by the backward intersection method. The position of the measurement target point can be obtained by the forward intersection method based on the camera posture.

  Regardless of whether the position and orientation of the camera is determined by the backward intersection method or the positions of the plurality of measurement target points are determined by the forward intersection method, a plurality of reference points or measurement target points are photographed simultaneously. It is necessary to specify what point is. Although it is conceivable that this work is performed manually, the work is complicated when the number of points is large, and there are many problems such as different points being associated with each other by mistakes.

  As another method, there is a method of trying to correspond each point by image analysis. For example, it is conceivable that the reference point is constituted by a specific pattern, the specific pattern is detected to associate the reference point, and the unknown point is associated from the positional relationship with the reference point. However, since the image of the specific pattern is rotated and deformed depending on the posture of the camera, the processing for detecting the specific pattern requires enormous processing. In addition, unknown points may not be accurately associated depending on the shooting state. In the first place, this method has a problem that a specific pattern is required.

JP 2003-75149 A

  The present invention has been made in view of the circumstances described above, and does not require manual association of points or analysis of a specific pattern, and can easily detect the position of a measurement target point accurately. The object is to provide an apparatus.

  The present invention is a position measurement device that captures light from one or more measurement target light sources or a plurality of reference light sources at a plurality of locations or by a plurality of imaging means to identify the position of the measurement target light source. . The measurement target light source and the reference light source emit light modulated by different data, and the image processing means demodulates the data from the images obtained by photographing the light emitted from the measurement target light source and the reference light source. The position in the image of the image of the light source to be measured is specified. Based on the demodulated data, the image of each light source reflected in the video taken at a plurality of locations is associated. Thereby, the position in each image | video can be known about each light source. If the position and orientation of the imaging means are known, the position of each measurement target light source can be specified based on the position of each measurement target light source in each image by, for example, the forward intersection method. Further, from the known position of each reference light source and the position of the reference light source in the image, the position and orientation of the photographing means can be obtained by, for example, the backward intersection method, and the position of the light source to be measured as described above. Can be specified.

  The position of the reference light source is acquired from the outside via, for example, communication means, or the position of each reference light source is stored in advance in the storage means, and position information corresponding to the demodulated data is acquired, Alternatively, the position information can be transmitted as data transmitted from the reference light source.

  According to the present invention, data is transmitted from each measurement target light source or each reference light source, and the image of the light source between the plurality of images is associated with the data. The processing of the image such as analysis is remarkably simplified, and there is an effect that the position of the light source to be measured can be specified with high speed and high accuracy.

  FIG. 1 is a block diagram showing a first embodiment of the present invention. In the figure, 11 is a photographing unit, 12 is a video processing unit, 13 is a reference light source position acquisition unit, 14 is a photographing position specifying unit, 15 is a target position specifying unit, 21 is a storage unit, 22 is a communication unit, and 31 is a reference light source. , 32 are measurement target light sources. The reference light source 31 is a light source installed at a known position. At least three, preferably six or more reference light sources 31 are installed. The measurement target light source 32 is a light source installed at a position to be specified. The reference light source 31 and the measurement target light source 32 emit light modulated by different data, and transmit data using this light. For example, different IDs can be transmitted. For the reference light source 31, for example, known position information itself may be transmitted by light. The modulation method is assumed to be a method that can be demodulated by the video processing unit 12 described later. As the light source, it is preferable to use a light source whose response to blinking or a change in the amount of light is fast due to modulation. For example, a visible LED or an infrared LED can be used. Of course, other light emitting sources may be used. As will be described later, the video is shot at a plurality of different shooting locations. However, if the location of the shooting location is known, the reference light source 31, the reference light source position acquisition unit 13, the shooting position specifying unit 14, and the like are not provided. However, it is assumed here that the position of the shooting location is not known.

  The photographing unit 11 includes a two-dimensional light receiving element and an optical system for forming an image on the two-dimensional light receiving element, and photographs an image. In particular, here, an image including the reference light source 31 and the measurement target light source 32 is taken. In addition, in order to pinpoint the position of the measurement object light source 32, it image | photographs in a several different location.

  The video processing unit 12 uses the reference light source 31 and the measurement target light source 32 from the video captured by the imaging unit 11 based on the blinking of the image of the reference light source 31 and the image of the measurement target light source 32 in the video or the light amount fluctuation. Respectively demodulates data transmitted by light. At the same time, the position of the image of the reference light source 31 and the image of the measurement target light source 32 in the video is specified. The position in the image of the image of each light source corresponds to the light receiving position on the two-dimensional light receiving element in the photographing unit 11.

  The reference light source position acquisition unit 13 specifies the reference light source 31 based on the data demodulated by the video processing unit 12 and acquires the position of the reference light source 31 in the three-dimensional space. The position of the reference light source 31 is known, but the image includes a plurality of images of the reference light source 31, and it is necessary to associate which image is which position. In the present invention, data is sent from the reference light source 31 and is obtained by demodulating the data by the video processing unit 12, so that the data is associated with a known position based on this data.

  For example, when the ID of the light source is transmitted as data, the reference light source 31 can be specified by collating with an ID set in advance as the reference light source 31. Alternatively, information indicating that the light source is a reference light source may be included in the data. The position of the reference light source 31 is acquired by, for example, making an inquiry to the outside through the communication unit 22 based on an ID sent as data from the reference light source 31, and acquiring position information corresponding to the ID to obtain the reference light source 31. The position should be Alternatively, the ID and position information of the reference light source 31 are associated with each other and stored in the storage unit 21 in advance, and the position information stored in association with the ID in the demodulated data is acquired from the storage unit 21 and used as a reference. The position of the light source 31 may be used. Alternatively, when position information is transmitted as data from the reference light source 31, the position information may be extracted from the demodulated data and set as the position of each reference light source 31.

  The shooting position specifying unit 14 uses the positions of the images of the plurality of reference light sources 31 acquired by the video processing unit 12 and the positions of the reference light sources 31 acquired by the reference light source position acquisition unit 13 in the three-dimensional space. Thus, the position in the three-dimensional space where the photographing unit 11 has photographed and the posture of the photographing unit 11 at the time of photographing are obtained. As described above, the position of the image of the reference light source 31 in the video corresponds to the position on the two-dimensional light receiving element in the photographing unit 11, and the photographing position and orientation in the three-dimensional space are shown in FIG. ) Can be obtained by the backward crossing method described in (1).

  The target position specifying unit 15 includes the data demodulated by the video processing unit 12 based on the video shot by the shooting unit 11 at each of a plurality of locations, the position in the video of the specified measurement target light source image, and the shooting position. The position of the light source to be measured is specified based on the position of the shooting location specified by the specifying unit 14 and the posture at the time of shooting. First, the images of the same light source to be measured included in the images photographed at the respective locations are associated. In other words, the measurement target light source 32 image in a certain video is identified and associated with which measurement target light source 32 in another video image. This association may be made by associating images obtained from the same data in a plurality of videos based on the data demodulated by the video processing unit 12 as belonging to the same light source 32 to be measured.

  When it is possible to identify which measurement target light source 32 the image of the measurement target light source 32 included in each video is, the position in each video obtained by the video processing unit 12 for each measurement target light source 32 and the shooting position What is necessary is just to identify the position in the three-dimensional space of the measurement object light source 32 from the position and attitude | position in the three-dimensional space of each imaging | photography location calculated | required in the specific | specification part 14, for example by the forward intersection method.

  The memory | storage part 21 can memorize | store various information which needs to be memorize | stored in an apparatus, and should just be provided suitably. Here, it is provided when the preset position of the reference light source 31 in the three-dimensional space is stored, and the data transmitted by the reference light source 31 and the position information of each reference light source 31 are stored in association with each other.

  The communication unit 22 performs communication with an external device through a communication path, and may be provided as appropriate. Here, it is provided when the position information of the reference light source 31 is received from an external device, and an inquiry is made to the external device based on the data sent from the reference light source 31, and the result of the inquiry is received from the external device.

  FIG. 2 is an explanatory diagram of a usage example in the first embodiment of the present invention. FIG. 2 shows an example in which the position is measured at each point of the bridge. A plurality of measurement target light sources 32 are arranged on the measurement target bridge. In addition, the reference light source 31 is installed in a place where the position is known and does not change, such as a point used as a reference when the bridge is installed. Each of the reference light source 31 and the measurement target light source 32 modulates the emitted light with different data and transmits the data by light. The position of the reference light source 31 is set in advance. Here, as an example, it is assumed that the external device holds the data (ID) transmitted by the reference light source 31 and the position of the reference light source 31 in association with each other.

  In the example illustrated in FIG. 2, an image including the reference light source 31 and the measurement target light source 32 is captured at the shooting location A and the shooting location B. For convenience of illustration, only the photographing unit 11 is shown, and one frame of the photographed video is shown. First, the imaging unit 11 captures an image including the reference light source 31 and the measurement target light source 32 at the shooting location A. The video processing unit 12 demodulates the data transmitted from the reference light source 31 and the measurement target light source 32 included in the video based on the captured video, and the video image of the reference light source 31 and the measurement target light source 32. Identify the position inside.

  FIG. 3 is an explanatory diagram of an example of a reception process of data transmitted from each light source. Here, one light source is shown with attention. As described above, each light source emits modulated light by changing blinking or light amount of light according to data. For example, when OOK (On-Off Keying) is used as the modulation method, light is emitted when the data is 1, and the light is turned off when the data is 0. That is, data is transmitted by flashing light. Therefore, the image of the light source appears or disappears in the video imaged by the imaging unit 11. This state is shown in FIG. 3, and by referring to each frame of the video in order, for example, by sequentially obtaining the correlation between the frames, it is possible to extract the blinking of the light source and the light quantity fluctuation. In the example shown in FIG. 3, 1,0, 1,... Are obtained as data. An existing technique can be applied to the data transmission / reception method. For example, the modulation method is not limited to OOK, and any intensity modulation method such as PPM (Pulse Position Modulation) can be used. Also, the data format can be arbitrarily designed.

  The captured video includes a plurality of light source images, and data may be acquired for each of the light source images as described with reference to FIG. In addition, referring to only one frame, the presence of a light source that is turned off cannot be confirmed, but an image of a light source that is present in a video can be extracted by referring to a plurality of frames. Note that, for example, there may be reflections of light from other light sources other than the reference light source 31 and the measurement target light source 32, or the light from these light sources may be reflected by a mirror surface such as a metal surface. Since no data can be acquired for, the reference light source 31 and the measurement target light source 32 can be distinguished.

  When the data from the reference light source 31 and the measurement target light source 32 can be acquired, the reference light source position acquisition unit 13 makes an inquiry to the external device through the communication unit 22 based on the data transmitted from the reference light source 31, and is set in advance. The position of each reference light source 31 is acquired. The position of the reference light source 31 may be, for example, latitude and longitude, or distances and altitudes in the east-west and north-south directions from a certain reference point, but may be an arbitrarily set position in a three-dimensional space.

  Then, from the acquired preset position of each reference light source 31 and the position of each reference light source 31 on the image, the shooting position specifying unit 14 takes a picture by, for example, the backward intersection method shown in FIG. The position of the location A in the three-dimensional space and the posture at the time of shooting are specified. Conventionally, since the reference light source 31 and the measurement target light source 32 are separated on the image, the arrangement of the reference light source 31 is restricted, for example, the reference light source 31 is arranged in a specific shape. Because it is identified by the data sent from, there are no restrictions on the shape. Conventionally, a specific shape has to be extracted from an image. However, in the present invention, such processing is not necessary, and each reference light source 31 is easily specified, and associated positional information is also obtained. Can be acquired.

  At this time, since only one place is taken, the target position specifying unit 15 cannot specify the position of the measurement target light source 32. For example, each of the shooting places A obtained by the video processing unit 12 The position of the image of the measurement target light source 32 in the video and the demodulated data sent from each measurement target light source 32 may be associated with each other and stored in, for example, the storage unit 21.

  Next, imaging is performed by the imaging unit 11 at the imaging location B shown in FIG. In this photographing location B, the process proceeds in the same manner as in the photographing location A. In the video processing unit 12, data sent from the reference light source 31 and the measurement target light source 32 included in the video captured by the imaging unit 11 is demodulated by the video processing unit 12, and the reference light source 31 and the measurement target light source 32 are also demodulated. The position of the image in the video is specified. Then, based on the data sent from the reference light source 31, an inquiry is made to the external device through the communication unit 22, the position information of each reference light source 31 is acquired by the reference light source position acquisition unit 13, and the acquired position of each reference light source 31 is acquired. From the information and the position of each reference light source 31 in the video, the shooting position specifying unit 14 specifies the position of the shooting location B in the three-dimensional space and the posture at the time of shooting.

  The target position specifying unit 15 obtains a position in the video of the image of the measurement target light source 32 included in the video shot at the shooting location B, and associates it with the data sent from each measurement target light source 32.

  When photographing is performed at at least two locations, the position of the measurement target light source 32 can be specified. Up to this point, the position and data in the video of the measurement target light source 32 at the shooting location A, and the position and data in the video of the measurement target light source 32 at the shooting location B are obtained. Using the position in the video taken at the shooting location A of the image of the light source 32 to be measured and the position in the video taken at the shooting location B, the shooting location A specified by the shooting position specifying unit 14 is obtained. From the position of B and the posture at the time of shooting, the position of the measurement target light source 32 in the three-dimensional space can be specified by, for example, the forward intersection method shown in FIG.

  When the position of the measurement target light source 32 in the three-dimensional space is specified, the images of the light sources in the images taken at two places are associated as described above. Conventionally, this association is determined based on a relative position from a reference light source arranged in a specific shape. However, in the present invention, such a specific shape is not necessary, and each measurement target light source 32 Correspondence can be easily performed by determining the coincidence of the transmitted data.

  In addition, the time required to finally determine the position of the light source to be measured is several seconds, although it depends on the communication speed by light compared to the time required when using the conventional GPS several hours. It is about several minutes at most from the following, and the position can be measured much faster than in the past.

  Here, it is assumed that the position of the light source 32 to be measured is identified by photographing at two locations, but the accuracy can be improved by photographing at, for example, three or more locations. Further, when the posture can be changed while the position is fixed at each photographing location and the posture can be measured, for example, photographing of the reference light source 31 and photographing of the measurement target light source 32 may be performed separately. In this case, the photographing magnification can be changed between when the reference light source 31 is photographed and when the measurement target light source 32 is photographed, and the measurement accuracy can be improved by increasing the magnification.

  Further, when the position at each photographing location and the posture at the time of photographing are known, the reference light source 31, the reference light source position acquisition unit 13, and the photographing position specifying unit 14 may be omitted.

  FIG. 4 is an explanatory diagram of another example of use in the first embodiment of the present invention. In FIG. 4, the example utilized for the measurement in a tunnel is shown. In particular, in the example shown in FIG. 4, the reference light source 31 is provided on the wall surface that has already been excavated and measured, and the measurement target light source 32 is provided on the cutting surface.

  In the case of this example as well, as in the example shown in FIG. 2 described above, images including the reference light source 31 and the measurement target light source 32 are photographed by the photographing unit 11 at a plurality of different locations, and the position of the measurement target light source 32 is specified. do it. Since the method of the present invention uses a light source, the position of the light source 32 to be measured can be obtained easily and accurately even in a dark tunnel like this example.

  By repeatedly performing such position measurement on the cutting surface, the variation of the cutting surface can be detected. Since the cutting surface may collapse, it can be useful for preventing accidents by detecting slight variations in the cutting surface. Moreover, although the example which provided the measuring object light source 32 in the cutting surface was shown in this example, it can also provide in the wall surface after cutting, and a cutting dimension can also be measured.

  The configuration of the first embodiment of the present invention is not limited to the application to the bridges and tunnels as described above, and the measurement target light source 32 or the reference light source 31 is provided for various uses to provide the measurement target light source. 32 positions can be specified.

  FIG. 5 is a block diagram showing a second embodiment of the present invention. The reference numerals in the figure are the same as those in FIG. In the first embodiment described above, since the position of the measurement target light source 32 is specified by the target position specifying unit 15, the shooting unit 11 is moved and shooting is performed at different locations. This second embodiment In this embodiment, a configuration example in which a plurality of photographing units 11-a and b are provided and a video is photographed by each of the photographing units 11-a and b is illustrated. Although FIG. 5 shows an example in which two photographing units are provided, three or more photographing units may be provided.

  Further, in the example shown in FIG. 5, video processing units 12-a and b corresponding to the photographing units 11-a and b are provided. The video processing unit 12-a demodulates the data transmitted by the reference light source 31 and the measurement target light source 32 by light from the video imaged by the imaging unit 11-a, and the image of the reference light source 31 and the measurement target light source 32. Specify the position of the image in the video. Similarly, the video processing unit 12-b demodulates the data transmitted by the reference light source 31 and the measurement target light source 32 by light from the video imaged by the imaging unit 11-b, and the image of the reference light source 31 and the measurement target light source. The position in the image of 32 images is specified. As described above, if the image processing units 12-a and 12b corresponding to the respective image capturing units 11-a and 11b are provided, it is possible to simultaneously capture images at different locations.

  Note that the video processing unit 12 may be shared, and the video capturing units 11-a and b may be operated one by one to capture video. It is conceivable that the photographing units 11-a and 11b are simultaneously operated to store images and processed one by one by the image processing unit 12. However, if processing is performed by the image processing unit 12 at the time of photographing. The amount of information to be stored can be greatly reduced.

  The reference light source position acquisition unit 13 specifies the reference light source 31 based on the data demodulated by the video processing units 12-a and 12b, and acquires the position of the reference light source 31 in the three-dimensional space. The shooting position specifying unit 14 also includes the positions in the images of the images of the plurality of reference light sources 31 acquired by the video processing units 12-a and 12 b and the three-dimensional space of the reference light source 31 acquired by the reference light source position acquisition unit 13. Using the inside position, the position of the photographing units 11-a, b in the three-dimensional space and the posture of the photographing units 11-a, b at the time of photographing are obtained. The reference light source position acquisition unit 13 and the shooting position specifying unit 14 may be provided for each of the shooting units 11-a and 11b, and may be configured to specify the position and orientation of the corresponding shooting unit.

  The target position specifying unit 15 includes the data demodulated by the video processing units 12-a and b and the position of the specified image of the measurement target light source in the video, and the photographing units 11-a and n acquired by the reference light source position acquisition unit 13. The position of the light source to be measured is specified based on the position b and the posture at the time of shooting.

  The operation of the second embodiment is almost the same as that of the first embodiment described above. Instead of moving the photographing unit 11 to a different photographing location, the photographing unit 11 is arranged at each photographing location. Good. For example, in the example shown in FIG. 2, the photographing unit 11-a and the photographing unit 11-b are installed in the photographing part A and the photographing part B, respectively, and images photographed by the photographing parts 11-a and b are provided. The position of the measurement target light source 32 may be specified based on the original. The example shown in FIG. 4 is the same, and the same applies to other applications.

  In the second embodiment, since it is not necessary to move the photographing unit when photographing at each photographing location, the photographing units 11-a and 11b are not moved, and the measurement target light source 32 is used. Can be measured repeatedly. That is, when each photographing unit 11-a, b is installed, the reference light source position obtaining unit 13 and the photographing position specifying unit 14 are operated for the first time to specify the position of each photographing unit 11-a, b and the posture at the time of photographing. Later, the position of the measurement target light source 32 is specified by the target position specifying unit 15. After that, the position of the measurement target light source 32 can be specified by the target position specifying unit 15 using the information of the positions of the shooting units 11-a and b specified at the first time and the posture at the time of shooting.

  For example, in the example of the bridge shown in FIG. 2, it is possible to monitor a change in the deflection of the bridge portion that changes every moment. Even in a building such as a building, it is possible to similarly monitor changes in deflection in columns, beams, wall surfaces, etc. due to temperature changes, wind effects, earthquakes, and the like. Further, in the example of the tunnel shown in FIG. 4, it is possible to constantly monitor the change of the cutting surface and detect danger such as collapse. Similarly, if it is installed on an inclined land or the like, it is possible to monitor a collapse such as a landslide. Such monitoring can be performed in a dark place such as at night or underground because the measurement target light source 32 is a light emission source. Further, the interval for specifying the position of the measurement target light source 32 by the target position specifying unit 15 depends on the data transfer speed and processing speed from each light source, but from a short interval of several seconds or less to several minutes or one hour or more. Can be done at long intervals.

It is a block diagram which shows the 1st Embodiment of this invention. It is explanatory drawing of the usage example in the 1st Embodiment of this invention. It is explanatory drawing of an example of the reception process of the data sent from each light source. It is explanatory drawing of another usage example in the 1st Embodiment of this invention. It is a block diagram which shows the 2nd Embodiment of this invention. It is explanatory drawing of the front dating method and the back dating method.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11,11-a, b ... Imaging | photography part, 12,12-a, b ... Video processing part, 13 ... Reference light source position acquisition part, 14 ... Shooting position specification part, 15 ... Target position specification part, 21 ... Storage part, 22 ... Communication unit, 31 ... Reference light source, 32 ... Measurement target light source.

Claims (8)

  An imaging unit that captures an image including an image of light emitted from one or a plurality of measurement target light sources, and blinking or light amount fluctuation of the image of the measurement target light source in the image from the video captured by the imaging unit. And a video processing means for demodulating the data transmitted by the measurement target light source by light and specifying a position in the video of the image of the measurement target light source, and a video photographed by the photographing means at each of the plurality of locations. Target position specifying means for specifying the position of the measurement target light source based on the data demodulated by the video processing means and the position of the specified image of the measurement target light source in the video, The target position specifying means associates the same image of the measurement target light source included in the video captured at each location based on the data demodulated by the video processing means, and A position for identifying the position of the measurement target light source from the position in the video of the image of the measurement target light source associated with the position, the position of each shooting position, and the attitude of the photographing means at the time of shooting measuring device.   A plurality of photographing means for photographing a two-dimensional image provided at a plurality of different locations, and the measurement target light source emits light from the video photographed by each photographing means based on blinking of the measurement target light source or light quantity fluctuation in the video. 1 to a plurality of video processing means for demodulating the data transmitted by the above and specifying the position of the image of the light source to be measured in the video, and the video means based on the video shot by the plurality of the imaging means Target position specifying means for specifying the position of the measurement target light source based on the demodulated data and the position of the specified image of the measurement target light source in the video, and the target position specifying means includes the video Based on the data demodulated by the processing means, the same image of the light source to be measured included in the video photographed by each of the photographing means is associated and photographed by each of the photographing means. Position measuring apparatus characterized by specifying the position and orientation of the position and the photographing means in the video image of the correspondence obtained the measurement target light source, the position of the measurement target light source in the image.   Light modulated by data is also emitted from a reference light source installed at a known position, and the photographing unit photographs the image of the reference light source together with the image of the light source to be measured. The video processing means also demodulates the data sent from the reference light source, specifies the position in the video of the image of the reference light source, and further, based on the data demodulated by the video processing means The reference light source position acquisition means for specifying the reference light source and acquiring the position of the reference light source, and the position of the image of the reference light source specified by the video processing means and the reference light source position acquisition means It has a photographing position specifying means for obtaining the position and orientation of the photographing means using the position of the known light source, and the target position specifying means is obtained by the photographing position specifying means at a plurality of locations. Position measuring device according to claim 1 or claim 2, characterized in that locating the measurement target light source further using the position and orientation of the imaging means.   Furthermore, it has a communication means which communicates with an external device through a communication path, and the reference light source position acquisition means makes an inquiry through the communication means with data obtained by demodulating by the video processing means, and corresponds to the data The position measuring device according to claim 3, wherein position information to be acquired is obtained and set as a position of the reference light source.   Furthermore, it has a memory | storage means which matches and memorize | stores the data and position information which the said reference light source transmits, and the said reference light source position acquisition means is matched and memorize | stored corresponding to the data obtained by the said image processing means. The position measurement apparatus according to claim 3, wherein position information obtained from the storage unit is acquired as the position of the reference light source.   The reference light source transmits the position of the reference light source as data, and the reference light source position acquisition means receives data from the reference light source demodulated by the video processing means of the reference light source. The position measuring apparatus according to claim 3, wherein the position measuring apparatus is a position.   The position measuring device according to any one of claims 3 to 6, wherein the photographing position specifying means obtains the position and orientation of the photographing means by a backward intersection method.   The position measuring device according to claim 1, wherein the target position specifying unit specifies a position of the measurement target light source by a forward intersection method.

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