JP2011130255A - Photography object information generation apparatus and photography object information generation program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accomplish a photography object information generation apparatus and photography object information generation program, in which information about a photography object can be provided in accordance with exactness of a position of the photography object, a degree of concern of a user, and the like. <P>SOLUTION: When a photographing apparatus 10 photographs a photography object, a control device 16 acquires image information and arithmetically operates the coordinate value of the photography object on the basis of the photographing position of the photographing apparatus 10, a distance to the photography object, and an azimuth angle and elevation and depression angles of the photographing apparatus 10 in a photographing direction measured by a coordinate measuring device 14 and an angle/distance measuring instrument 12. The control device 16 determines exactness of the arithmetically operated coordinate value, determines the display mode of information about the photography object in accordance with a predetermined display determination criterion on the basis of the exactness and the degree of concern of a user, and outputs the determined display mode to a display device or the like. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a shooting target information generation apparatus and a shooting target information generation program.

  2. Description of the Related Art Conventionally, a technique has been proposed in which an image of the ground surface is captured by a camera mounted on an aircraft or the like, and the position of the ground surface or the like that is an object to be captured is specified. For example, Patent Document 1 below discloses a position interpretation device that can register and interpret a damage point in real time while watching a video output from a television camera that is mounted on an aircraft and always captures a vertically downward image. In Patent Document 2 below, an image of the ground surface is captured by a camera mounted on a moving body such as an aircraft, and the imaging direction of the camera, the traveling direction of the moving body, the absolute position of the moving body, and the distance between the camera and the subject. A position specifying device mounted on a moving body that specifies the absolute position of the subject is disclosed.

  Patent Document 3 below discloses a technique for displaying a photographed image of the ground surface taken from the air on a map together with the flight path of the aircraft.

JP-A-11-331831 JP 2001-343213 A No. 2004/113836

  However, in each of the above prior arts, the information related to the shooting target (subject) is limited to the image of the shooting target, the position of the shooting target on the map, and the like. It could not be changed as appropriate according to the user's interest level or the like. For this reason, there has been a problem that it is difficult to provide information related to an imaging target that is highly convenient for the user in accordance with the accuracy of the position, the degree of interest of the user, and the like.

  An object of the present invention is to realize a photographing target information generating apparatus and a photographing target information generating program capable of providing information related to a photographing target in accordance with the accuracy of the position of the photographing target, the degree of interest of the user, and the like.

  In order to achieve the above object, a first embodiment of the present invention is a shooting target information generation device, which is a shooting unit for shooting a shooting target in an arbitrary shooting direction from an arbitrary shooting position, and the shooting position. Based on the coordinate value, the distance between the shooting position and the shooting target, the shooting direction of the shooting means, the shooting target coordinate calculation means for calculating the coordinate value of the shooting target, and the shooting target image shot by the shooting means And a shooting target information generating means for generating information relating to a shooting target including a shooting target coordinate value calculated by the shooting target coordinate calculating means, and a coordinate value calculated by the shooting target coordinate calculating means according to a predetermined criterion. Determination means for determining accuracy, and the imaging target information generation means is a table that is determined in advance based on the accuracy of the coordinate value of the imaging target determined by the determination means and the degree of interest of the user. The decision criterion and determines a display mode.

  In the second embodiment, in the photographing object information generating apparatus, the determination unit includes at least the accuracy of the coordinate value of the photographing position, the accuracy of the distance between the photographing position and the photographing object, and the photographing unit. The accuracy of the coordinate value of the object to be imaged is determined by one of the accuracy of the imaging direction.

  Further, in the third embodiment, in the photographing target information generating apparatus, the photographing target information generating unit is configured to determine a capturing time of the photographing target by the photographing unit or a measurement number of a distance between the photographing position and the photographing target. The user's degree of interest is determined based on the above.

  In the fourth embodiment, in the photographing target information generation device, the information regarding the photographing target includes a figure representing the position of the photographing target on a map, and the photographing target information generation unit is configured to determine the determination. The figure representing the position of the photographing object is changed based on the determination result of the means.

  In the fifth embodiment, in the photographing target information generating apparatus, the information related to the photographing target includes a character string that represents the position of the photographing target, and the character string depends on the level of detail of the information that is represented. Plural preparations are provided, and the photographing target information generation unit selects a character string to be displayed from the plurality of prepared character strings based on a determination result of the determination unit.

  In the sixth embodiment, the imaging target information generation apparatus further includes an image database in which images captured in the past are accumulated, and the imaging target information generation unit includes the coordinate values of the imaging target. Based on the above, a shooting target image is extracted from the image database.

  Further, the seventh embodiment is a shooting target information generation program, and an image information acquisition unit that acquires image information obtained by shooting a shooting target in an arbitrary shooting direction from an arbitrary shooting position by a shooting unit; Based on the coordinate value of the shooting position, the distance between the shooting position and the shooting target, the shooting direction of the shooting means, the shooting target coordinate calculating means for calculating the coordinate value of the shooting target, the shooting target shot by the shooting means A shooting target information generating means for generating information relating to the shooting target including the image of the shooting target coordinate value calculated by the shooting target coordinate calculating means, a coordinate value calculated by the shooting target coordinate calculating means in accordance with a predetermined criterion And determining the accuracy of the imaging target information generating unit, the imaging target information generating unit determines the accuracy of the coordinate value of the imaging target determined by the determining unit, and the user Based on the interest level, and determines the display mode by the display determination criteria determined in advance.

  According to the present invention, it is possible to provide information related to a shooting target according to the accuracy of the position of the shooting target, the degree of interest of the user, and the like.

1 is a configuration diagram of an imaging target information generation device according to an embodiment. It is a figure which shows the example of the hardware constitutions of the computer which comprises the control apparatus concerning embodiment. It is a functional block diagram of a control device concerning an embodiment. It is explanatory drawing of the calculation process of the object coordinate calculating part concerning embodiment. It is a figure which shows the example of the display determination reference | standard used for the determination of the display mode of the information regarding the imaging | photography object by the target information generation part concerning embodiment. It is a figure which shows the example of the display mode of the guide information of the imaging | photography object concerning embodiment. It is a flowchart of the example of operation | movement of the imaging | photography target information generation apparatus concerning embodiment. It is a flowchart of the other operation example of the imaging | photography target information generation apparatus concerning embodiment.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

  FIG. 1 is a configuration diagram of a photographing target information generation device according to the embodiment. In FIG. 1, the photographing target information generating device includes a photographing device 10, an angular distance measuring device 12, a coordinate measuring device 14, and a control device 16.

  The imaging device 10 is configured by a CCD camera or other appropriate camera, and shoots a shooting target to generate image information of the shooting target. Note that the photographing apparatus 10 may include a night vision camera or a video camera that shoots a moving image.

  The angle distance measuring device 12 measures the distance between the photographing position of the photographing apparatus 10 and the photographing target, the azimuth angle and the elevation angle in the photographing direction of the photographing apparatus 10. The distance (for example, a value in meters) between the photographing position and the photographing object is measured using, for example, a conventionally known laser distance meter. The photographing direction is the optical axis direction of the lens of the camera constituting the photographing apparatus 10 so that the optical axis of the camera lens and the optical axis of the laser distance meter constituting the angular distance measuring device 12 are substantially parallel. For example, the optical axis direction of the angle distance measuring device 12 is adjusted in advance so that the object to be photographed at a distance of several hundred meters or more is simultaneously targeted by the angle distance measuring device 12 at the same time as the imaging device 10, and The depression angle is measured by the angle distance measuring device 12. In this case, the azimuth angle in the photographing direction can be measured, for example, by detecting the horizontal component of geomagnetism using a conventionally known magnetic sensor. Further, the elevation angle in the photographing direction is measured using a conventionally known acceleration sensor or the like. When a magnetic sensor is used for azimuth measurement, there is a possibility of being affected by the distortion of the magnetic field around the installation location depending on the location of the sensor. In this case, the same target is measured from the same point under the conditions where there is no magnetic field distortion and the magnetic field distortion around the magnetic sensor installation location, and the difference between the measured azimuths is obtained. An azimuth angle correction value can be used. Moreover, the structure which measures the said azimuth | direction angle with the rotation angle of the imaging device 10 with respect to the axis | shaft fixed to moving bodies, such as an aircraft carrying the imaging device 10, instead of a magnetic sensor may be sufficient. The measurement of the distance and angle by the angle distance measuring device 12 is performed synchronously or asynchronously with the shutter of the photographing apparatus 10. When measuring asynchronously with the shutter, the distance, azimuth angle and elevation angle at time t when the shutter of the photographing apparatus 10 operates are measured using the measured values at time t1 immediately before time t and time t2 immediately after time t. Obtained by interpolation using the following interpolation formula.

Interpolation formula of distance, azimuth, and elevation angle Vt = V1 + (V2-V1). (T-t1) / (t2-t1)

Here, Vt is one of the distance, azimuth, and elevation angle at time t, V1 is the above values at time t1, and V2 is the above values at time t2.

  The interpolation processing is performed by an angular distance information acquisition unit 39 described later. Also, when it is difficult to measure the distance, azimuth angle, and elevation angle in synchronization with the shooting interval (frame cycle) in moving image shooting, the above measurement may be performed at predetermined time intervals different from the frame cycle. Good.

  The image to be imaged includes the coordinate value of the imaging position acquired by the GPS information acquisition unit 38, the distance between the imaging position of the imaging device 10 acquired by the angle distance information acquisition unit 39 and the imaging target, and the imaging of the imaging device 10. Based on the azimuth angle and elevation angle of the direction, according to the coordinate value of the shooting target obtained by the target coordinate calculation unit 40, the shooting situation is grasped in detail by displaying it on the three-dimensional map so as to be orthogonal to the shooting direction. Therefore, in the measurement of the photographing direction of the photographing apparatus 10, the rotation angle around the normal line of the acquired image information is measured separately from the azimuth angle and the elevation angle, and the rotation angle is determined based on the image to be photographed. You may utilize as a rotation angle at the time of displaying.

  The coordinate measuring device 14 includes a GPS (Global Positioning System) receiver, and measures coordinate values (for example, longitude, latitude, and altitude) of the shooting position of the shooting device 10. Note that when displaying an image to be imaged on a plane (two-dimensional) map, it is not always necessary to acquire the z-coordinate of the image capturing position necessary for calculating the altitude of the imaged object. The measurement of the coordinate value is performed in synchronization with the shutter of the photographing apparatus 10. When the measurement of the coordinate value is performed asynchronously with the shutter of the imaging device 10, the coordinate value Pt of the imaging position of the imaging device 10 at the time (t) when the shutter of the imaging device 10 operates is immediately before the time t (t1). Then, the coordinate values P1 and P2 of the photographing position of the photographing apparatus 10 measured at the time immediately after (t2) are obtained by interpolation using the following interpolation formula.

Interpolation formula of coordinate values Pt = P1 + (P2-P1). (T-t1) / (t2-t1)

Here, Pt is a coordinate value (Xt, Yt, Zt) at time t, P1 is a coordinate value (Xt1, Yt1, Zt1) at time t1, and P2 is a coordinate value (Xt2, Yt2, Zt2) at time t2.

  The interpolation process is performed by a GPS information acquisition unit 38 to be described later. In addition, in moving image shooting, when it is difficult to measure coordinate values in synchronization with the shooting interval (frame cycle), the measurement may be performed at predetermined time intervals different from the frame cycle.

  When measuring coordinate values by GPS, the GPS receiver receives signals from a plurality of GPS satellites. In this case, the number of GPS satellites from which the GPS receiver receives signals is at least four, and the accuracy (accuracy) of the coordinate values measured increases as the number of GPS satellites received increases. Since the coordinate value of the shooting target is calculated based on the coordinate value of the shooting position, the accuracy of the coordinate value of the shooting position affects the accuracy of the coordinate value of the shooting target. Therefore, in the determination unit 42 described later, the number of GPS satellites from which the GPS receiver has received a signal is set as one of the conditions for determining the accuracy of the coordinate value of the imaging target.

  The control device 16 is constituted by an appropriate computer, and the coordinate value of the photographing position obtained by the coordinate measuring device 14 by measuring or interpolating the measurement value, the photographing position measured by the angular distance measuring device 12 and the photographing object. Based on the distance and the photographing direction of the photographing apparatus 10 (the azimuth angle and the elevation angle), the coordinate value of the photographing target is obtained. As will be described later, the coordinate value of the shooting target is obtained by adding the value obtained by converting the distance between the shooting position and the shooting target into the difference on the coordinate axis to the coordinate value of the shooting position in the target coordinate calculation unit 40. In this case, the accuracy of the distance affects the accuracy of the position of the photographing target. Further, the accuracy of the azimuth angle and elevation angle used for conversion from the distance to the difference on the coordinate axis affects the accuracy of the position of the object to be imaged. Therefore, in the determination unit 42 described later, the accuracy of the distance, the azimuth angle, and the elevation angle is set as one of the conditions for determining the accuracy of the coordinate value of the imaging target. Further, the control device 16 displays information related to the photographing target. In this case, the display mode is displayed according to a predetermined display determination criterion based on the accuracy of the obtained coordinate value, the degree of interest of the user with respect to the photographing target, and the like. To decide. It should be noted that the information regarding the imaging target may be displayed on a display screen of a computer constituting the control device 16 or may be configured to be displayed on another display device based on display mode determination information output by the control device 16. .

  FIG. 2 shows an example of a hardware configuration of a computer constituting the control device 16 shown in FIG. In FIG. 2, the control device 16 includes a central processing unit (for example, a CPU such as a microprocessor can be used) 18, a random access memory (RAM) 20, a read-only memory (ROM) 22, an input device 24, a display device. 26, a communication device 28, and a storage device 30, and these components are connected to each other by a bus 32. In addition, the input device 24, the display device 26, the communication device 28, and the storage device 30 are each connected to the bus 32 via the input / output interface 34.

  The CPU 18 controls the operation of each unit to be described later based on a control program stored in the RAM 20 or the ROM 22. The RAM 20 mainly functions as a work area for the CPU 18, and the ROM 22 stores a control program such as BIOS and other data used by the CPU 18.

  The input device 24 includes a keyboard, a pointing device, and the like, and is used by a user to input operation instructions and the like.

  The display device 26 is configured by a liquid crystal display or the like, and displays map information, image information captured by the image capturing device 10, and the like. The display device 26 may be provided in another computer or the like.

  The communication device 28 includes a USB (Universal Serial Bus) port, a network port, and other appropriate interfaces, and is used by the CPU 18 to exchange data with an external device via communication means such as a network. Further, image information and measured values of distance and angle are also acquired from the imaging device 10, the angle distance measuring device 12, and the coordinate measuring device 14 via the communication device 28.

  The storage device 30 is a magnetic storage device such as a hard disk, and stores various data necessary for processing to be described later. The storage device 30 can be a digital versatile disk (DVD), a compact disk (CD), a magneto-optical disk (MO), a flexible disk (FD), a magnetic tape, an electrical erasure, and an erasable and rewritable instead of a hard disk. A read-only memory (EEPROM), flash memory or the like may be used.

  FIG. 3 is a functional block diagram of the control device 16 according to the embodiment. In FIG. 3, the control device 16 includes an image information acquisition unit 36, a GPS information acquisition unit 38, an angular distance information acquisition unit 39, a target coordinate calculation unit 40, a determination unit 42, a target information generation unit 44, and an output unit 46. These functions are realized by, for example, the CPU 18 and a program for controlling the processing operation of the CPU 18.

  The image information acquisition unit 36 acquires image information of an imaging target captured by the imaging device 10. Appropriate identification information is attached to the acquired image information and output to the target information generating unit 44. As this identification information, it can be set as the operation time of the shutter of the imaging device 10 which is the measurement timing of the angular distance measuring device 12 and the coordinate measuring device 14, for example. In this case, the image information acquisition unit 36 generates a trigger signal for operating the shutter of the photographing apparatus 10, and uses the generation time of the trigger signal as identification information. At this time, a trigger signal for operating the shutter may be simultaneously output to the angular distance measuring device 12 and the coordinate measuring device 14 to perform each measurement, or the angle measuring device 12 and the coordinate measuring device 14 may be connected to the photographing device 10. In addition to the trigger signal to be operated, another measurement may be performed by outputting another trigger signal without synchronizing with the trigger signal. Note that the image information acquired by the image information acquisition unit 36 may include a moving image in addition to a still image.

  The GPS information acquisition unit 38 acquires the coordinate value of the imaging position of the imaging device 10 measured by the coordinate measuring device 14 synchronously or asynchronously with the shutter of the imaging device 10. When measurement is performed asynchronously with the shutter, the coordinate value is calculated by interpolation as described above. Identification information such as the operation time of the shutter of the photographing apparatus 10 is attached to the coordinate value, and a correspondence relationship with the image information acquired by the image information acquisition unit 36 can be determined. Further, in order to use the time information as identification information, the clock of the control device 16 is initialized with the time obtained by the coordinate measuring device 14 so as to be synchronized. In addition, when the GPS information acquisition part 38 cannot acquire a coordinate value, you may correct | amend a coordinate value by the well-known method using a gyro, an accelerometer, etc.

  The angular distance information acquisition unit 39 is configured to measure the distance between the photographing position of the photographing apparatus 10 and the photographing target measured by the angular distance measuring apparatus 12 synchronously or asynchronously with the shutter of the photographing apparatus 10 and the azimuth angle and elevation angle of the photographing direction of the photographing apparatus. To get. When measured asynchronously with the shutter, the distance, azimuth, and elevation angles are calculated by interpolation as described above. Each value is attached with identification information such as the operation time of the shutter of the photographing apparatus 10 so that the correspondence with the image information acquired by the image information acquisition unit 36 can be determined.

  The target coordinate calculation unit 40 includes the coordinate value of the shooting position acquired by the GPS information acquisition unit 38, the distance between the shooting position of the shooting device 10 acquired by the angle distance information acquisition unit 39 and the shooting target, and the shooting direction of the shooting device 10. Based on the azimuth angle and elevation angle, the coordinate value of the object to be imaged is calculated. For this calculation, coordinate values, distances, azimuth angles, and elevation angles determined to have a correspondence relationship based on the identification information are used. The calculated coordinate value is output with identification information such as the operation time of the shutter of the photographing apparatus 10 described above. An example of the calculation procedure will be described later. In addition, the target coordinate calculation unit 40 also calculates the number of times of capturing or measuring the shooting target described later.

  Note that the angle measuring device is used in place of the angle distance measuring device 12 to measure the shooting direction of the shooting device 10, and the target coordinate calculation unit 40 prepares a three-dimensional model (for example, a three-dimensional shape model of terrain, A constellation model such as a constellation) and the photographing position of the photographing device 10 measured by the coordinate measuring device 14 may be used to obtain an intersection between the photographing direction and the three-dimensional model and calculate the coordinate value of the photographing target.

  The determination unit 42 determines the accuracy of the coordinate value calculated by the target coordinate calculation unit 40 according to a predetermined determination criterion. This determination method will be described later.

  The target information generation unit 44 generates information related to the shooting target. The information related to the shooting target includes the coordinate value of the shooting target calculated by the target coordinate calculation unit 40, the image information of the shooting target shot by the shooting device 10, and the description information about the location specified from the coordinate value of the shooting target ( For example, the name of the prefecture, city, town and village, lot number, etc.), description information about the type and content of the object to be photographed, and the like are included. The description information can be output not only on the display screen but also as voice information. Moreover, it is good also as a structure which provides each said information in the past of imaging | photography object to a user. The coordinate value and the image information are associated based on the identification information. Descriptive information about the location, type, and content specified from the coordinate values of the shooting target is searched from a database (DB) prepared in advance using information corresponding to the coordinate value of the shooting target and the information type set by the user as a search condition. To generate. Further, the target information generation unit 44 determines a display mode of information related to the imaging target based on a predetermined display determination criterion based on the accuracy of the coordinate value determined by the determination unit 42 and the interest level of the user.

  The output unit 46 outputs information related to the imaging target generated by the target information generation unit 44. When the output destination is the display device 26, based on the display mode determined by the target information generating unit 44, the display device 26 is caused to display information related to the imaging target. Further, it may be output to a device different from the control device 16. In this case, a configuration in which the information related to the photographing target is transmitted together with information related to the display mode by wired communication or wireless communication, a configuration in which the information is output to an appropriate storage medium, and the like are possible. Examples of storage media include digital versatile disc (DVD), compact disc (CD-ROM, CD-R, CD-RW), magneto-optical disc (MO), flexible disc (FD), magnetic tape, hard disk, and readout. Examples include dedicated memory (ROM), electrically erasable and rewritable read only memory (EEPROM), flash memory, random access memory (RAM), and the like.

  FIGS. 4A and 4B are explanatory diagrams of the calculation process of the target coordinate calculation unit 40 shown in FIG. In FIG. 4B, the shooting position A is drawn floating in the air, which indicates that the image was taken from a helicopter or an aircraft. In the present embodiment, the shooting position is not limited.

  FIG. 4A is a plan view defined by the (x, y) coordinates, and is a state in which an imaging target located at a point P at an angle α with respect to true north N from the imaging position A is being imaged. It is shown. Further, the horizontal distance from the photographing position A, that is, the position of the photographing apparatus 10 to the position of the point P is indicated by d. In FIG. 4A, the x direction and the y direction are indicated by arrows.

  FIG. 4B is a side view defined by the (x, z) coordinates, and a state in which a photographing target located at a point P on the ground surface B below the photographing position A at the height h is photographed. It is shown. In this case, the shooting direction (elevation angle direction) is a depression angle of the angle θ, but depending on the shooting position A, there may be an elevation angle. The distance between the shooting position A and the point P is indicated by D. In FIG. 4B, the x direction and the z direction are indicated by arrows, respectively.

  As the azimuth angle α, the elevation angle θ, and the distance D, values measured by the angular distance measuring device 12 are used. When the azimuth angle α measured by the angular distance measuring device 12 is an angle from magnetic north, a value corrected to an angle from true north is used. These values are acquired by the target coordinate calculation unit 40, and the coordinate value of the point P is calculated using these values and the coordinate value of the shooting position A acquired by the GPS information acquisition unit 38. The arithmetic expressions in the cases of FIGS. 4A and 4B are as follows. Here, the counter-clockwise azimuth α from the magnetic north and the elevation angle from the horizontal to the bottom are positive, but depending on the positional relationship between the shooting position and the shooting target, the positive and negative signs of α and θ are given appropriately. Of course.

If the coordinate value of the point P is (Xp, Yp, Zp) and the coordinate value of the shooting position A is (Xc, Yc, Zc),
Xp = Xc−d · sin α
Yp = Yc + d · cos α (1)
Zp = Zc−h.
However, d = D · cos θ and h = D · sin θ.

In addition, when the coordinate value of the imaging position A is acquired by longitude, latitude, and altitude, the coordinate value of the point P is obtained by the following equation (2).
Xp = Xc−d · sin α / Kx
Yp = Yc + d · cos α / Ky (2)
Zp = Zc-h
Here, Kx is the distance per degree of longitude at latitude Yc, and Ky is the distance per degree of latitude.

  The target information generation unit 44 associates the coordinate value of the point P obtained as described above with the image information of the photographing target located at the point P based on the identification information. In this case, for example, a region having a predetermined size (for example, a circular region or a rectangular region) including a point (pixel) represented by the coordinate values (Xp, Yp, Zp) on the map information is set, and the region is set in this region. The image information of the photographing target located at the point P photographed by the photographing apparatus 10 is associated. As a result, for example, on the map displayed on the display device 26, the associated image information can be displayed by clicking the region with the pointing device of the input device 24. In that case, it is preferable to display the image information in the vicinity of the associated coordinate values (Xp, Yp, Zp). Alternatively, the image information may be displayed and the associated region (the position of the point P) on the map may be displayed by blinking or changing the color by clicking the image information. Further, a list of character strings (for example, place names) representing a plurality of the image information is created, and the corresponding image information is displayed by clicking the character strings while displaying the list on the display device 26. And one or both of the areas on the map associated with the image information may be displayed. In the present embodiment, the case of displaying on a three-dimensional map has been described as an example. However, when displaying on a two-dimensional map, it is not always necessary to obtain the Zp coordinates.

  4A and 4B described above, the angle distance measuring device 12 measures the photographing direction (azimuth angle and elevation angle) of the photographing apparatus 10 and the distance D between the photographing position A and the point P. However, instead of the angular distance measuring device 12, the coordinate value of the point P is obtained using an angle measuring device that does not measure the distance D but measures only the azimuth angle and the elevation angle in the photographing direction. Also good. In this case, a three-dimensional model including data on longitude, latitude, and altitude of the ground surface B in FIG. 4B is prepared in advance. The target coordinate calculation unit 40 extends a straight line from the photographing position of the photographing device 10 measured by the coordinate measuring device 14 in the photographing direction of the photographing device 10 obtained by the angle measuring device measuring the values of the azimuth angle and the elevation angle. The coordinate value (longitude, latitude, altitude) of the intersection between the straight line and the ground surface B is calculated as the coordinate value of the point P. Further, the distance D between the shooting position A and the point P can be calculated from the coordinate value of the shooting position A and the coordinate value of the point P. When the three-dimensional model is a spherical model (for example, a sky model representing a position such as a constellation), the target coordinate calculation unit 40 measures the angle from the photographing position of the photographing apparatus 10 measured by the coordinate measuring apparatus 14. A straight line is extended in the photographing direction of the photographing apparatus 10 obtained from the values of the azimuth and elevation angles measured by the instrument, and the coordinate value (longitude, latitude) of the intersection of the straight line and the spherical model is calculated to obtain the coordinate value of the point P And

  5A, 5B, and 5C, display determination criteria used by the target information generation unit 44 to determine the display mode of information related to the imaging target located at the point P (hereinafter referred to as guide information). An example is shown. 5A, 5 </ b> B, and 5 </ b> C, the vertical axis represents the distance D between the photographing position A and the point P, and the horizontal axis represents the position of the photographing apparatus 10 and the angular distance measuring device 12 at the point P. This is the capture time or the number of times of capturing the subject to be photographed. Note that the capture time or the number of measurements is calculated by the target coordinate calculation unit 40. A specific calculation method will be described later. The degree of interest of the user with respect to the imaging target located at the point P is determined by the values represented by these vertical and horizontal axes, and the display mode of the guide information is determined according to the degree of interest. In the above description, the degree of interest of the user is determined by the capture time and the number of times of measurement. However, the present invention is not limited to these. For example, the coordinate value of the shooting target at each image shooting timing calculated by the target coordinate calculation unit 40 It is also possible to determine the degree of interest of the user when the movement amount is equal to or less than a predetermined value for a certain period.

  Further, in FIGS. 5A, 5B, and 5C, the accuracy of the coordinate values of the photographing target calculated by the target coordinate calculation unit 40 in this order is low. The accuracy of the coordinate value of the object to be imaged is the accuracy of the coordinate value of the imaging position, the distance D for obtaining the coordinate value of the point P, the accuracy of the measurement result of the azimuth angle α and the elevation angle θ, and the moving speed of the moving object (When the imaging device 10, the coordinate measuring device 14, and the angular distance measuring device 12 are operated asynchronously, the faster the moving speed of the moving body, the lower the accuracy of the coordinate value of the imaging target) and the measurement time interval (imaging) When the apparatus 10, the coordinate measuring device 14, and the angular distance measuring device 12 are operated asynchronously, the accuracy of the coordinate value of the subject to be photographed decreases as the interval increases. The determination unit 42 evaluates and classifies the obtained value according to a predetermined determination criterion (threshold value or the like). As for the accuracy of the coordinate value of the photographing position, for example, the number of GPS satellites that can be received by the GPS receiver that constitutes the coordinate measuring device 14 is cited. Specifically, the accuracy is low when the number of GPS satellites that can receive signals is 4 or less, while the accuracy is 5 to 6 cases, and the accuracy is 7 or more cases. In addition, even when the number of GPS satellites has reached the accuracy or high number, the measurement timing of the laser distance meter of the angular distance measuring device 12 that measures the distance D between the imaging position A and the point P is the same as that of the imaging device 10. The distance measurement value cannot be obtained because it does not coincide with the image capturing timing (shutter timing), and the position of the point P is determined by interpolation from the preceding and following distance measurement values, or by the angle distance measuring device 12 with respect to the point P It is preferable to determine that the accuracy of the coordinate value is low even when the measurement value regarding the azimuth angle or the elevation angle cannot be obtained and the position of the point P is determined by interpolation from the previous and next angle measurement values. It is.

  In addition, the accuracy of each value of the distance D, the azimuth angle α, and the elevation angle θ is high when the photographing apparatus 10 and the angular distance measuring device 12 are synchronized, and is accurate when the imaging device 10 is asynchronous. Or the accuracy is low. The determination of whether accuracy is low or low in the case of non-synchronization is, for example, (t2-t1: measurement depending on the performance of the angle distance measuring instrument in the above-described interpolation formula of distance, azimuth angle, and elevation angle) (T-t1) is determined to be within accuracy when the interval or time depending on the measurement cycle is within a predetermined threshold (for example, 5 seconds) and (t-t1) is within the predetermined threshold (for example, 1 second). It can be considered that the accuracy is low when the time exceeds the above threshold.

Accuracy of coordinate value = f1 × (accuracy of coordinate value of imaging position) + f2 × (accuracy of distance D) + f3 × (accuracy of azimuth α) + f4 × (accuracy of elevation angle θ) + f5 ( Adjustment term) ... (3)
Where f1 to f5: weighting factors

  In each term in the evaluation formula (3), the accuracy of the coordinate value can be quantified by setting, for example, 3 points for high accuracy, 2 points for accuracy, and 1 point for low accuracy. . Further, the value of the weighting factor is a value determined by the degree of influence of each term on the accuracy of the coordinate value of the object to be imaged, and is appropriately determined according to the degree of error of each measurement value.

  The target information generation unit 44 uses the display determination criterion of FIG. 5A when the accuracy of the coordinate value is high based on the determination result of the determination unit 42, and displays the figure when the accuracy is medium. The display determination criterion of 5 (b) is used, and when the accuracy is low, the display determination criterion of FIG. 5 (c) is used.

  In FIG. 5A, the vertical axis represents the distance D between the shooting position A and the point P, and the distance D decreases as the degree of interest of the user with respect to the shooting target (feature of interest) located at the point P increases. The display determination standard is created based on the determination that the image is to be taken (approaching the subject to be photographed). Further, the horizontal axis represents the capturing time or the number of measurement of the coordinate value of the photographing object located at the point P by the photographing device 10 and the angular distance measuring device 12, and the capturing time becomes higher as the user's interest in the photographing object is higher. A display determination criterion is created based on the determination that the length becomes longer or the number of measurement times increases. The horizontal axis may be expressed as a ratio or difference between the capture time and a predetermined reference time.

  The display determination criterion illustrated in FIG. 5A is divided into four regions I, II, III, and IV according to the values on the vertical and horizontal axes. In each of these sections, the degree of interest of the user increases in the order of regions I, II, III, and IV, and the display mode of the guide information is associated with each of these categories. Here, as described above, as the guide information, the coordinate value of the point P, the image information of the shooting target located at the point P, the description information related to the position of the point P, the type of shooting target located at the point P, Descriptive information about the contents is included, and past information (history information) at the position of the point P may be further included. Further, the guide information is classified into four levels having different levels of detail of display contents corresponding to the four regions I, II, III, and IV. This classification is classified into, for example, outline information, space identification information, shooting target identification information, and shooting target description information.

  The outline information is outline information related to the position of the point P photographed by the photographing apparatus 10, and is given, for example, in the direction where the point P exists from the photographing position or the approximate position where the point P exists. In this case, for example, the direction from the shooting position to the point P can be indicated by an arrow. Further, the position of the point P may be indicated on the map using the approximate coordinate value of the point P. In this case, it is preferable to use a symbol indicating that the position is approximate (for example, a circle, rectangle, or the like with a light color). Further, the photographing position of the photographing apparatus 10 may be displayed together with the position of the point P. Further, when the outline information is described by a character string (description information), the outline information about the point P can be given by the direction in which the photographing direction of the photographing apparatus 10 is directed. For example, the southeast direction of the XX point, the eastern sky seen from the latitude XX longitude ΔΔ, or the southern part of Tokyo (the wide area name of the point where the point P is located) can be exemplified.

  The space identification information is information relating to a location specified from the coordinate value of the point P photographed by the photographing apparatus 10. For example, the position of the point P is represented by a graphic or the like based on the coordinate value computed by the target coordinate computation unit 40. give. Further, when the direction from the shooting position to the point P is indicated by an arrow, the representation (size, thickness, color, etc.) of the line figure such as an arrow can be changed according to the value of the distance D. Further, the photographing position of the photographing apparatus 10 may be displayed together with the position of the point P. Furthermore, as description information, it can give with the character string or code information regarding the place specified from the coordinate value of the points P, such as an address. For example, it is information with more detailed contents than general information such as Higashiyama 1-chome, Meguro-ku, Tokyo, near Tamagawa Maruko Bridge, eastern slope of Mt.

  Further, the imaging target identification information is information for identifying the feature of interest from the coordinate value of the point P such as name, ID (identification number) and the like, and distinguishing it from other features. For example, the target coordinate calculation unit 40 The position of the point P is given by a figure or the like based on the coordinate value calculated by. Further, the photographing position of the photographing apparatus 10 may be displayed together with the position of the point P. Further, the description information can be given as a character string or code information for identifying the type of the feature of interest. The type of description information is preferably different depending on the user's field of interest, application, and the like. That is, corresponding description information is provided according to the information type designated in advance by the user. For example, when a building is specified as the information type, information on XX building (building name), XX town post office, XX store, XX bank, etc. When a road facility or the like is designated, information on the XX thermal power plant, the national highway B line C intersection, the national highway C line XX bridge, etc. is provided in more detail than the spatial identification information. Further, it is possible to specify a geographical range as the information type. For example, by specifying the municipality as the information type, providing detailed (small) building description information by specifying the municipality by changing the DB search conditions when specifying the municipality can do.

  Further, the shooting target explanation information is attribute information that explains the content of the feature of interest, and gives the position of the point P as a figure or the like based on the coordinate value calculated by the target coordinate calculation unit 40, for example. Further, the photographing position of the photographing apparatus 10 may be displayed together with the position of the point P. Furthermore, the description information can be given as a character string, a numerical value, an image, a video (moving image), ledger information, or the like that explains the content of the feature of interest. For example, when a building is specified as a feature of interest, the description information includes building details, store names, article lists, article images, article description information, and other detailed information. To do.

  For an image or video associated with the coordinate value, a search target area such as a circle or rectangle having a predetermined size around the point P is set based on the coordinate value of the point P, and is located within the search target area. Images having coordinate values (images and videos taken in the past stored in the DB) are appropriately searched. For an image or video that is not directly associated with a coordinate value and is associated only with a photographing time, the image and video are associated with the coordinate value of the point P using a table that describes the correspondence relationship between the photographing position and the photographing time. That is, a search target area such as a circle or a rectangle having a predetermined size centered on the point P is set, the corresponding table is first searched, the shooting time is obtained from the extracted record, and the shooting time is used. Thus, it is possible to search for images and videos, and to provide the captured image or video around the obtained point P as shooting target explanation information.

  Note that the size and length of the search target area and the search target time are changed according to the accuracy of the coordinate value of the imaging target located at the point P (for example, the lower the accuracy, the larger the search area and the longer the search time). Is preferred).

  In the area I of FIG. 5A, since the user's degree of interest is the lowest, the target information generation unit 44 decides not to display or to display only the outline information as the display mode of the guide information. In area II, it is determined that the degree of interest of the user is higher than in area I, and the display mode of the guide information is determined to be the display of the space identification information. In area III, it is determined that the user's degree of interest is higher than that in area II, and the display mode of the guide information is determined to be the display of the imaging target identification information. Further, in the area IV, it is determined that the degree of interest of the user is higher than that in the area III, and the display information display mode is determined as the guide information display mode.

  FIG. 5B is used when the accuracy of the coordinate value of the photographing object located at the point P is medium. In FIG. 5B, the display mode is determined by the regions I, II, and III described in FIG. However, the region IV may be included in the display determination criterion.

  FIG. 5C is used when the accuracy of the coordinate value of the photographing target located at the point P is low. In FIG. 5C, the display mode is determined by the areas I and II described in FIG. However, the regions III and IV may be included in the display determination criteria.

  Note that the shapes of the regions I, II, III, and IV are not limited to the examples in FIGS. 5A, 5B, and 5C, but depend on the type, nature, purpose of use of the user, and the like. It can be determined as appropriate.

  FIGS. 6A and 6B show examples of display modes of the guide information of the photographing target located at the point P. FIG. FIG. 6A shows image information related to the photographing target located at the point P, and FIG. 6B shows map information indicating the position of the point P.

  In FIG. 6A, descriptive information is displayed in the region α together with image information (still image or moving image) related to the imaging target located at the point P. In FIG. 6B, the description information is displayed in the area β on the map information. Further, in FIG. 6B, graphics P1 and P2 representing the position of the point P and a graphic C representing the shooting position are displayed on the map information. In the present embodiment, the figures P1, P2 and the figure C are all circular figures. However, by superimposing these circular figures, the figures P1 and P2 and the figure C are respectively accompanied with the movement of the moving body equipped with the photographing apparatus 10 such as an aircraft. This represents that the position of the point P and the shooting position change. The graphics P1 and P2 have different color densities based on the accuracy of the coordinate value of the point P determined by the determination unit 42. For example, when the accuracy is high or medium, it is possible to display a dark color like the graphic P1, and when the accuracy is low, it is possible to display a light color like the graphic P2. . However, the display of color shading is not limited to this, and the type of color to be used may be changed. Further, the size and shape of the circle itself may be changed.

  FIG. 7 shows a flow of an operation example of the photographing target information generating apparatus according to the embodiment. FIG. 7 shows an example of photographing and distance measurement for a wide area (a disaster spot such as a landslide in a mountainous area, a flood damage area). In FIG. 7, when an instruction to start shooting is input, the image information acquisition unit 36 acquires image information of a shooting target located at a point P shot by the shooting apparatus 10 (S101).

  Next, the target coordinate calculation unit 40 measures the distance between the shooting position of the imaging device 10 and the point P measured by the angular distance measuring device 12, the azimuth and elevation angles of the imaging direction of the imaging device 10, and the GPS information acquisition unit 38. The coordinate value of the point P is calculated based on the acquired coordinate value of the photographing position (S102).

  The determination unit 42 determines the accuracy of the coordinate value calculated by the target coordinate calculation unit 40 in accordance with a predetermined determination standard such as the number of GPS satellites (S103). In the present embodiment, the accuracy of the coordinate value is determined as one of high (S104), medium (S105), and low (S106).

  Next, the target coordinate calculation unit 40 sets a buffer area around the position of the point P based on the coordinate value of the point P (S107). This buffer area is set as a circular or rectangular area around the point P on the map. Further, it is preferable to change the size of the buffer area in accordance with the accuracy of the coordinate value (for example, the buffer area is increased as the accuracy is lower).

  In addition, the target coordinate calculation unit 40 finally obtains the distance D between the photographing position of the photographing apparatus 10 and the point P and the azimuth angle and the elevation angle in the photographing direction of the photographing apparatus 10 from the angle distance measuring device 12 from the time t1. A time t2 that is set back by the buffer time Δt is set (S108).

  Thereafter, the target coordinate calculation unit 40 calculates the number of measurements of the distance D by the angle distance measuring device 12 or the number of measurements of the azimuth angle and the elevation angle of the photographing apparatus 10 during the buffer time Δt in the buffer area. Count (S109).

  The target information generation unit 44 uses the display determination criteria shown in FIGS. 5A, 5 </ b> B, and 5 </ b> C to obtain the distance D between the shooting position of the shooting apparatus 10 and the point P in S <b> 109. The display mode of the guide information is determined based on the count number (measurement count) (S110). The type of description information is preferably different depending on the user's field of interest and application. That is, description information corresponding to the corresponding information type is provided according to the information type designated in advance by the user. Note that the coordinate value of the point P included in the guide information may be an average value of coordinate values calculated based on a plurality of measurement times.

  The output unit 46 outputs guide information based on the display mode determined in S110 (S111).

  In the above embodiment, the buffer area is set around the position of the point P measured first, and the user's degree of interest is determined by counting the number of times of measurement in the area. It is not limited. For example, the interest level of the user may be determined by dividing map data of a region including the imaging target in advance into a mesh of a predetermined size and counting the number of times of measurement within the mesh. In the former case, the user's region of interest is displayed on the map as an area set in a circle or rectangle around the first measured point P. In the latter case, each measurement point is displayed. A region having an arbitrary shape defined by a series of meshes where P is present can be displayed as a region of high interest. Further, according to the number of times of measurement in the mesh, it is possible to display each mesh by color-coding according to the degree of interest.

  FIG. 8 shows a flow of another operation example of the photographing target information generating apparatus according to the embodiment. FIG. 8 is an example of photographing and distance measurement so as to identify a feature of interest having a shape such as a building. In FIG. 8, the steps from S201 to S206 are the same as the steps from S101 to S106 in FIG.

  After executing the steps from S201 to S206, the image information acquisition unit 36 identifies, from the coordinate value of the point P, the imaging target that the user is interested in based on the designation information and the like input from the input device 24 by the user. Then, identification information (ID) N of the photographing object located at the point P is set (S207).

  Next, the image information acquisition unit 36 went back in time from the last time when the imaging object whose ID is N located at the point P was captured, and the imaging apparatus 10 continued to capture the imaging object whose ID was N. Time is acquired as a capture time (S208).

  The target information generation unit 44 uses the display determination criteria shown in FIGS. 5A, 5 </ b> B, and 5 </ b> C to obtain the distance D between the shooting position of the shooting device 10 and the point P and S <b> 208. Based on the capture time, the display mode of the guide information is determined (S209). The type of description information is preferably different depending on the user's field of interest and application. That is, description information corresponding to the corresponding information type is provided according to the information type designated in advance by the user. In addition, the coordinate value of the point P included in this guide information is good also as an average value of the calculated coordinate value, when multiple calculations are carried out during the said acquisition time.

  The output unit 46 outputs guide information based on the display mode determined in S209 (S210).

  The above-described program for executing the steps of FIGS. 7 and 8 can be stored in a recording medium, and the program may be provided by communication means. In that case, for example, the above-described program may be regarded as an invention of a “computer-readable recording medium recording a program” or an invention of a “data signal”.

  DESCRIPTION OF SYMBOLS 10 Image | photographing device, 12 Angular distance measuring device, 14 Coordinate measuring device, 16 Control device, 18 CPU, 20 RAM, 22 ROM, 24 Input device, 26 Display device, 28 Communication device, 30 Storage device, 32 Bus, 34 Input / output Interface, 36 Image information acquisition unit, 38 GPS information acquisition unit, 39 Angular distance information acquisition unit, 40 Target coordinate calculation unit, 42 Determination unit, 44 Target information generation unit, 46 Output unit

Claims (7)

Photographing means for photographing a subject in an arbitrary photographing direction from an arbitrary photographing position;
A shooting target coordinate calculation means for calculating a coordinate value of the shooting target based on a coordinate value of the shooting position, a distance between the shooting position and the shooting target, and a shooting direction of the shooting means;
Shooting object information generating means for generating information relating to a shooting target including an image of the shooting target imaged by the shooting means and a coordinate value of the shooting target calculated by the shooting target coordinate calculating means;
In accordance with a predetermined determination criterion, a determination unit that determines the accuracy of the coordinate value calculated by the shooting target coordinate calculation unit;
And the photographing object information generating means determines a display mode according to a predetermined display determination criterion based on the accuracy of the coordinate value of the photographing object determined by the determining means and the degree of interest of the user. A photographing object information generating device characterized by the above.   2. The photographing object information generating apparatus according to claim 1, wherein the determination means includes at least the accuracy of the coordinate value of the photographing position, the accuracy of the distance between the photographing position and the photographing object, and the photographing direction of the photographing means. An imaging target information generating apparatus, wherein accuracy of a coordinate value of an imaging target is determined by one of accuracy.   3. The photographing target information generating device according to claim 1 or 2, wherein the photographing target information generating unit is configured to determine a capturing time of the photographing target by the photographing unit or a measurement count of a distance between the photographing position and the photographing target. An imaging object information generating apparatus, wherein the interest level of the user is determined based on the information.   The imaging object information generation device according to any one of claims 1 to 3, wherein the information about the imaging object includes a graphic representing a position of the imaging object on a map, and the imaging object information generation The means changes the graphic representing the position of the photographing target based on the determination result of the determining means.   4. The photographing target information generating device according to claim 1, wherein the information related to the photographing target includes a character string representing a position of the photographing target, and the character string represents the character string. Plural preparations are made according to the level of detail of the information, and the photographing target information generation unit selects a character string to be displayed from the plurality of prepared character strings based on a determination result of the determination unit. An imaging target information generation device. The photographing object information generating device according to any one of claims 1 to 3 further includes an image database in which images photographed in the past are accumulated,
The photographic target information generating device extracts a photographic target image from the image database based on the coordinate value of the photographic target. Computer
Image information acquisition means for acquiring image information obtained by photographing a photographing object in an arbitrary photographing direction from an arbitrary photographing position by the photographing means;
A shooting target coordinate calculation means for calculating a coordinate value of the shooting target based on a coordinate value of the shooting position, a distance between the shooting position and the shooting target, and a shooting direction of the shooting means;
Shooting target information generating means for generating information relating to a shooting target including an image of the shooting target shot by the shooting means and coordinate values of the shooting target calculated by the shooting target coordinate calculation means;
In accordance with a predetermined determination criterion, a determination unit that determines the accuracy of the coordinate value calculated by the photographing target coordinate calculation unit,
The photographing target information generating unit determines a display mode according to a predetermined display determination criterion based on the accuracy of the coordinate value of the photographing target determined by the determination unit and the degree of interest of the user. An imaging object information generation program characterized by that.

Images