JP2011232131A - Image target location apparatus and image target location method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image target location apparatus and location method for locating the position of a target object from an image taken by an imaging device mounted on a flying object based on the positions of the flying object and the imaging device, attitude information, and altitude information.SOLUTION: The image target location apparatus and location method provides a more accurate position by calculating an image center vector from an image taken by a flying object, the size of the image, the viewing angle of the imaging device, the positions of the flying object and the imaging device, and attitude angle, calculating a direction vector for a target object from the target object with the image center vector and position specified, and calculating the intersection of the direction vector and a land surface determined from altitude information to locate the position of the target object.

Description

  The present invention relates to an image target orientation apparatus and an image target orientation method for measuring and determining the position of a ground target from the air.

  Conventionally, when a flying object measures the position of a ground target that can be identified and confirmed from the air, a parallax measurement method using parallax obtained by shooting from two different points is used, and distance measurement using ultrasonic waves or the like is performed. I used it.

  The parallax measurement method by shooting from two points requires that the target be photographed by an imaging device such as two cameras, so that the mounting cost of the imaging device is high and control for focusing on the ground target is difficult. There was a problem. Further, ranging by ultrasonic waves has various hardware problems since it is necessary to mount an ultrasonic oscillation device and the like on the flying moving body in addition to the ultrasonic imaging device.

  On the other hand, in the target position locating device described in Patent Document 1, the azimuth and dip angle of the target target is acquired from the two-dimensional image of the infrared imaging device mounted on the aircraft, the topographic cross section is edited from the elevation map, and the target The thing which draws an orientation line to a target and calculates | requires the intersection with the ground surface is disclosed. However, the above apparatus does not particularly mention a method for appropriately locating a target target from a captured two-dimensional image.

JP 2005-181059 A

  In the above prior art, many devices are mounted on the flying moving body, which leads to an increase in weight and cost. In addition, when the target target is difficult to determine, an appropriate solution has not been obtained.

  An object of the present invention is to determine the position of a photographed target from the photographed image by one imaging device, the position and orientation information of the flying moving object, and DEM (Digital Elevation Model) information, that is, altitude information of the photographing region. Is used to provide an image target locating apparatus and an image target locating method for measuring and locating more precisely.

  The present invention receives a flying moving body integrally mounted with an imaging device, position information and posture information of the flying moving body, posture information of the imaging device, and captured image information by the imaging device, and altitude information of a shooting area The ground control device includes an image center vector from the flying moving object to the center of the captured image and a position designation from the flying moving object based on the position information, the attitude information, and the captured image information. A direction vector to the target is calculated, a collision with a topographic cross section based on altitude information, and target position locating processing are performed.

  Further, the position information and posture information of the flying moving body have a flying moving body position and a flying moving body posture angle, and the posture information of the imaging apparatus has a camera posture angle and a camera viewing angle.

  In addition, the ground control device is a moving body information processing unit that processes information of the flying moving body and the imaging device, and an image center vector calculation that calculates the image center vector by processing captured image information including a captured image and an image size of the imaging device. Means, a photographed image designation position determining means for processing the photographed image information to determine a target position of the photographed image, a target object direction vector for calculating a target object direction vector from the image center vector calculating means and the photographed image designation position determining means. And a vector calculating means.

  In addition, the ground control device includes a collision determination unit that determines a collision with a topographic cross section from the calculated direction vector of the target and outputs a target position.

  Further, a ground moving body integrally mounted with an imaging device, position information and attitude information of the flying body, posture information of the imaging device, and image information captured by the imaging device and ground control having altitude information of the imaging region In the image target locating method using the image target locating apparatus comprising the apparatus, the position information and attitude information of the flying moving object, the attitude information of the imaging apparatus, and the captured image information by the imaging apparatus, the captured image from the flying moving object An image center vector toward the image center is calculated, a target in the captured image is specified, a direction vector from the flying moving object to the specified target is calculated based on the image center vector, and the direction vector and altitude It is characterized in that a collision with a terrain cross-section is determined by information, and the position of the target is located and output.

  According to the present invention, there is provided a flying vehicle equipped with an imaging device, and a ground control device that receives position and orientation information and captured image information of the flying vehicle and the imaging device and has altitude information of the imaging region. In the image target locating device, the ground control device calculates an image center vector from the flying moving object to the center of the captured image and a direction vector from the flying moving object to the target, determines a collision with the topographic cross section based on the altitude information, and sets the target. By specifying an arbitrary point in the captured image by performing the object location processing, and positioning the position, the position of the target on the captured image can be represented by complex movement of the target, a short display time, etc. Regardless of whether or not, it is possible to easily and precisely standardize. Therefore, it is possible to realize a high-performance image target locating device and a locating method that receive information in real time from the flying moving object.

It is a block diagram which shows the basic concept of the target orientation method in this invention. It is a schematic diagram which shows the basic concept of the target orientation method in this invention. It is a block diagram which shows the structure of the ground control apparatus in this invention. It is a schematic diagram explaining the attitude | position angle of a flying moving body. It is a schematic diagram explaining the attitude | position angle of the imaging device with which the flight moving body was mounted | worn. It is explanatory drawing of the attitude angle component used for the attitude angle calculation formula of an imaging device. It is a schematic diagram which shows the relationship between the visual field angle of an imaging device, the picked-up image center, and a target. It is a schematic diagram which shows the method of designating the position of a target object and calculating | requiring a direction vector. It is a schematic diagram which shows the orientation method of the target object position by a direction vector and topographical sectional drawing.

  Next, with reference to FIGS. 1-9, embodiment of the image target orientation apparatus and image target orientation method by this invention is described.

  FIG. 1 is a block diagram showing an algorithm of a target locating method in the present invention. The present embodiment includes a system including a target moving target moving object 101 and a ground control device 102, and information on a moving object 103 (flight moving object position, flying object attitude angle, camera attitude angle, camera viewing angle) of the flying object 101, photographing. Using the image information 106 (captured image / size information), the specified position information 104 (target image specified position of the captured image) of the ground control device 102, and the altitude information 105, a direction vector calculation process 107 obtains a direction vector. As shown in FIG. 2, this direction vector indicates a direction vector 109 extending from the flying moving object to the target when the ground target 110 and the flying moving object 101 are connected by a straight line. Further, the ground control device 102 performs a collision determination between the terrain cross section generated by the altitude information 105 and the direction vector 109 and the target position locating process 108 to determine the position of the target 110.

  FIG. 3 is a block diagram showing details of the ground control apparatus 102. In FIG. 3, the ground control device 102 includes a moving body information processing unit 500 that extracts necessary information from the flying moving body information 103, an image center vector calculation unit 501 that calculates an image center vector from the captured image information 106, and a captured image. A captured image designation position determination unit 502 that designates a target position based on the information 106, and a target direction vector that calculates a final target direction vector from the image center vector calculation unit 501 and the captured image designation position determination unit 502. And a calculating means 503.

  Based on the calculated direction vector, the collision determination unit 504 determines a collision with the surface section generated by the advanced information processing unit, and the target position is determined and output.

  FIG. 4 illustrates the attitude angle of the flying moving body 201 in the flying moving body information 103. Based on the case where the flying moving body 201 is flying horizontally toward true north, the horizontal angle of the X axis, which is the traveling direction of the flying moving body 201, is the yaw angle 203, and the rotation angle around the X axis is the roll angle. 204, a rotation angle around the Y axis orthogonal to the traveling direction of the flying moving body is a pitch angle 205.

  FIG. 5 illustrates the attitude angle of the camera 202 that is an imaging apparatus. The camera 202 is mounted below the flying moving body 201 so as to be rotatable in a horizontal plane, and the positions of the flying moving body 201 and the camera 202 always coincide. Therefore, the direction vector emission position is the same as the camera image calculation start position. The camera 202 is directed to the Z-axis direction, which is directly below the flying body 201 in the vertical direction, and the rotation angle around the X-axis, which is the traveling direction of the flying body 201, is defined as the camera roll angle 206, the traveling direction. A rotation angle about the Y axis orthogonal to the camera pitch angle is defined as a camera pitch angle 207.

  FIG. 6 is an explanatory diagram showing a part of the direction vector calculation processing 107 for obtaining the image center vector using the angles of FIGS. 4 and 5 by determinant components. The initial direction component of the direction vector is 301, and from this, the yaw angle component 302, the pitch angle component 303, the roll angle component 304, the imaging device roll angle component 305, and the imaging device pitch angle component 306 are accumulated in this order and photographed from the flying moving body 201. An image center vector to the image center is calculated. The image center vector obtained by the above calculation calculates the center coordinates of the captured image as a temporary target.

  FIG. 7 shows a calculation processing procedure for obtaining the direction vector by moving the image center vector 400 calculated in FIG. 6 from the center O of the captured image P to the target T (position specified point) determined by the captured image specified position determining means 502. FIG. 8 is a schematic diagram enlarging FIG. 7. In the captured image P, the viewing angle (vertical size 402, horizontal size 403) of the camera 202 is projected from the center O401 and used for calculation. Here, in the above-described ground control device 102, a target that moves in a complicated manner that appears in the captured image P, or a target that is displayed instantaneously, is determined based on a predetermined condition. It is automatically extracted by the determining means 502 and set as the target T. The position determined in this way is a captured image designation position 104 shown in FIG.

  Next, the number of pixels of the target T (position designation point) in the photographed image P is acquired from the photographed image information, and a final target direction vector 109 is calculated. .

  FIG. 9 is a schematic diagram showing a processing procedure of the collision determination and target position locating processing 108 of FIG. 1 using the direction vector 109 calculated by the above calculation processing procedure. It is determined whether the direction vector 109 virtually ejected from the flying moving body 101 collides with the topographic cross section at regular intervals (about 10 meters). Strictly speaking, the terrain altitude information is compared with the Z direction component (vertical direction component) of the direction vector 404 using a topographic cross section obtained from the altitude information such as 111, and the topographic altitude information is first converted to the direction vector. A point that coincides with the Z direction component of 109 is set as the position of the target 110.

  As described above, by acquiring one piece of captured image information and the position, posture angle of the flying moving object, the posture angle of the imaging device, and the viewing angle information, the position of the target object reflected in the photographed image can be accurately combined with the altitude information. Can be standardized.

  Conventionally, ranging to a target is mainly measured using an ultrasonic device. However, in the present invention, the distance to a target can be determined from a trigonometric function of the position of the target and the position of the flying moving object.

101: Flight object 102: Ground control device 103: Flight object information 104: Designated position information 105: Altitude information 106: Captured image 107: Direction vector calculation process 108: Collision determination and target position locating process 109: Direction vector 110: Target Object 202: Camera 500: Moving object information processing means 501: Image center vector calculating means 502: Captured image designation position determining means 503: Target object direction vector calculating means 504: Collision determining means 505: Advanced information processing means P: Captured image O: Center of photographed image T: Target on the photographed image (position designation point)

Claims (5)

A ground moving body integrally equipped with an imaging device, position information and posture information of the flying body, posture information of the imaging device, and image information captured by the imaging device, and having altitude information of the imaging region In an image target locating device comprising a device,
The ground control device calculates an image center vector from the flying moving object to the center of the captured image and a direction vector from the flying moving object to the target designated by the position based on the position information and attitude information and the captured image information, An image target locating apparatus that performs a collision determination with a topographic cross section based on the altitude information and a target position locating process.   2. The image target locating apparatus according to claim 1, wherein the position information and attitude information of the flying moving object includes a flying object position and a flying object attitude angle, and the attitude information of the imaging apparatus includes a camera attitude angle and a camera viewing angle. An image target orientation device characterized by comprising:   3. The image target orientation apparatus according to claim 1, wherein the ground control device is a moving object information processing unit that processes information of the flying moving object and the imaging device, and an imaging that includes a captured image and an image size of the imaging device. Image center vector calculating means for processing the image information to calculate the image center vector; Captured image designation position determining means for processing the captured image information to determine a target position of the captured image; and the image center vector calculation And an object direction vector calculating means for calculating an object direction vector from the photographed image designation position determining means.   The image target orientation apparatus according to claim 3, wherein the ground control device includes a collision determination unit that determines a collision with a topographic cross section from a calculated direction vector of the target and outputs a target position. A feature image target orientation device. A flying moving body in which an imaging device is integrally mounted, a ground control device that receives position information and posture information of the flying moving body, posture information of the imaging device, image information taken by the imaging device, and has altitude information of a shooting area; In an image target locating method using an image target locating apparatus comprising:
From the position information and posture information of the flying moving body, the posture information of the imaging device, and the captured image information by the imaging device, calculate an image center vector from the flying moving body toward the image center of the captured image,
Specify the target in the captured image,
Calculating a direction vector from the flying moving object to the position-specified target based on the image center vector;
Judgment of collision between the direction vector and the terrain section by altitude information,
An image target locating method characterized by locating and outputting a position of a target.

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