JP2012098170A - Image data processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image data processing system capable of diagnosing a concrete structure such as a concrete wall surface over a long distance at low cost and short time.SOLUTION: The image data processing system comprises: obtaining a positional relation between a plurality of visible image data and infrared image data, based on a visible image photographing camera 60 and an infrared camera 70 mounted on a mobile stand 10, and a reference point on an object photographed in the first visible image data and infrared image data; performing tilt adjustment to the first visible image data and infrared image data before superimposing the second or succeeding normalization visible image data and normalization infrared image data upon each other, based on the positional relation, to be the second or succeeding superposition data; and connecting the first superposition data and the second or succeeding superposition data.

Description

  The present invention relates to an image data processing system suitable for producing diagnostic information for a concrete structure.

  Conventionally, visual diagnostics and percussion diagnostics have been widely used as diagnostic methods for concrete structures. However, these diagnostic methods require a scaffold to diagnose concrete structures in high places. Or because a large number of experienced workers are required, there is a danger associated with diagnosis work at high altitudes, or the cost for diagnosis increases and the time for diagnosis also increases. It was necessary.

  Moreover, in the conventional diagnosis of concrete structures, since the worker basically determines the diagnosis, there are variations in diagnosis results due to individual differences.

In order to solve the above problems, a method of acquiring an image of a concrete structure and diagnosing the concrete structure based on the image has been proposed. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2010-197371), a surface to be investigated of a concrete surface layer is photographed by an infrared thermography device, and the surface of the concrete surface layer is changed based on a thermal image of the photographed surface to be examined. A technique for specifying a shape portion is disclosed.
JP 2010-197371 A

  However, in the above conventional technique, since cracks are difficult to grasp with infrared rays, it has been an investigation diagnosis using a normal visible light camera image. Therefore, the diagnosis is based on two images, which is very complicated and has a low diagnostic efficiency.

  Therefore, the inventors have so far obtained visible image data and infrared image data relating to a concrete structure to be diagnosed by using both a normal camera and an infrared camera, and obtained these image data. We have developed a technology for diagnosing concrete structures using this hybrid image. It should be noted that to make a hybrid image using two pieces of image data as superimposition data means that all points on the object reflected in the two image data are just superimposed on both image data. .

  According to the above-described hybrid imaging technology for image data, even if a concrete structure such as a concrete wall over a long distance is photographed continuously, a visible structure and an infrared image can be taken. In addition to extracting cracks, jumpers, internal cavities, floats, and separation of the concrete surface, which is the damaged part, it is possible to investigate and diagnose a single image by superimposing the captured images.

  However, in order to superimpose visible image data and infrared image data of a concrete structure over a long distance to form a hybrid image, it has been necessary to operate the computer by an operator. Therefore, there is a problem that it takes time in addition to the cost and the diagnostic efficiency is low, but the present invention further solves this problem.

  The present invention solves the above-mentioned problems, and the invention according to claim 1 is directed to a visible image capturing camera mounted on a gantry, and a shooting direction of the visible image capturing camera mounted on the gantry and the visible image capturing camera. The infrared camera that can be in the same direction as the camera, and the visible image capturing camera and the infrared camera are controlled to capture the visible image data captured by the visible image capturing camera and the infrared camera. In the image data processing system comprising the information processing apparatus for processing the infrared image data, the visible image data and the infrared image data are obtained by photographing the same object with the visible image photographing camera and the infrared camera. On the basis of a reference point on the object photographed on the visible image data and the infrared image data. Obtaining the positional relationship of the infrared image data, performing the image deformation correction process and the image scale correction as necessary on the visible image data and the infrared image data to obtain normalized visible image data and normalized infrared image data of the same size, The normalized visible image data and the normalized infrared image data are superimposed on the basis of the positional relationship to obtain superimposed data.

  According to a second aspect of the present invention, there is provided a visible image capturing camera mounted on a gantry, and an infrared camera mounted on the gantry and capable of being in the same direction as the shooting direction of the visible image capturing camera. , An information processing apparatus that controls photographing of the visible image photographing camera and the infrared camera and performs data processing of visible image data photographed by the visible image photographing camera and infrared image data photographed by the infrared camera In the image data processing system comprising the above, a plurality of visible image data and a plurality of infrared image data are obtained by continuously photographing the same object, and the first visible image data and the infrared image data are photographed. Based on a reference point on the object, a positional relationship between the first visible image data and the infrared image data is obtained, and the first visible image data and The first standardized visible image data and standardized infrared image data of the same size are obtained by performing image transformation processing and scale correction as necessary on the outside line image data, and the first standardized visible image data and standardized infrared image data. Is superimposed on the basis of the positional relationship as the first superimposed data, and the first image correction is performed on the second and subsequent visible image data and infrared image data among the plurality of visible image data and infrared image data. The second and subsequent normalized visible image data and normalized infrared image data of the same size are obtained by performing image transformation processing and scale correction as needed using the values, and the second and subsequent normalized visible image data and normalized Infrared image data is superimposed based on the first positional relationship to form the second and subsequent superimposed data, and the first superimposed data and the second superimposed data Image data plant management system, characterized by connecting the superposed data for later.

  According to a third aspect of the present invention, in the image data processing system according to the second aspect, the gantry is a movable gantry, and the plurality of visible image data and the plurality of infrared image data are obtained when the gantry is acquired. It is characterized in that it is obtained by moving a mobile gantry.

  According to the image data processing system of the present invention, the number of visible image data and infrared image data are superposed data, so that the diagnostic efficiency is improved. Furthermore, when processing that combines multiple superimposed data is executed, it is not necessary for the operator to operate the computer, and diagnosis of concrete structures such as concrete walls over long distances can be performed at low cost and in a short time. This improves diagnostic efficiency.

It is a figure explaining a mode that picked-up image data is acquired by the image data processing system which concerns on embodiment of this invention. It is a figure explaining the outline of the system configuration | structure of the image data processing system which concerns on embodiment of this invention. It is a figure explaining the preparation process for acquiring picked-up image data by the image data processing system which concerns on embodiment of this invention. It is a figure which shows the flowchart of the process which acquires picked-up image data by the image data processing system which concerns on embodiment of this invention. It is a figure which shows the flowchart of the data processing of the picked-up image data by the image data processing system which concerns on embodiment of this invention. It is a figure explaining the data processing of the picked-up image data by the image data processing system which concerns on embodiment of this invention. It is a figure explaining the data processing of the picked-up image data by the image data processing system which concerns on embodiment of this invention. It is a figure explaining the data processing of the picked-up image data by the image data processing system which concerns on embodiment of this invention. The schematic diagram of the superimposition data by the image data processing system which concerns on embodiment of this invention is shown.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram for explaining how captured image data is acquired by an image data processing system according to an embodiment of the present invention. In the example shown in FIG. 1, the image data processing system according to the present invention shows a state in which captured image data is acquired in order to diagnose a concrete structure constituting the inner wall surface of the tunnel. Such a tunnel inner wall surface is provided over a relatively long distance, and can be said to be an example of a concrete structure suitable for applying the image data processing system according to the present invention.

  In order to acquire the captured image data, both the visible image capturing camera 60 and the infrared camera 70 are used, and the movable mount 10 is used to install these cameras. For example, wheels 11 are provided as moving means in the movable gantry 10, and the captured image of the inner wall surface of the tunnel is moved while moving the visible image capturing camera 60 and the infrared camera 70 by a predetermined distance by such moving means. Data can be taken continuously in the traveling direction of the tunnel. The mobile gantry 10 may adopt a power source such as a motor so as to be able to run on its own, or may be moved by being pushed by an operator. In the present embodiment, the former case is assumed and described.

  As the visible image capturing camera 60, a digital single-lens reflex camera currently on the market can be used. As the digital infrared camera 70, an infrared thermography device or the like can be used.

Adjustment is made so that both the visible image capturing camera 60 and the infrared camera 70 face in the same direction so that the same area on the inner wall surface of the tunnel can be captured. In the example of FIG. 1, in both the visible imaging camera 60 and the infrared camera 70 camera, a ₁
A rectangular area consisting of b ₁ c ₁ d ₁ can be photographed. That is,
Lens selection in each camera, camera installation, and the like are adjusted so that the view angles of the visible image capturing camera 60 and the infrared camera 70 are the same.

  Note that the view angle of the visible image capturing camera and the infrared camera need not be the same. If the angle of view is the same, the scale correction, etc. when superimposing the images can be simplified or omitted, but even if the angle of view is not the same, the images of the visible light camera and infrared camera in which the reference point is captured are compared. Then, it is only necessary to correct the scales of both or one of the images so that both reference points coincide.

In the present embodiment, for the sake of simplicity, the concrete inner wall surface (a ₁ b ₁ c) that can be photographed at one time by the visible image capturing camera 60 and the infrared camera 70.
₍ 1d ₁ rectangular area) while moving in the tunnel traveling direction and taking a picture of the inner wall surface of the concrete continuously with both cameras so that the adjacent images are slightly wrapped As will be described below, two visible image capturing cameras and two infrared cameras are provided, and in addition to a rectangular area composed of a ₁ b ₁ c ₁ d ₁ , it is further wrapped in e ₁ f _1. while capturing a rectangular area consisting of g ₁ h _1, it may be taken concrete inner wall continuously.

  Furthermore, more cameras are installed on the mobile pedestal 10, and the entire belt-like area from PQ to P'Q 'is photographed and moved in the tunnel traveling direction by a predetermined distance to continue the concrete inner wall surface. You may make it take a picture. At this time, a plurality of visible image capturing cameras 60 and a plurality of infrared cameras 70 may be provided in order to cover imaging of a band-shaped area from PQ to P′Q ′. Considering that the camera is more expensive than the camera for capturing a visible image, a plurality of cameras are installed on the movable base 10 for the camera for capturing a visible image, and thereby, from PQ to P′Q ′. The entire belt-shaped area is photographed at one time, and only one infrared camera 70 is installed using a pan head that can change the photographing direction, and PQ to P′Q while changing the photographing direction by the pan head. The entire band-shaped area up to 'may be taken.

Now, by capturing a rectangular area composed of a ₁ b ₁ c ₁ d ₁ with both the visible image capturing camera 60 and the infrared camera 70 installed on the mobile gantry 10, the visible area is visible. When the image data and the infrared image data are acquired, the movable base 10 is moved by a distance D, and then a rectangular area composed of a ₂ b ₂ c ₂ d ₂ is photographed to obtain a rectangle a ₂ b. ₂ c ₂ d ₂ area of the visible image data and the infrared image data acquisition. In the image data processing system according to the present invention, continuous shooting data of the inner wall surface of the concrete is acquired by repeating such shooting image data acquisition work. The adjacent rectangles a ₁ b ₁ c ₁ d ₁ and the rectangles a ₂ b ₂ c ₂ d ₂ are slightly overlapped.

Further, a reference point (marking or the like) for alignment is reflected in a rectangular area composed of a ₁ b ₁ c ₁ d ₁ which is the first shooting data of continuous shooting data. As such a reference point, there is a temperature difference from a concrete structure, and a visually easy-to-understand point is used.

  The number of reference points is preferably two or more, more preferably four or more in the initial image position. Moreover, as a reference point, although a shape is not ask | required, square or round aluminum foil is stuck on a concrete surface, for example. For example, if it is aluminum foil, it will also be reflected in an infrared image.

  The reference point is then only at the first image position. This is because the movable platform is moved while maintaining substantially the same distance as the inner wall surface of the concrete. In this way, various correction values to be described later in the first image can be used for the subsequent plurality of image corrections. However, for confirmation, reference points may be provided not only at the first image position but also at an appropriate plurality of subsequent image positions.

  A more specific configuration for managing the image data acquisition as described above and processing the acquired image data will be described with reference to FIG. FIG. 2 is a diagram for explaining the outline of the system configuration of the image data processing system according to the embodiment of the present invention.

In FIG. 2, a general-purpose personal computer that is currently popular can be used as the information processing apparatus 50. The information processing apparatus 50 performs management for acquiring image data with the visible image capturing camera 60 and the infrared camera 70, and also acquires the visible image data acquired with the visible image capturing camera 60 and the infrared camera 70. A program for fetching each infrared image data via an interface unit (not shown) and executing processing of the image data is stored in a storage unit (not shown).

  Further, the visible image capturing camera 60 and the infrared camera 70 can also perform capturing in response to a trigger from the information processing apparatus 50.

  In addition, data from the movement amount detection unit 20 that detects the movement amount of the mobile gantry 10 is input to the information processing apparatus 50. The movement amount detection unit 20 can be composed of, for example, a rotary encoder (not shown) that rotates together with the wheels 11 and an optical element (not shown) that detects the rotation state of the rotary encoder. With this configuration, the amount of movement of the mobile gantry 10 can be grasped on the information processing apparatus 50 side.

  The mobile gantry 10 has a built-in motor (not shown), and the mobile gantry 10 can be self-propelled by this motor. A configuration for controlling the motor is a gantry drive control unit 30, and the control unit controls the motor to freely control the movement amount of the movable gantry 10. Further, the gantry drive control unit 30 controls the motor based on a command from the information processing device 50.

  Next, a description will be given of settings that are performed in order to acquire captured image data by the image data processing system according to the present invention. FIG. 3 is a diagram illustrating a preparation process for acquiring captured image data by the image data processing system according to the embodiment of the present invention.

  In FIG. 3, when the data acquisition preparation process is started in step S <b> 100, first, the visible image capturing camera 60 and the infrared camera 70 are set on the mobile gantry 10 in step S <b> 101. With this set, the visible image capturing camera 60 and the infrared camera 70 are connected to the information processing apparatus 50.

  In the next step S102, the photographing field angles of the visible image photographing camera 60 and the infrared camera 70 are adjusted to be the same field angle with respect to the photographing target surface.

  In the subsequent step S <b> 103, the movement amount for each photographing of the mobile gantry 10 is input to the information processing apparatus 50. In the example of FIG. 1, the movement amount input to the information processing apparatus 50 is D.

  In the next step S <b> 104, the scheduled shooting range is input to the information processing apparatus 50. The scheduled photographing range is set according to how many image data are acquired in the tunnel traveling direction, and is set according to how many m of image data are acquired in the tunnel traveling direction. In step S105, the data acquisition preparation process ends.

  Next, a description will be given of a process for actually acquiring photographed image data by the image data processing system according to the present invention set as described above. FIG. 4 is a diagram showing a flowchart of processing for acquiring captured image data by the image data processing system according to the embodiment of the present invention. This flowchart is executed on the CPU (not shown) of the information processing apparatus 50.

  When the data acquisition process is started in step S200, first, 1 is set in the counter N in step S201.

In the next step S202, control is performed so that the target concrete surface is photographed by the visible image photographing camera 60 and the infrared camera 70.

  In step S203, the visible image data captured by the visible image capturing camera 60 and the infrared image data captured by the infrared camera 70 are stored as the Nth image data.

  In step S204, it is determined whether or not all scheduled shooting has been completed. If the result of the determination is YES, the process proceeds to step S209, and the data acquisition process is terminated. On the other hand, if the result of the determination is NO, the process proceeds to step S205.

  In step S <b> 205, the movable platform 10 is moved by controlling the platform drive control unit 30. In step S206, the detection data from the movement amount detection unit 20 is referred to, and it is determined whether or not the movement amount of the mobile gantry 10 has reached a specified amount. In the example of FIG.

  In step S206, when the movement amount of the mobile gantry 10 reaches the specified amount, the process proceeds to step S207, and the mobile gantry 10 is stopped. In step S208 following step S207, the counter N is incremented by 1 to prepare for the next shooting.

  In the present embodiment, the mobile gantry 10 has been described based on a configuration in which the mobile gantry 10 can be self-propelled by a power source such as a motor. However, when the mobile gantry 10 is moved by being pressed by an operator, the mobile gantry 10 is moved. When the amount detection unit 20 detects the specified movement amount, it may be configured to notify the operator of this.

  Next, a method for data processing of visible image data and infrared image data acquired as described above will be described. FIG. 5 is a view showing a flowchart of data processing of photographed image data by the image data processing system according to the embodiment of the present invention. This flowchart is executed on the CPU (not shown) of the information processing apparatus 50. The data processing of the captured image data in the image data processing system according to the present invention is based on a process of superimposing the data of the visible image data and the infrared image data, and further connecting the superimposed data. The processing according to the flowchart of FIG. 5 is referred to as image data superimposing / combining processing.

  In FIG. 5, when the image data superimposing / combining process is started in step S300, 1 is set to the counter N in the subsequent step S301.

  In step S302, the Nth image data of the visible image data and the infrared image data is acquired. Since 1 is set in the previous counter, visible image data and infrared image data captured first are acquired in this step.

Subsequently, in step S303, the positional relationship between the visible image data and the infrared image data is obtained based on the reference point captured in the first captured visible image data and infrared image data. This positional relationship can be obtained by similarity transformation (rotation direction, scale, movement amount) from two reference points for each image data. Moreover, an infrared image can be superimposed on a visible image by affine transformation from three reference points. In addition, the respective images can be superimposed from each of the four reference points by projective transformation or bilinear transformation. Various other image transformation processes may be used. Therefore, it is possible to obtain the degree of deviation in the two-dimensional direction using the image deformation process.

FIG. 6 is a diagram schematically showing the visible image data and the infrared image data captured first. As shown in FIG. 6, a visible image capturing camera 60 and an infrared camera 7.
The visible image data and infrared image data captured at 0 are different in size. Thus, even between data of different sizes, it is possible to grasp the positional relationship between image data by referring to the reference point.

  In step S304, various types of image deformation processing (primary transformation, affine transformation, projective transformation, bilinear transformation, etc.) are corrected for each of the first captured visible image data and infrared image data. For example, in the case of rectangular tilt correction, which is a type of image deformation processing, oblique transformation correction processing is performed. In curved tilt correction, an area is subdivided and then oblique transformation correction processing is performed. It should be noted that conventionally known algorithms can be appropriately employed for correcting these tilts. For example, the analysis software “Kuraves-Ativis” developed by Kurashiki Boseki Co., Ltd. has the above-described tilt correction function and the function of joining adjacent images, so this software can be used.

  Further, in step S305, scale correction is performed on both the first captured visible image data and infrared image data, either visible image data or infrared image data. By performing such scale correction, the image sizes of the visible image data and the infrared image data are made the same. In the following description, data having the same size after the scale correction is referred to as “normalized data”.

  In the next step S306, based on the positional relationship, the normalized visible image data and the normalized infrared image data that have been subjected to the correction process are superimposed to obtain superimposed data. FIG. 7 schematically shows how the normalized visible image data and the normalized infrared image data are superimposed.

  Note that normalized visible image data and normalized infrared image data are converted into superimposed data that all points on the object reflected in the two image data are just superimposed on both image data. Is to be able to do it.

  The superimposition data processed as described above is stored as the Nth, that is, first superimposition data in step S307.

  In step S308, the counter N is incremented by 1. In step S309, the Nth image data of the visible image data and the infrared image data is acquired.

  In step S310, the image deformation correction process is performed on each of the first image data of visible image data and infrared image data.

  In step S311, the scale correction is performed on both the visible image data and the infrared image data, or on either the visible image data or the infrared image data. By such scale correction, both the visible image data and the infrared image data have the same size as the above-mentioned size and are normalized. The correction values for the image deformation correction processing and the image scale correction may be performed by using the correction values of the image data of the previous number when the shooting distance to the concrete inner wall surface accompanying the movement is substantially the same distance. Good.

  In step S312, the normalized visible image data and the normalized infrared image data that have been subjected to the correction process are superimposed based on the positional relationship to obtain superimposed data.

  In the next step S313, the processing data as described above is stored as the Nth superimposed data.

  In the next step S314, the (N-1) th superimposed (.concatenated) data and the Nth superimposed data are combined and connected. FIG. 8 schematically shows a combination of the third superimposed data and the data up to the second. Note that combining two image data into one linked image data means that new image data in which images appearing on the two image data are joined together without any gaps. Equivalent to creating.

  Here, a process of connecting a plurality of image data in the case of photographing the inner wall surface of the concrete while keeping a certain distance from the inner wall surface of the concrete and moving the movable gantry at a certain distance D in the length direction of the inner wall surface of the concrete. I write.

  The reference point is provided only at the first image position. For example, when two reference points are viewed, the distance between them is known L (mm). The dimension on the corrected image (screen) when this reference point is photographed is l (pixel). The width dimension of the image (screen) at this time is w (pixel). Then, the actually captured width W (mm) is W = L (mm) × w (pixel) / l (pixel). Since the movement amount D is such that D <W, the shooting range is wrapped. Since this D is constant, the wrap length r on the image is r = w × (WD) / W. The calculation of the wrap length is performed by the information processing apparatus. When L and D are input to the information processing apparatus and the information processing apparatus acquires w and l, the lap length r is calculated by performing the above arithmetic processing. In the information processing apparatus, the process of combining and connecting the first adjacent image and the second image data is performed by combining and connecting while overlapping the r length, or by combining either image with the r length. Just cut and join or connect. Thereafter, the information processing apparatus performs the connecting process while sequentially securing r wrap lengths from the second and third images,..., The (N−1) th image and the Nth image.

  In step S315, the data is stored as the Nth superimposition / concatenated data, and in step S316, it is determined whether all the image data has been processed. When the determination result is NO, the process returns to step S308, and when it is YES, the process proceeds to step S317, and the image data superimposing / linking process is ended.

  By the way, this invention can extract the crack of the surface of a concrete structure, a jumper, an internal cavity, a float, and peeling. This is specifically described below.

  Cracks and jumpers on the concrete surface can be extracted from the visible image data. About extraction of this, if the analysis software "Kuraves-Ativis" developed, for example, by Kurashiki Boseki Co., Ltd. is used, the length and width of a crack can be extracted automatically by color coding. From the infrared image data, internal cavities, floats and separations can be extracted with the shading of the image. If the temperature difference is small, the gray level may not be clear in the image as it is, but the gray level can be emphasized or color-coded using existing image analysis processing software.

  It should be noted that the extraction process for cracks and the like is performed before the image data is superimposed.

  In FIG. 9, the schematic diagram of the image which extracted the crack and the jumper using the visible image data of the concrete surface, the image which extracted the cavity inside the concrete and the float using the infrared image data, and the image which superposed them is shown.

In the present invention described above, in order to obtain a plurality of concatenated superimposition data, one superimposing data is obtained for each visible image data and one infrared image data, and then these are concatenated. However, a plurality of visible image data and a plurality of infrared image data may be connected to each other and then superimposed to form a plurality of connected superimposed data.

  As described above, since the image data processing system according to the present invention uses visible image data and infrared image data as superimposed data, the diagnostic efficiency of a concrete structure is improved, and further, the superimposed data are combined. Since the connecting process is executed, it is also a damage diagnosis support device for a concrete structure that can diagnose a structure such as a concrete wall surface over a long distance at a low cost and in a short time.

DESCRIPTION OF SYMBOLS 10 ... Mobile mount 11 ... Wheel 20 ... Movement amount detection part 30 ... Mount drive control part 50 ... Information processing apparatus (personal computer)
60 ... Visible image capturing camera 70 ... Infrared camera

Claims (3)

A visible image capturing camera mounted on a gantry;
An infrared camera that is mounted on the gantry and can be in the same direction as the shooting direction of the visible image shooting camera;
An information processing apparatus that controls photographing with the visible image capturing camera and the infrared camera and performs data processing of visible image data captured with the visible image capturing camera and infrared image data captured with the infrared camera; ,
In an image data processing system comprising:
By capturing the same object by the visible image capturing camera and the infrared camera, visible image data and infrared image data are obtained,
Based on a reference point on an object photographed on the visible image data and infrared image data, a positional relationship between the visible image data and infrared image data is obtained,
Applying image deformation correction processing and image scale correction as necessary to visible image data and infrared image data to obtain standardized visible image data and normalized infrared image data of the same size,
An image data processing system, wherein the normalized visible image data and the normalized infrared image data are superimposed on the basis of the positional relationship to obtain superimposed data. A visible image capturing camera mounted on a gantry;
An infrared camera that is mounted on the gantry and can be in the same direction as the shooting direction of the visible image shooting camera;
An information processing apparatus that controls photographing with the visible image capturing camera and the infrared camera and performs data processing of visible image data captured with the visible image capturing camera and infrared image data captured with the infrared camera; ,
In an image data processing system comprising:
By continuously photographing the same object, a plurality of visible image data and a plurality of infrared image data are obtained,
Based on the reference point on the object photographed in the first visible image data and the infrared image data, the positional relationship between the first visible image data and the infrared image data is obtained,
First deformed visible image data and normalized infrared image data of the same size by performing image transformation processing and scale correction as necessary on the first visible image data and infrared image data,
The first normalized visible image data and the normalized infrared image data are superimposed based on the positional relationship as the first superimposed data,
Of the plurality of visible image data and infrared image data, the second and subsequent visible image data and infrared image data are subjected to image deformation processing and scale correction as necessary using the first image correction value. Second and subsequent normalized visible image data and normalized infrared image data of the same size,
The second and subsequent standardized visible image data and standardized infrared image data are superimposed based on the first positional relationship to form second and subsequent superimposed data;
An image data management system, wherein the first superimposed data and the second and subsequent superimposed data are connected. The image data according to claim 2, wherein the gantry is a mobile gantry, and the plurality of visible image data and the plurality of infrared image data are acquired by moving the movable gantry. Processing system.

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