JP2012103134A - Structure model creation apparatus and method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a structure model creation apparatus automatically creating and displaying a structure model by automatically measuring the positions of surfaces and nodal lines of the structure based on a captured image of the structure.SOLUTION: A structure model creation apparatus 1 according to the present invention includes: an image data acquiring section 4 for acquiring a captured image 3 of a measuring object surface 2 on which markers CT with codes are disposed; a marker grouping section 71 for grouping the markers CT with codes such that the markers CT with codes disposed on a same measuring object surface belong to a same group; a surface equation calculating section 72 for calculating a surface equation of the measuring object surface 2; a nodal line calculating section 74 for finding nodal lines between measuring object surfaces; an adjacent surface specification section 73 for specifying an adjacent measuring object surface adjoined to the measuring object surface 2 corresponding to one group; and a display section 12 displaying a nodal line between a measuring object surface corresponding to each group and the adjacent measuring object surface.

Description

  The present invention relates to a structure model creation apparatus and method. More specifically, the present invention relates to a structure model creation apparatus and method for automatically measuring the arrangement of surfaces of a structure composed of a large number of surfaces and automatically creating the structure model.

Conventionally, when creating a model of a structure, for example, an indoor model of a building or displaying an image, data such as surfaces (walls, floors, ceilings, etc.), lines (boundaries, etc.), points (feature points, vertices, corners, etc.) There are many processes that require manual operations such as reading and inputting, and the process takes a lot of time.
On the other hand, the inventors have developed a color code target for three-dimensional measurement. The color code target uses a color code as an identification code, so that the target can be individually identified. (See Patent Document 1)

JP 2007-101277 A (paragraphs 0024 to 0074, FIGS. 1 to 20)

  The creation of the structure model has a problem that it takes a lot of time for processing. Therefore, in order to solve this problem, it was decided to automate the construction model creation.

  The present invention provides a structure model creation apparatus and method capable of automatically measuring the position of a surface of a structure and the line of intersection based on a photographed image of the structure, automatically creating a structure model, and displaying the structure model. The purpose is to do.

  In order to automate the creation of a structure model, it is necessary to clarify the device configuration, the function of each part, and the automation process for the automatic creation of a structure model. In particular, it is necessary to go one step further from the automation of 3D measurement, to establish the 3D coordinates of the surface and boundary of the structure properly, to create the structure model and model image, and to automate until the 3D display. . Here, the color code target is used for automation. Although ultimately aiming for automation, most of the processes can be automated, and if the process can be made much more efficient, it is also very complex, intricate, or in the case of a structure that includes delicate and dense parts. It is also possible to create a structure model by partially supplementing with an operator's instruction input or the like.

  In order to solve the above problems, a structure model creation device 1 according to the first aspect of the present invention is a measurement target surface 2 constituting the surface of a structure, for example, as shown in FIG. The code-attached sign CT has a measurement target surface 2 on which a code-attached sign CT having a position detection mark for detecting three or more mark positions that are not in a straight line and a code pattern for identifying the code-added sign is arranged. An image data acquisition unit 4 that acquires two or more captured images 3 captured from different directions so as to be included as a measurement target plane image group, and a measurement target plane image group acquired by the image data acquisition unit 4 with a code An extraction unit 61 that extracts three or more position detection marks and code patterns for each sign CT, and an identification code reading unit 6 that reads an identification code from the code pattern extracted by the extraction unit 61 And a mark position detection unit 63 for obtaining the position coordinates of the position detection mark from the three or more position detection marks extracted by the extraction unit 61, and the position coordinates of the position detection mark obtained by the mark position detection unit 63 Or based on the identification code read by the identification code reading unit 62, grouping the code-attached labels CT so that the code-attached signs CT arranged on the same measurement target surface belong to the same group The surface equation calculation that calculates the surface equation of the measurement target surface 2 corresponding to the group using the position coordinates of the position detection mark of the code CT with the code that is determined to belong to the same group by the unit 71 and the label grouping unit 71 From the unit 72, the surface equation of the surface to be measured 2 corresponding to one group, and the surface equation of the surface to be measured corresponding to one other group, An intersecting line calculation unit 74 for obtaining an intersecting line between the measurement target surface 2 corresponding to the loop and the measurement target surface corresponding to another group, and a sign with a code determined to belong to one group by the label grouping unit 71 And the position of the line of intersection between the measurement target surface 2 corresponding to one group and the measurement target surface corresponding to each of the other groups based on the mutual positional relationship between the coded signs belonging to each other group Based on the relationship, an adjacent surface specifying unit 73 that specifies an adjacent measurement target surface adjacent to the measurement target surface 2 corresponding to one group, and a measurement corresponding to each group for which the surface equation is calculated by the surface equation calculation unit 72 The display unit 12 displays the target surface and the intersection line between the measurement target surface corresponding to each group and the adjacent measurement target surface among the intersection lines obtained by the intersection line calculation unit 74.

  Here, the surface of the structure includes an outer surface or an inner surface of a building, a ship, or other transportation means, for example, a surface such as an indoor wall, floor, or ceiling. In addition, a color code pattern can be typically used as a code pattern for a sign with a code, but a pattern such as a barcode or a two-dimensional barcode may be used. As a position detection mark, a retro target is typically used. Can be used, but a black and white cross mark or the like may also be used. The color code target typically includes three position detection marks and a code pattern on the sign surface, but may have various modes such as the number of position detection marks, the shape of the code pattern, and the color. Further, if there are two color code targets to be attached to the measurement target surface, the number of position detection marks is six, and orientation can be performed, and the surface equation can be obtained with good accuracy. For a measurement target surface with good flatness, even if there is only one color code target, the surface passing through the three position detection marks can be specified, so that a surface equation can be obtained. Further, the surface equation is obtained from the position coordinates of three or more position detection marks that are not on a straight line on the measurement target surface, but in order to increase the surface accuracy, it is preferable to use three or more points as far apart as possible. For this reason, for example, it is preferable to extract and use one position detection mark from each of three code-attached signs that form a triangle with the maximum area in a plane when connected by a straight line.

  Further, the measurement target surface is not limited to a flat surface, and may be a curved surface. For example, the measurement target surface may be approximated by a quadric surface, or may be approximated by a large number of planes. In the former case, the target surface can be handled as one surface, and in the latter case, it can be handled according to the case of only a plane. Further, the grouping is not limited to one time, for example. First, grouping may be performed in the normal direction, and then grouping may be performed in correspondence with the surface. Further, either the intersection line calculation or the specific order of the adjacent measurement target surfaces may be performed first. That is, the adjacent measurement target surface may be specified based on the mutual positional relationship of the coded signs, the intersection line between the adjacent measurement target surfaces may be obtained, the intersection line between the measurement target surfaces may be obtained, The adjacent measurement target surface may be specified based on the positional relationship between the intersecting lines. In the latter case, an intersection line between adjacent measurement target surfaces can be obtained by specifying the adjacent measurement target surfaces.

  With this configuration, the sign with code is used to clarify the device configuration and the function of each part for automatic structure model creation. Therefore, based on the captured image of the structure, the surface and intersection of the structure It is possible to provide a structure model creation device capable of automatically measuring the position of a line, automatically creating a structure model, and displaying it.

  Further, in the structure model creation device 1 according to the second aspect of the present invention, in the first aspect, for example, as illustrated in FIG. 1, the sign grouping unit 71 is a position obtained by the mark position detection unit 63. A sign direction detection unit 711 that obtains the surface direction or normal direction of the code CT with code having the position detection mark from the position coordinates of the detection mark, and the surface direction of the code CT with code obtained by the sign direction detection unit 711 Alternatively, based on the normal direction and the position coordinates of the position detection mark obtained by the mark position detection unit 63, the coded signs CT are grouped so that the coded signs arranged on the same measurement target surface belong to the same group. A first grouping unit 712A.

  Here, the surface direction or the normal direction of the corded marker CT is obtained from these position coordinates if the corded marker CT has three or more position detection marks that are not in a straight line. According to this configuration, even if the arrangement of the measurement target surface 2 is unknown, a local surface direction corresponding to the position of the coded marker CT can be obtained, and the coded marker CT is associated with the measurement target surface 2 to form a group. Can be

In addition, in the structure model creation device 1A according to the third aspect of the present invention, in the first aspect, for example, as illustrated in FIG. 15, the sign grouping unit 71 includes a code read by the identification code reading unit 62. Based on the identification code of the tagged marker CT, a second grouping unit 712B is provided for grouping the coded markers CT so that the coded markers arranged on the same measurement target surface belong to the same group.
If comprised in this way, since it classify | categorizes using the identification code of the code | symbol labeled CT CT, the code | cord labeled CT can be grouped easily.

In addition, in the structure model creation device 1 according to the fourth aspect of the present invention, in any of the first to third aspects, for example, as shown in FIG. 8 or FIG. Adjacent to the measurement target surface 2 corresponding to one group, based on the mutual positional relationship between the sign with a sign that belongs to one group by the grouping unit 71 and the sign with a sign that belongs to each of the other groups. The intersecting line calculation unit 74 identifies one measurement surface based on the surface equation of the measurement target surface 2 corresponding to one group and the surface equation of the adjacent measurement target surface specified by the adjacent surface specification unit 73. An intersection line between the measurement target surface 2 corresponding to the group and the adjacent measurement target surface is obtained.
If comprised in this way, since an intersection line is calculated | required after calculating | requiring an adjacent measurement object surface, the calculation which calculates | requires an intersection line can be limited to the intersection line between adjacent measurement object surfaces, and processing time can be saved.

In addition, the structure model creation device 1B according to the fifth aspect of the present invention, in any of the first to third aspects, for example, as shown in FIG. 19 and FIG. Corresponds to the measurement target surface 2 corresponding to one group and the other one group based on the surface equation of the measurement target surface 2 corresponding to one group and the surface equation of the measurement target surface corresponding to the other one group. The adjacent surface specifying unit 73 obtains the intersection line with the measurement target surface 2 corresponding to one group based on the positional relationship of the intersection line obtained by the intersection line calculation unit 74. Specify the surface to be measured.
If comprised in this way, since the adjacent measurement object surface can be specified by the intersection line located in the innermost side on both sides of the surface within the measurement object surface 2 corresponding to one group, the adjacent measurement object surface can be specified reliably. .

In addition, the structure model creation device 1 according to the sixth aspect of the present invention has a plurality of items calculated by the intersection line calculation unit 74 in any of the first to fifth aspects as shown in FIG. A corner specifying unit 75 is provided for specifying the position where the intersecting line intersects with the corner of the measurement target surface 2.
If comprised in this way, the position coordinate of a corner will be calculated | required next to an intersection line, and the completeness of a structure model will become high.

  In addition, in any one of the first to sixth aspects, the structural model creation device according to the seventh aspect of the present invention has a quadratic surface as the measurement target surface 2 as shown in FIG. The surface equation calculation unit 72 calculates a surface equation of a curved surface as a quadratic surface.

Here, a plane and a curved surface may coexist as measurement target surfaces, and a single curved surface or a plurality of curved surfaces may be used. In addition, although a quadric surface is used here, a surface equation of a curved surface may be calculated if a cubic surface or other curved surface can be expressed by a function.
With this configuration, even when the measurement target surface is a curved surface, the position of the surface of the structure and the line of intersection are automatically measured based on the captured image of the structure, and a structure model is automatically created. It is possible to provide a displayable structure model creation device. Further, a curved surface can be handled as one measurement target surface.

In the structure model creation device according to the eighth aspect of the present invention, the surface equation can be approximately expressed as a collection of a large number of planes as the measurement target surface 2 in any of the first to sixth aspects. The surface equation calculation unit 72 calculates a surface equation of the curved surface as a collection of a large number of planes.
With this configuration, even when the measurement target surface is a curved surface, the position of the surface of the structure and the line of intersection are automatically measured based on the captured image of the structure, and the structure model is automatically created and displayed. A possible structure model creation device can be provided. In addition, since the curved surface is divided into a large number of planes, processing according to the case of only planes can be performed.

  Moreover, in the structure model creation apparatus according to the ninth aspect of the present invention, in the fourth aspect, for example, as illustrated in FIG. 8, the adjacent surface specifying unit 73 belongs to the same group in the sign grouping unit 71. The temporary centroid of each of the coded signs is obtained, the temporary centroid of the measurement target surface 2 corresponding to the same group is obtained from the temporary centroids of the coded signs CT belonging to the same group, and each measurement target plane is obtained. Based on the arrangement of the temporary centroids obtained for, an adjacent measurement target surface adjacent to the measurement target surface 2 corresponding to one group is specified.

Here, the temporary center of gravity of the sign with a code may be a point located near the center of gravity, and as the temporary center of gravity of the sign with a code, for example, the center of gravity of the sign with a code or the position detection mark of any of the signs with code You can use the center of gravity. In addition, the provisional center of gravity of the measurement target surface may be any point that is predicted to be located near the center of gravity of the measurement target surface, for example, a polygonal shape that connects the centers of gravity of three or more coded signs in the measurement target surface. The center of gravity may be used. Also, for example, the center of gravity of a triangle formed by three code-attached signs that form a triangle with the maximum area in the plane when connected by a straight line may be used. Further, specifying based on the arrangement of the temporary centroids, for example, with respect to the polygonal centroid connecting the temporary centroids of each measurement target surface, according to the order of the orientation of the temporary centroid of each measurement target surface, adjacent measurement target surfaces May be specified as the adjacent measurement target surface.
If comprised like this aspect, an adjacent measurement object surface will be defined with high precision in the order of the arrangement | positioning of the surface expressed by the surface equation.

Moreover, in the structure model creation apparatus according to the tenth aspect of the present invention, in the fourth aspect, for example, as illustrated in FIG. 18, the adjacent surface specifying unit 73 belongs to each group in the sign grouping unit 71. With respect to the coded sign CT, the coded sign CT that is arranged farthest from the coordinate axis on both sides of the coordinate axis when the measurement target face 2 is represented by two-dimensional coordinates in the measurement target face 2 corresponding to one group. The measurement target surfaces corresponding to the different groups having the labeled signs closest to are specified as adjacent measurement target surfaces.
Here, a vertical axis and a horizontal axis are typically selected as the coordinate axes. When specifying an adjacent wall surface with respect to one wall surface, the distance from the sign with the code that is arranged farthest from the vertical axis, that is, the horizontal axis coordinate is positive and negative and each is the largest. Is done.
If comprised like this aspect, an adjacent measurement object surface can be defined comparatively easily by comparing the distance between the code | symbols with a code | cord | chord.

In addition, in any one of the first to tenth aspects, the structure model creation device according to the eleventh aspect of the present invention may be configured such that, for example, as illustrated in FIG. A coordinate conversion unit 81 that performs coordinate conversion so that the main measurement target surface is parallel to the two principal axes of the three-dimensional orthogonal coordinate system is provided.
With this configuration, the main measurement target surfaces (walls, ceiling, floor, etc.) are surfaces parallel to the two principal axes (surfaces parallel to the xy, xz, and yz surfaces), so the processing is simplified. Become.

In addition, in the structure model creation device according to the twelfth aspect of the present invention, in any one of the first to eleventh aspects, for example, as shown in FIG. The read identification code, the position coordinates of the position detection mark obtained by the sign direction detecting unit 711, the group grouped by the sign grouping unit 71, and the sign stored in association with the measurement target surface 2 corresponding to the group A storage unit 52 is provided.
If comprised in this way, using the identification function of a code | symbol with a code | cord | chord, since each code | symbol code | symbol CT with a code | cord | chord will be identified and matched and memorize | stored in relation to a position coordinate, a measuring object surface, etc., it is effective in automation of structure model creation. .

Further, in the structure model creation device according to the thirteenth aspect of the present invention, in the second aspect, for example, as shown in FIG. 6D, the first grouping unit 712A is a sign direction detecting unit 711. When a predetermined threshold is set for the surface direction or normal direction of the obtained sign CT with code, when the surface direction or normal direction of the code CT with code falls within the predetermined threshold, If it is determined that the group is the same, and the predetermined threshold is exceeded, the code-attached sign is determined to be another group.
If comprised in this way, it can determine easily whether it belongs to a group by using a threshold value.

  Moreover, the structure model creation method according to the fourteenth aspect of the present invention includes, for example, three or more measurement object surfaces 2 constituting the surface of the structure, which are not in a straight line on the sign surface, as shown in FIG. The measurement target surfaces 2 on which the code signs CT having the position detection marks for detecting the mark positions and the code patterns for identifying the code signs are arranged are different so that the code signs CT are included. A photographed image acquisition step (S110) for acquiring two or more photographed images 3 photographed from the direction as a measurement target plane image group, and a code CT with a code from the measurement target plane image group acquired in the captured image acquisition step (S110) An extraction step (S112) for extracting three or more position detection marks and code patterns every time, and an identification code is read from the code pattern extracted in the extraction step (S112). An identification code reading step (S114), a mark position detection step (S116) for obtaining position coordinates of the position detection mark from the three or more position detection marks extracted in the extraction step (S112), and a mark position detection step Based on the position coordinates of the position detection mark obtained in (S116) or based on the identification code read in the identification code reading step (S114), the code-attached signs arranged on the same measurement target surface are the same group. The sign grouping step (S120) for grouping the coded sign CT so as to belong to the same, and the position coordinates of the position detection mark of the coded sign belonging to the same group in the sign grouping step (S120) A surface equation calculation step (S130) for calculating a surface equation of the measurement target surface corresponding to the group, and one group The measurement target surface 2 corresponding to one group and the measurement target surface corresponding to the other group are determined from the corresponding surface equation of the measurement target surface 2 and the surface equation of the measurement target surface corresponding to the other group. Positional relationship between the coded signs that belong to one group and the coded signs that belong to each of the other groups in the intersection line calculation step (S155) for obtaining intersection lines and the sign grouping step (S120) Or adjacent to the measurement target surface 2 corresponding to one group based on the positional relationship of the intersecting line between the measurement target surface 2 corresponding to one group and the measurement target surface corresponding to each of the other groups. The adjacent surface specifying step (S150) for specifying the adjacent measurement target surface, the measurement target surface 2 corresponding to each group whose surface equation is calculated in the surface equation calculating step (S130), and the intersection line calculating step (S15) A display step (S185) for displaying the intersection line between the measurement target surface corresponding to each group and the adjacent measurement target surface among the intersection lines obtained in 5).

Here, the invention according to this aspect is an invention of a method corresponding to the structure model creation device 1 according to the first aspect.
With this configuration, the sign with the code is used and the procedure for creating the structure model is clarified, so the position of the surface of the structure and the line of intersection are automatically measured based on the captured image of the structure. It is possible to automatically create a structure model and provide a structure model creation method that can be displayed.

  According to the present invention, a structure model creation apparatus and method capable of automatically measuring and displaying a structure model by automatically measuring the position of a surface of a structure and a line of intersection based on a captured image of the structure Can provide.

It is a figure which shows the structural example of the structure model creation apparatus which concerns on Example 1. FIG. It is a figure which shows the example of a color code target. It is a figure for demonstrating the gravity center position detection of a retro target. It is a figure which shows the example of a processing flow of the structure model creation which concerns on Example 1. FIG. It is a figure for demonstrating the normal line direction and surface equation of a surface. It is a figure for demonstrating grouping (the 1) of a color code target. It is a figure for demonstrating grouping (the 2) of a color code target. It is a figure for demonstrating determination of the positional relationship of a surface. It is a figure which shows the example of coordinate transformation. It is a figure for demonstrating calculation of a corner point. It is a figure which shows the example of an indoor model. It is a figure which shows the output result (the 1) of the three-dimensional coordinate of an indoor model. It is a figure which shows the output result (the 2) of the three-dimensional coordinate of an indoor model. It is a figure which shows roughly the whole flow of indoor model preparation. It is a figure which shows the structural example of the structure model creation apparatus which concerns on Example 2. FIG. It is a figure which shows the example of a process flow of the structure model creation which concerns on Example 2. FIG. FIG. 10 is a diagram for explaining grouping of color code targets in the second embodiment. FIG. 10 is a diagram for explaining determination of a positional relationship between surfaces in the third embodiment. It is a figure which shows the structural example of the structure model creation apparatus which concerns on Example 4. FIG. FIG. 10 is a diagram illustrating an example of a process flow for creating a structure model according to a fourth embodiment. FIG. 10 is a diagram illustrating an example of a process flow for creating a structure model according to a fifth embodiment. FIG. 10 is a diagram illustrating an example of a process flow for creating a structure model according to a sixth embodiment. It is a figure which shows the example in which a surface contains a curved surface.

  Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant description is omitted.

  In the first embodiment, the color code target CT is grouped using the normal direction of the color code target (label with code) CT affixed to the indoor wall surface (measurement target surface), and an indoor model is automatically created. explain.

[Device configuration]
In FIG. 1, the structural example of the structure model creation apparatus 1 in a present Example is shown.
The structure model creation apparatus 1 in the present embodiment is an apparatus aimed at automatically creating a model of a structure. For example, for the purpose of remodeling, the arrangement and 3D coordinates of indoor walls, floors, ceilings, etc. are automatically measured, 3D structure models and model images are automatically created, and 3D images can be displayed. To. The structure model creation device 1 includes an image data acquisition unit 4 that acquires a captured image 3 of a measurement target surface 2 on which a plurality of coded signs (for example, a color code target CT) are arranged, and a storage unit that stores the acquired captured image 3 and the like. 5. A sign with a code is extracted from the photographed image 3, an identification code is read, a target detection unit 6 for obtaining a mark position coordinate, and a sign with a code is attached based on the identification code and the mark position coordinate obtained by the target detection unit 6. The calculation unit 7 for calculating the surface equation of the measurement target surface 2 and the intersection line of the two measurement target surfaces 2 and grouping the labeled signs according to the measurement target surface, creation of the model image, model image An image processing unit 8 for performing image processing such as coordinate conversion on the input, an input unit 11 for inputting / operating data / commands using a keyboard, a mouse, etc., a liquid crystal A display unit 12 that displays an indoor model, a photographed image 3 and the like using a display, etc., a structure model creation device 1 and a control unit 9 that controls each part thereof and exerts a function as a structure model creation device are provided. .

The image data acquisition unit 4 includes an imaging unit 41 that images the measurement target surface 2 and a data acquisition unit 42 that acquires the captured image 3 captured by the imaging unit 41 and stores the captured image 3 in the storage unit 5. Note that the image acquisition unit 41 may not be provided, and the data acquisition unit 42 may acquire a captured image captured by another imaging device from the other imaging device.
The storage unit 5 includes a captured image storage unit 51 that stores captured images, a marker storage unit 52 that stores markers such as color code targets and marker data, a threshold storage unit 53 that stores thresholds for grouping, and an arithmetic unit 7. And a calculation data storage unit 54 for storing calculation data at.

  The target detection unit 6 includes an extraction unit 61 and an extraction unit 61 that extract three or more position detection marks and code patterns for each code with a code CT from the captured image of the measurement target surface acquired by the image data acquisition unit 4. An identification code reading unit 62 that reads an identification code from the extracted code pattern, and a mark position detection unit 63 that obtains the position coordinates of the position detection mark from the three or more position detection marks extracted by the extraction unit 61 are provided.

  The calculation unit 7 is a code arranged on the same measurement target surface based on the position coordinates of the position detection mark obtained by the mark position detection unit 63 or based on the identification code read by the identification code reading unit 62. The sign grouping unit 71 groups the coded signs CT so that the marked signs belong to the same group, and the position coordinates of the position detection marks of the plurality of coded signs that are assigned to the same group by the sign grouping unit 71 A plane equation calculation unit 72 that calculates a plane equation of a measurement target surface corresponding to the group, and a label grouping unit 71 based on the mutual positional relationship of the coded signs that belong to each group, or one The measurement corresponding to one group based on the positional relationship of the intersection line between the measurement target surface 2 corresponding to the group and the measurement target surface corresponding to each of the other groups. From an adjacent surface specifying unit 73 that specifies an adjacent measurement target surface adjacent to the target surface 2, one surface equation of the measurement target surface 2 corresponding to one group and a surface equation of the measurement target surface corresponding to each other group, one An intersection line calculation unit 74 for obtaining an intersection line between the measurement target surface 2 corresponding to the group and the measurement target surface corresponding to another group, and a position where a plurality of intersection lines calculated by the intersection line calculation unit 74 intersect. A corner specifying unit 75 for specifying the corner of the measurement target surface 2 and a three-dimensional coordinate calculation unit 76 for obtaining three-dimensional coordinates such as a mark position and a feature point are provided.

  The sign grouping unit 71 includes a sign direction detecting unit 711 that obtains the surface direction or the normal direction of the coded sign CT having the position detection mark from the position coordinates of the position detection mark obtained by the mark position detecting unit 63. Based on the surface direction or normal direction of the code-attached marker CT obtained by the marker direction detection unit 711 and the position coordinates of the position detection mark obtained by the mark position detector 63, they are arranged on the same measurement target surface. A first grouping unit 712A for grouping the coded signs CT so that the coded signs CT belong to the same group; Further, the adjacent surface specifying unit 73 specifies a surface position relationship determining unit 731 that determines the positional relationship between the measurement target surfaces, and the adjacent surface to be measured based on the positional relationship determined by the surface position relationship determining unit 731. 1 surface specifying portion 732A.

  The image processing unit 8 includes a coordinate conversion unit 81 that performs coordinate conversion on a model image and a model image creation unit 82 that creates a model image of a structure (including an indoor structure). On the other hand, image processing such as creating an image viewed from a predetermined direction, enlarging / reducing the image, or coloring the image is performed.

  The functions of the data acquisition unit 42, the target detection unit 6, the calculation unit 7, the image processing unit 8, and the control unit 9 of the image data acquisition unit 4 can be realized by a personal computer (PC) 10. In this embodiment, a personal computer ( PC) 10 is configured.

[Color code target]
FIG. 2 shows an example of a color code target CT as a sign with a code. 2A shows three color code unit areas, FIG. 2B shows six color code targets, and FIG. 2C shows nine color code targets. The color code targets CT (CT1 to CT3) in FIGS. 2A to 2C include a retro target portion P1 including a position detection pattern, a reference color portion P2 including a reference color pattern, and a color code portion including a color code pattern. P3, for example, a white portion P4 composed of an empty pattern. These retro target portion P1, reference color portion P2, color code portion P3, and white portion P4 are arranged at predetermined positions in the color code target CT1. That is, the reference color pattern, the color code pattern, and the sky pattern are arranged in a predetermined positional relationship with respect to the position detection pattern.

  The retro target portion P1 functions as a position detection mark, and is used for detecting the target itself, for detecting the position of the target, and for detecting the tilt of the target. The three retro target portions P1 function as three or more marks that are not on a straight line.

  The reference color portion P2 is used for reference at the time of relative comparison and for color calibration for correcting the color misregistration in order to cope with color misregistration due to photographing conditions such as illumination and a camera. Furthermore, the reference color portion P2 can be used for color correction of the color code target CT created by a simple method. For example, when using a color code target CT printed by a color printer (inkjet, laser, sublimation type printer, etc.) where color management is not performed, individual differences appear in the color of the printer used, but the reference color portion P2 By comparing and correcting the color of the color code portion P3 relative to each other, the influence of individual differences can be suppressed.

  The color code part P3 expresses a code by a combination of color schemes for each unit area. The number of codes that can be expressed varies depending on the number of code colors used for the code. For example, when the number of code colors is n and the number of unit areas is 3, n × n × n codes can be represented. In order to increase the reliability, even when the condition that the colors used in other unit areas are not used redundantly, n × (n−1) × (n−2) codes can be expressed. If the number of code colors is increased, the number of codes can be increased. Furthermore, if the condition that the number of unit areas of the color code portion P3 is equal to the number of code colors is imposed, all the code colors are used for the color code portion P3. Therefore, not only the comparison with the reference color portion P2, By relatively comparing the colors between the unit areas of the color code part P3, the color of each unit area can be confirmed to determine the identification code, and the reliability can be improved. Furthermore, if a condition for making the area of each unit region all the same is added, the color code target CT can also be used for detection from the image. This is because the area occupied by each color is the same even between the color code targets CT having different identification codes, so that almost the same dispersion value is obtained from the detection light from the entire color code portion P3. In addition, since the boundary between the unit regions is repeated at equal intervals and a clear color difference is detected, it is possible to detect the color code target CT from the image from such a repeated pattern of detection light.

  The white portion P4 is used for detecting the inclination of the color code target CT and for calibrating the color shift. Among the four corners of the color code target CT, there is a place where no retro target is arranged, and this can be used for detecting the inclination of the color code target CT. Thus, the white part P4 should just be a pattern different from a retro target. Therefore, a character string such as a number for visually confirming the code may be printed on the white portion, or may be used as a code area such as a barcode. Furthermore, in order to increase the detection accuracy, it can be used as a template pattern for template matching.

[Detect color code target]
Next, detection of the color code target will be described. First, the extraction unit 61 extracts the captured image 3 to be processed from the captured image storage unit 51, and extracts the color code target CT from the captured image 3. As an extraction method, (1) a method of searching for a position detection pattern (retro target) in the color code target CT, (2) a method of detecting color dispersion of the color code portion P3, or (3) detection of a colored position There are various methods such as a method using a pattern for use.

  (1) When a retro target is included in the color code target CT, a pattern with a clear brightness difference is used. Therefore, an image in which only the retro target shines can be acquired by shooting the flash with a small aperture. The retro target can be easily detected by binarizing this image.

  FIG. 3 is a diagram for explaining the detection of the center of gravity position of the retro target. However, the process is the same for a white circular target formed with white paint on a black background instead of a retro target. In the example of FIG. 3, the retro target is formed by two concentric circles, but the outer side is not necessarily a circle. In FIG. 3A1, the brightness of the inner circle portion 204 that is the inner side of the small circle among the concentric circles is bright, and the brightness of the outer circle portion 206 that is an annular portion formed between the small circle and the great circle is dark. The retro target 200, FIG. 3 (A2) is a brightness distribution diagram in the diameter direction of the retro target 200 of (A1), and FIG. 3 (B1) is a retro target in which the brightness of the inner circle portion 204 is dark and the brightness of the outer circle portion 206 is bright. 200 and FIG. 3 (B2) show the brightness distribution diagram in the diameter direction of the retro target 200 of (B1). When the brightness of the inner circle portion 204 is bright as shown in FIG. 3A1, the retro target is a bright portion where the reflected light amount at the center of gravity position is large in the captured image of the measurement object 2, and thus the light amount distribution of the image. As shown in FIG. 3A2, it is possible to obtain the inner circle portion 204 and the center position of the retro target from the threshold value To of the light amount distribution. When a retro target is used, there is an advantage that the amount of reflected light is large and easy to detect. The white circular target is easy to manufacture.

When the target existence range is determined, the barycentric position is calculated by, for example, the moment method. For example, the plane coordinates of the retro target 200 shown in FIG. 3 (A1) are (x, y). Then, (Expression 1) and (Expression 2) are calculated for points in the x and y directions where the brightness of the retro target 200 is greater than or equal to the threshold value To (* is a multiplication operator).

xg = {Σx * f (x, y)} / Σf (x, y) −−−− (Formula 1)
yg = {Σy * f (x, y)} / Σf (x, y) −−−− (Formula 2)
(Xg, yg): coordinates of the center of gravity position, f (x, y): lightness value on (x, y) coordinates

In the case of the retro target 200 shown in FIG. 3 (B1), (Expression 1) and (Expression 2) are calculated for points in the x and y directions whose lightness is equal to or less than the threshold value To. Thereby, the position of the center of gravity of the retro target 200 is obtained.

(2) Usually, the color code portion of the color code target CT has a feature that a large number of code colors are used and the color dispersion value is large. For this reason, the color code target CT can be detected by finding a portion having a large dispersion value from the image.
(3) The three color retro targets used in the color code target CT have different colors, and the colors reflected by the respective retro targets are made different. Since the retro targets at the three corners have different colors, it is easy to distinguish each retro target belonging to one color code target.

[Processing flow]
FIG. 4 shows an example of a process flow for creating a structure model.
For example, at the time of indoor renovation or the like, the interior space of the room is accurately measured, and the indoor model is accurately reproduced in a three-dimensional coordinate space. In this case, if an indoor model, at least its inner surface (including walls, ceiling, floor) and intersection line (boundary) can be automatically created, it can greatly contribute to improvement in processing efficiency and reliability. Here, a processing flow for automatically creating an indoor model will be described.

  First, a target is affixed to the inner surface of the room (including walls, ceiling, and floor) (label placement step: S100). Since three or more coordinates are required to determine the surface (local surface) or measurement target surface 2 to which the target is attached, it is preferable to use a target having three or more position detection marks. is there. Since the color code target CT in this embodiment has three position detection marks as shown in FIG. 2, the local surface pasted by one color code target CT can be determined. Further, if there are two color code targets CT to be affixed to the surface to be measured, the number of marks for position detection is 6, and the orientation can be performed, and the surface equation can be obtained with good accuracy. With respect to the measurement target surface with good flatness, even if there is only one color code target CT, the surface passing through the three position detection marks can be specified, so that the surface equation can be obtained. Further, in order to determine the measurement target surface 2 with high accuracy, it is preferable to attach the color code target CT to three or more positions that are not on a straight line as far as possible in the surface. Moreover, it is preferable to affix the color code target CT to a surface having a large area at three or more positions for each predetermined area. In addition, regarding two adjacent captured images, it is preferable to capture the two color code targets CT on the adjacent sides because the captured images on the measurement target surface can be continuously connected.

  Next, the three-dimensional position coordinates of the color code target CT are acquired. For this reason, first, the measurement target surface 2 to which the color code target CT is attached is imaged (imaging process: S105). For example, the imaging unit 41 captures the captured image 3 of the measurement target surface 2 to which the color code target CT is attached using a stereo camera, or the measurement target surface 2 from two or more directions using a single camera. The captured image 3 is captured. Next, the data acquisition unit 42 acquires these captured images 3 as a measurement target plane image group and stores them in the captured image storage unit 51 (captured image acquisition step: S110). In addition, you may acquire the picked-up image image | photographed with the other imaging device from the said other imaging device. Next, the extraction unit 61 extracts three or more position detection marks and code patterns for each color code target CT from the measurement target surface image group acquired in the captured image acquisition step (S110) (extraction step). : S112). Next, the identification code reading unit 62 reads the identification code from the code pattern extracted in the extraction step (S112) (identification code reading step: S114). The mark position detection unit 63 obtains position coordinates of the position detection mark from the three or more position detection marks extracted in the extraction step (S112) (mark position detection step: S116). For detection of the mark position, the center-of-gravity position detection method of the retro target of FIG. 3 can be used. The three-dimensional coordinates of each position detection mark are obtained by searching for corresponding points using two or more photographed images (measurement target surface image group) in the three-dimensional coordinate calculation unit 76 and calculating by a triangulation method or the like. .

  Next, the color code target CT is grouped (target grouping step: S120). For each detected color code target CT, those belonging to the same plane are divided into the same group, and those belonging to different planes are divided into different groups. First, the sign direction detection unit 711 of the sign grouping unit 71 obtains the normal direction of the surface on which the color code target CT is pasted from the three-dimensional coordinates of the three position detection marks of each color code target CT (signs) Direction detection step: S118).

FIG. 5 is a diagram for explaining the normal direction of the surface and the surface equation.
For example,

The surface equation is expressed as ax + by + cz + d = 0 (Equation 3)
The normal vector is represented by v (a, b, c) (Equation 4)
It can be expressed as.

First, color code targets CT having the same normal vector are grouped into one group. A normal vector can be obtained by substituting the three-dimensional coordinates of the three position detection marks of the color code target CT into (Equation 3) and calculating the condition of being perpendicular to the surface.

Further, the first grouping unit 712A of the sign grouping unit 71 corresponds to, for example, the distance from the origin to the plane (see Expression 7) based on the relationship of the position coordinates of the position detection mark with respect to the normal of the surface. Then, the measurement target surfaces are grouped (first grouping step: S120A). That is, the color code targets CT attached to the same plane are grouped so as to belong to the same group.

For each point (x1, y1, z1) in the surface to be measured,
Distance between point P1 (x1, y1, z1) and the origin = √ (x12 + y12 + z12) (Formula 5)
Distance to point P (p, q, r) where point P1 (x1, y1, z1) is located = √ ((x1-p) 2+ (y1-q) 2+ (z1-r) 2) (Formula 6)
Length of perpendicular line drawn from origin to plane (ax + by + cz + d = 0) = | d | / √ (a2 + b2 + c2) (Expression 7)
Length of perpendicular drawn from a point P (p, q, r) to a plane (ax + by + cz + d = 0) = | ap + bq + cr−d | / √ (a2 + b2 + c2) (Formula 8)

It becomes. These are calculated, and the color code targets CT having substantially the same length of the perpendicular line down to one plane are in the same plane, and therefore are grouped into the same group. Here, √f (x) represents (f (x)) 1/2.

  FIG. 6 is a diagram for explaining grouping (part 1) of the color code target CT. FIG. 6A is a three-dimensional view of wall surfaces constituting the room, FIG. 6B is an enlarged view of a color code target CT attached to one wall surface of the three-dimensional view, and FIG. 6C is a plan view of the room. 6 (d) is a diagram for explaining a condition in which the normal direction of the surface to which the color code target CT is attached belongs to the same group. As shown in FIG. 6A, the chamber has a substantially rectangular shape, with one corner constricted and surrounded by six wall surfaces as a whole. From FIG. 6C, the color code target CT is affixed to each wall surface and should be grouped into 6 groups for each wall surface. As shown in FIG. 6 (b), the color code target CT has position detection marks at three corners of a square marker surface and is pasted using these three position detection marks that are not on a straight line. The normal direction of the surface can be obtained. FIG. 6D shows that the two color code targets CT belong to the same group if the angle θmn formed by the normal vectors of the two surfaces to which the color code target CT is attached is smaller than a predetermined threshold ε1. . Near the boundary between the two wall surfaces, the normal vector of the color code target CT can be obtained to determine which wall surface is attached.

  FIG. 7 is a diagram for explaining grouping (part 2) of the color code target CT. FIG. 7A is a plan view of a chamber, and FIG. 7B is a view for explaining grouping of color code targets CT attached to two parallel wall surfaces. As shown in FIG. 7A, there are three parallel wall surfaces whose normal direction is the left-right direction and three parallel wall surfaces whose vertical direction is the vertical direction, and each of the three color code targets grouped in the same direction in the normal direction. It can be said that it should be divided into groups. FIG. 7B shows which of the two parallel wall surfaces the color code target CT belongs to, for example, from the position of the wall surface obtained by the least square method for the color code target CT belonging to the group. If the distance d to the CT is smaller than the predetermined threshold ε2, it indicates that the color code target CT belongs to the group.

  Next, the surface equation calculation unit 72 calculates a surface equation of the measurement target surface (wall surface) (surface equation calculation step: S130). If the normal vector v (a, b. C) and the length of the perpendicular drawn from the origin to each plane are known, a, b, c, d can be obtained, and the surface equation of (Equation 3) can be obtained. The surface equation is obtained from the position coordinates of three or more position detection marks that are not on a straight line on the measurement target surface 2, but in order to obtain the surface equation with high accuracy, it is preferable to use three points as far apart as possible, For example, it is preferable to extract and use the color code target CT in the plane so that the area of a triangle having three color code targets CT as vertices is maximized. As the position coordinates of each color code target CT, for example, the position coordinates of the center of gravity of the color code target CT or the position coordinates of a specific position detection mark (for example, the position detection mark located at the upper left) in the color code target CT is used. it can. Further, the surface equation may be calculated using the position coordinates of four or more color code targets CT, and it is preferable that the number of color code targets CT is large in order to improve accuracy. Substituting the position coordinates of these color code targets CT into (Equation 3) and calculating using the length of the perpendicular line drawn from the origin to each plane (see Equation 7), a, b, c, d are obtained, The surface equation (Equation 3) of each measurement target surface 2 can be obtained.

  Next, in the adjacent target surface specifying unit 73, based on the mutual positional relationship between the sign with a code that belongs to one group by the sign grouping unit 71 and the sign with a code that belongs to each of the other groups. An adjacent measurement target surface adjacent to the measurement target surface 2 corresponding to one group is specified (adjacent surface specification step: S150). In this embodiment, the positional relationship between the measurement target surfaces (wall surfaces) is clarified, and adjacent measurement target surfaces adjacent to each other are specified (S150), and then a wall intersection line is calculated (S155). Further, in the present embodiment, after determining the positional relationship of the measurement target surface (wall surface) by the surface positional relationship determining unit 731 (surface positional relationship determining step: S140), the first surface specifying unit 732A determines the positional relationship. The adjacent measurement target surface is specified based on the positional relationship (first adjacent surface specifying step: S150A). The surface positional relationship determination unit 731 obtains the temporary center of gravity of the measurement target surface 2 corresponding to the same group, and determines the positional relationship of the measurement target surface (wall surface) based on the placement of the temporary center of gravity obtained for each measurement target surface. decide.

  FIG. 8 is a diagram for explaining determination of the positional relationship of the measurement target surface (wall surface). FIG. 8A is a processing flow diagram, FIG. 8B is a diagram showing a correctly recognized wall intersection line and a misrecognized wall intersection line, and FIG. 8C is a position coordinate of the temporary center of gravity of the wall surface. FIG. 8D is a diagram showing the temporary center of gravity of the wall surface. In FIG. 8A, first, three color code targets CT that form a triangle having the maximum area in the plane when connected by a straight line are extracted, and a plane equation of the measurement target plane 2 is obtained (S130). Next, it is assumed that a line of intersection between measurement target surfaces (wall surfaces) is calculated (S155). In this state, as shown in FIG. 8B, in addition to the correctly recognized wall intersection line ●, the misrecognized wall intersection line ◯ is calculated. If the adjacent wall surface is determined, the misrecognized wall intersection line is not calculated, and only the correctly recognized wall intersection line should be calculated. Therefore, it is necessary to clarify the positional relationship between the measurement target surfaces (wall surfaces).

  First, the positional relationship between the measurement target surfaces (wall surfaces) is clarified by the surface positional relationship determination unit 731 (surface positional relationship determination step: S140). First, the temporary center of gravity of the color code target CT is obtained. The temporary center of gravity may be a point located approximately near the center of gravity, for example, the center of gravity of the color code target CT or the position detection mark of any one of the color code target CT. You can use the center of gravity. Next, the temporary center of gravity of the measurement target surface 2 is obtained. The temporary center of gravity of the measurement target surface 2 may be a point that is predicted to be located near the center of gravity of the measurement target surface. For example, a triangular centroid connecting the temporary centroids of the three color code targets CT in the measurement target surface 2 may be used. As shown in FIG. 8D, as the temporary center of gravity g1 of the measurement target surface 2 (wall surface), for example, the triangular center of gravity obtained from the surface equation of the measurement target surface 2 (wall surface) can be used. And each measuring object surface 2 is arranged according to a surface equation. As shown in FIG. 8C, for example, a polygonal centroid connecting the temporary centroids g1 to g5 of the measurement target surfaces (wall surfaces) can be used as the temporary centroid G in the room. Then, the arrangement of each measurement target surface (wall surface) is determined so as to rotate in a fixed direction such as g 1 → g 2 → g 3 → g 4 → g 5 → g 1 around the indoor temporary center of gravity G. That is, the arrangement of the measurement target surfaces is determined according to the order of the orientations of the temporary centroids g1 to g5 of the measurement target surfaces with respect to the polygonal centroid G connecting the temporary centroids g1 to g5 of the measurement target surfaces. Thereby, the relative positional relationship between each measurement object surface (wall surface) is determined. The first surface specifying unit 732A specifies the adjacent measurement target surface adjacent to the measurement target surface 2 corresponding to one group based on the arrangement of the temporary centroids g1 to g5 obtained for each measurement target surface ( First adjacent surface specifying step: S150A).

Next, the intersection line calculation unit 74 calculates the intersection line of the measurement target surface (wall surface) (intersection line calculation step: S155). An intersection line is obtained from the surface equation of the two surfaces (wall surfaces).
Plane 1 is expressed as a1x + b1y + c1z + d1 = 0 (formula 9)
Plane 2 is expressed as a2x + b2y + c2z + d2 = 0 (Equation 10)
Assuming that the point A12 through which the intersection line L12 passes, the direction vector e12 of the intersection line, and the parameter t12,
The intersection line is expressed as L12 = A12 + t12e12 (formula 11)
It can be expressed as.
Where x12 = b1c2-c1b2, y12 = c1a2-a1c2,
Let z12 = a1b2-b1a2.
The point where the intersection line passes through the xy plane is when z12 ≠ 0,
((D1b2-b1d2) / z12, (d1a2-a1d2) / (-z12), 0)
The point where the intersection line passes through the xz plane is y12 ≠ 0,
((D1c2-c1d2) / (-y12), 0, (d1a2-a1d2) / y12)
The point where the intersection line passes through the yz plane is when x12 ≠ 0,
(0, (d1c2-c1d2) / x12), (d1b2-b1d2) / (-x12))
It becomes. When x12 = 0, y12 = 0, and z12 = 0, the two planes are parallel and there are no intersecting lines.

  Next, the coordinate conversion unit 81 performs coordinate conversion (coordinate conversion step: S160). If the coordinates are determined so that the floor of the room is the xy plane and the main walls are the xz plane and the yz plane, the room view is easy to see and the calculation process is simplified, which is convenient. Therefore, the obtained planes and intersection lines are converted into such a three-dimensional orthogonal coordinate system. However, when the origin is set in the three-dimensional orthogonal coordinate system from the beginning, the coordinate conversion can be omitted.

  FIG. 9 is a diagram illustrating an example of coordinate conversion. FIG. 9A shows the coordinate system of the room before conversion, and FIG. 9B shows the coordinate system of the room after conversion. In FIG. 9A, the wall surface is inclined with respect to the coordinates. First, a straight line (a straight line that should be parallel to the z-axis) that is an average value of four intersecting lines (indicated by bold lines) that is the outer frame of the room is obtained from the intersecting lines that intersect the two wall surfaces. Similarly, straight lines that should be parallel to the x-axis direction and the y-axis direction are obtained from the intersecting lines that form the outer frame of the chamber, and coordinate conversion is performed so that these three straight lines are perpendicular to each other. Next, the three straight lines are rotated and translated to normalize. Then, as shown in FIG. 9B, coordinate conversion is performed so that one vertex (intersection of intersection line) of the chamber comes to the origin.

Note that, here, an example of performing coordinate conversion based on a straight line has been described, but coordinate conversion may be performed by obtaining an angle based on a plane and averaging.
Thus, typically, the intersection line between the two wall surfaces is mainly parallel to the z-axis (perpendicular to the xy plane), and the wall surfaces are mainly parallel to the xz plane or the yz plane. The floor and ceiling to be added later are mainly parallel (horizontal) to the xy plane, and the floor is located at z = 0.

Next, the corner specifying unit 75 calculates the corner point of the wall (corner point calculating step: S170).
FIG. 10 is a diagram for explaining calculation of a corner point of a wall. FIG. 10A is a diagram for explaining corner point calculation, and FIG. 10B is a perspective view seen from the room. + In FIG. 10A and □ in FIG. 10B indicate the position of the color code target CT. As shown in FIG. 10 (a), a floor and a ceiling are arranged for a coordinate-converted indoor model, and a line of intersection between the wall surface and the floor and a line of intersection between the wall surface and the ceiling are obtained. The intersection with the intersection line between the wall surfaces is calculated as a corner point. When the color code target CT is affixed to the floor and the ceiling, the surface equations of the floor and the ceiling are obtained using the position coordinates of the color code target CT. When the color code target CT is not affixed to the floor or the ceiling, the floor and ceiling positions (z coordinates) are designated. Automatic processing is possible if specified in advance, but manual specification is also possible. As shown in FIG. 10B, z = 0 is a floor and z = L is a ceiling position. Thereby, the intersection line of a wall surface and a floor and the intersection line of a wall surface and a ceiling are decided, and the intersection of these intersection lines and the intersection line between two wall surfaces is calculated as a corner point.

  Next, the model image creation unit 82 creates an indoor model image as a model image (model creation step: S180). The structure model represents the structure on three-dimensional coordinates, and the model image is an image obtained by two-dimensionally displaying the model image on a monitor or the like. As the indoor model, a model with only a wall surface, a floor, and a ceiling may be used. However, in this embodiment, doors, windows, and the like are arranged. Furthermore, the unevenness (if any) of the pillars may be expressed, and equipment such as built-in fixtures, air conditioning equipment, and bathtubs may be arranged as necessary. In order to create an indoor model, for example, a wall to be measured is specified, a wall image is displayed three-dimensionally on the display unit 12, and three-dimensional measurement is performed on the displayed image. The three-dimensional measurement uses the position coordinates of the color code target CT as a reference, and the three-dimensional coordinate calculation unit 76 is used for the calculation of the three-dimensional coordinates. As for doors, windows, etc., the four coordinates of the corners of the doors, windows, etc. are captured. If feature point extraction and corresponding point search are performed using a pair of photographed images, three-dimensional coordinates can be automatically measured, but it is also possible to manually measure and specify four points. From the wall image including the color code target CT affixed to the door, window, and surrounding wall surface, the distance between the surface of the door, window, etc. and the wall surface is obtained, and the coordinates of the corners of the door, window, etc. are obtained.

  FIG. 11 shows an example of an indoor model. FIG. 11A is a perspective view of the indoor model as viewed obliquely from above, and FIG. 11B is a perspective view of the indoor model as viewed from the rear upper side (U direction of (a)). According to FIG. 11A and FIG. 11B, doors, windows and the like are arranged on the wall surface, and the color code target CT is affixed. Based on the three-dimensional coordinates of the color code target CT, three-dimensional coordinates such as doors and window corners are obtained, and an indoor model and a model image are created.

  Next, the indoor model obtained by the model image creation unit 82 is output to the display unit 12 (display process: S185). Next, the three-dimensional coordinate data of the room model is converted into CAD (Computer Aided Design) data (S190), and the drawing is output by CAD (S195). Three-dimensional coordinate data can be output along with the drawing. Note that the three-dimensional coordinates of the room model may be output to a normal printer without using CAD.

  FIG. 12 shows an output result (part 1) of the three-dimensional coordinates of the indoor model. FIG. 12A is an example of an indoor model, and FIG. 12B is an example of a plan view describing an output result. FIG. 13 shows the output result (part 2) of the three-dimensional coordinates of the room model. FIG. 13A is an example of an indoor model, and FIGS. 13B to 13E are examples of four-side wall diagrams describing output results. The wall view is viewed from the room. These output data are the drawings output using CAD. The entered numbers are measured dimensions.

  In the processing flow of FIG. 4, all steps from the captured image acquisition step (S110) to the drawing output step (S195) are automatically performed. That is, an indoor model can be automatically created. In the present embodiment, in addition to the automatic creation example, as an example in which a part of manual operation is entered, an example of supplementary clicking in floor / ceiling designation and door / window measurement (four-point designation) has been described. The floor / ceiling can be automatically processed by attaching a color code target to the floor / ceiling or designating the height in advance. For door / window measurement, instead of specifying four points, automatic processing is possible by detecting four corners of the door / window by extracting feature points and searching for corresponding points in the captured image, and performing three-dimensional measurement.

  FIG. 14 schematically shows the overall flow of creating an indoor model. First, the color code target CT is affixed to the measurement target surface 2 and the room is photographed (S200). Next, the memory is inserted into the PC, and the software is activated to obtain a captured image (S210). Then press the button. Thereby, an indoor three-dimensional model is automatically created (S220). Further, the door is measured and the area is displayed (S230). As described above, in this embodiment, based on the captured image of the structure, the surface of the structure and the position of the intersection line are automatically measured, the structure model is automatically created, and the displayable structure model is created. An apparatus and method thereof can be provided.

In the first embodiment, the example in which the color code targets CT are grouped using the normal direction has been described. In the present embodiment, an example in which the color code targets CT are grouped according to their code numbers will be described. Differences from the first embodiment will be mainly described.
FIG. 15 shows a configuration example of the structure model creation device 1A according to the present embodiment. The sign grouping unit 71 of the first embodiment includes a sign direction detecting unit 711 and a first grouping unit 712A, whereas in this example, the sign grouping unit 71 includes a second grouping unit 712B. In other respects, the other configurations are the same.
FIG. 16 shows an example of a processing flow for creating a structure model according to this embodiment. Regarding the processing flow, the labeling direction detection step (S118) is deleted from the processing flow of FIG. 4 and the content of the labeling grouping step (S120) is changed to (S120B), but the other flows are the same. .

  FIG. 17 is a diagram for explaining grouping of color code targets CT in the present embodiment. FIG. 17A is a schematic plan view, and FIG. 17B is a schematic view of the “wall 3” in the schematic plan view as viewed from the room. The color code target CT is grouped by the second grouping unit 712B (label grouping step (second grouping step): S120B). 17A, the chamber is surrounded by four walls, “wall 1” to “wall 4”. The code number of the color code target CT to be attached to each wall is distinguished. For example, the code number of the color code target CT to be affixed to “wall 1” is 10 to 19, the “wall 2” is 20 to 29, the “wall 3” is 30 to 39, the “wall” 4 ”is the number 40 to 49. In order to make the positional relationship of the walls easy to understand, the numbers are assigned in the order of “wall 1” — “wall 2” — “wall 3” — “wall 4”. Thereby, the color code targets CT can be easily grouped simply by referring to the code numbers of the color code targets CT.

  In the present embodiment, the surface positional relationship determination unit 731 of the adjacent target surface specifying unit 73 determines the position of the measurement target surface (wall surface) based on the code number of the color code target CT attached to each measurement target surface. A relationship may be determined. That is, in the surface positional relationship determining step (S140), the positional relationship is determined as “wall 1”-“wall 2”-“wall 3”-“wall 4” in the order of code numbers as shown in FIG. The one surface specifying unit may specify the adjacent measurement target surface based on the positional relationship determined by the surface positional relationship determining unit 731.

  Other configurations and processing flow are the same as those in the first embodiment. As in the first embodiment, the positions of the surface of the structure and the line of intersection are automatically measured based on the captured image of the structure, and the structure It is possible to provide a structure model creation apparatus and method capable of automatically creating and displaying an object model.

  In the first embodiment, the adjacent surface specifying unit 73 is based on the mutual positional relationship between the sign with a code that is assigned to one group by the sign grouping unit 71 and the code with a sign that is assigned to each of the other groups. As an example of specifying an adjacent measurement target surface adjacent to the measurement target surface 2 corresponding to one group, a temporary center of gravity of the measurement target surface 2 corresponding to the same group is obtained, and the measurement target surface 2 corresponding to one group is obtained. The example which specified the adjacent adjacent measurement object surface was demonstrated. In the present embodiment, as another example, an example will be described in which the distances between coded signs CT that belong to each group are compared and specified as adjacent measurement target surfaces. Differences from the first embodiment will be mainly described. The structure model creating apparatus according to the present embodiment has the same configuration as that shown in FIG. 1 and the model creation processing flow similar to that shown in FIG. 4, but the contents of the surface positional relationship determining step (S140) are changed.

  FIG. 18 is a diagram for explaining determination of the positional relationship of the measurement target surface (wall surface) in the present embodiment. The adjacent surface specifying unit 73 performs the measurement target on the measurement target surface 2 corresponding to one group with respect to the labeled marker CT that is determined to belong to each group by the label grouping unit 71 by the surface positional relationship determination unit 731. When the surface 2 is represented by two-dimensional coordinates, measurement target surfaces corresponding to different groups having a coded sign closest to the coded sign CT arranged on the both sides of the coordinate axis and the most distant from the coordinate axis are obtained, and the first surface is obtained. The specifying unit 732A specifies the measurement target surfaces corresponding to the different groups obtained by the surface positional relationship determination unit 731 as the adjacent measurement target surfaces. That is, the surface positional relationship determination unit 731 extracts the color code target CT positioned at the extreme end in the horizontal direction on each wall surface, and measures the distance between the color code targets positioned at the extreme end between the two wall surfaces. Then, the wall surface to which the color code target having the closest distance belongs is selected, and the first surface specifying unit 732A determines that the wall surfaces are adjacent to each other. In the figure, the distance between the lower left color code target of “Wall 1” and the lower right color code target of “Wall 2” is the shortest. Therefore, “Wall 1” and “Wall 2” to which these color code targets belong. Are determined to be adjacent to each other.

  Other configurations and processing flow are the same as those in the first embodiment. As in the first embodiment, the positions of the surface of the structure and the line of intersection are automatically measured based on the captured image of the structure, and the structure It is possible to provide a structure model creation apparatus and method capable of automatically creating and displaying an object model.

In Example 1, although the example which calculates the intersection line of a wall surface after specifying the adjacent measurement object surface adjacent to each other was demonstrated in this Example, after calculating the intersection line of a wall surface, it adjoins mutually. An example of specifying a matching adjacent measurement target surface will be described. Differences from the first embodiment will be mainly described.
FIG. 19 shows a configuration example of the structure model creation device 1B according to the present embodiment. For the adjacent surface specifying unit 73, the surface positional relationship determining unit 731 shown in FIG. 1 is deleted, and a second surface specifying unit 732B is provided instead of the first surface specifying unit 732A. The second surface specifying unit 732B specifies an adjacent measurement target surface adjacent to the measurement target surface 2 corresponding to one group based on the positional relationship of the intersection lines obtained by the intersection line calculation unit 74.

  FIG. 20 shows a processing flow for creating a structure model according to the present embodiment. In FIG. 20, the surface positional relationship determining step (S140) shown in FIG. 4 is deleted, the order of the intersection line calculating step (S155) and the adjacent surface specifying step is reversed, and the content of the adjacent surface specifying step (S150) is reversed. Has been changed to (S150B).

  First, the intersection calculation unit 74 calculates the measurement target surface 2 corresponding to one group from the surface equation of the measurement target surface 2 corresponding to one group and the surface equation of the measurement target surface corresponding to the other one group. An intersection line with the measurement target surface corresponding to another group is obtained (intersection line calculation step: S155). Next, the adjacent surface specifying unit 73 is adjacent to the measurement target surface 2 corresponding to one group based on the positional relationship of the intersection line obtained by the intersection line calculating unit 74 in the second surface specifying unit 732B. The adjacent measurement target surface is specified (adjacent surface specifying step (second surface specifying step): S150B). In this case, for example, as shown in FIG. 8B, the intersection line calculation unit 74 also calculates the wall intersection lines Q1 and Q2 that are misrecognized in addition to the correctly recognized wall intersection lines P1 to P5. Based on the obtained positional relationship of the intersecting line, the adjacent surface specifying unit 73 obtains the wall intersecting lines P1 to P5 in which the innermost intersecting line is correctly recognized on both sides of the measurement target surface.

  Other configurations and processing flow are the same as those in the first embodiment. As in the first embodiment, the positions of the surface of the structure and the line of intersection are automatically measured based on the captured image of the structure, and the structure It is possible to provide a structure model creation apparatus and method capable of automatically creating and displaying an object model.

  In the first embodiment, an example in which the coordinate conversion is performed after calculating the intersection line has been described, but in this embodiment, an example in which the color code target CT is grouped (S120) will be described. Differences from the first embodiment will be mainly described. The structure model creating apparatus according to this embodiment has the same configuration as that shown in FIG.

  FIG. 21 shows a processing flow for creating a structure model according to the present embodiment. In FIG. 21, the coordinate conversion process (S160) is changed after the intersection line calculation process (S155) in FIG. 4 and after the sign grouping process (S120). In this case, the surface equation of the measurement target surface 2 is not obtained, but the surface direction or normal direction of the color code target CT attached to the measurement target surface 2 is detected. Can be estimated and coordinate-transformed to match the x-axis and y-axis of the three-dimensional orthogonal coordinate system. Furthermore, when the color code target CT is also affixed to the ceiling or floor, it is possible to perform coordinate conversion so that the direction matches the z axis. As described above, if the coordinates are converted early, the line of intersection between the two wall surfaces is mainly parallel to the z axis (perpendicular to the xy plane) and the wall surfaces are mainly parallel to the xz plane or yz plane. Therefore, the processes of the surface equation calculation step (S130) to the intersection line calculation step (S155) are simplified, and the processing efficiency is improved. The coordinate conversion step (S160) may be changed anywhere between the marker grouping step (S120) and the corner point calculation step (S170), or may be performed a plurality of times.

  Other configurations and processing flow are the same as those in the first embodiment. As in the first embodiment, the positions of the surface of the structure and the line of intersection are automatically measured based on the captured image of the structure, and the structure It is possible to provide a structure model creation apparatus and method capable of automatically creating and displaying an object model.

In the first to fifth embodiments, an example in which the measurement target surface is a plane has been described. However, the present invention can also be applied to a case where a curved measurement target surface is included.
In this embodiment, an example will be described in which the surface equation of the measurement target surface can be approximately expressed by a quadric surface. That is, the measurement target surface 2 includes a curved surface that can be expressed as a quadratic surface or approximately expressed as a quadratic surface, and the surface equation calculation unit 72 calculates the surface equation of the curved surface as a quadratic surface. To do. Differences from the first embodiment will be mainly described. The structure model creating apparatus according to this embodiment has the same configuration as that shown in FIG.

  FIG. 22 shows a process flow for creating a structure model according to the present embodiment. In FIG. 22, the surface equation calculation step (S130) and the intersection line calculation step (S155) in FIG. 4 are changed to the surface equation calculation step (S130C) and the intersection line calculation step (S155C), respectively. Now, in addition to planes, we will handle curved surfaces.

FIG. 23 shows an example in which the wall surface includes a curved surface.
A curved surface can be approximated by a function. In the case of a quadratic function, the curved surface

f (x, y) = ax2 + hxy + by2 + cx + dy + e (Equation 12)

And approximate. Since the color code target CT has three position detection marks, the parameters a, b, c, d, e, and h are obtained by substituting six position coordinates using at least two color code targets CT. be able to.
Therefore, the quadratic curved surface is represented by a surface equation as one surface, and the color code targets CT attached to the curved surface are grouped into one group, and the intersection line with the adjacent surface is obtained. Thereby, an indoor model can be created.

  Other configurations and processing flow are the same as those in the first embodiment. Even when a measurement target surface is included, the surface of the structure and the position of the intersection line are automatically measured based on the captured image of the structure. Thus, it is possible to provide a structure model creation apparatus and method capable of automatically creating and displaying a structure model.

In the present embodiment as well, as in the sixth embodiment, an example in which the present invention can be applied even when a curved measurement target surface is included will be described.
In the present embodiment, an example will be described in which the surface equation of the measurement target surface can be approximately expressed as a collection of many planes. The surface equation calculation unit 72 calculates a surface equation of a curved surface as a collection of a large number of planes. Approximate a curved surface with many planes. The color code target CT is affixed to each approximate plane, a surface equation is obtained from the normal direction and the position coordinates of the color code target CT, and an intersection line with the adjacent surface is obtained. Thereby, an indoor model can be created. Since the curved surface is divided into a large number of planes, the number of planes is increased, but processing according to the case where there is no curved surface can be performed.

  Other configurations and processing flow are the same as those in the first embodiment. Even when a measurement target surface is included, the surface of the structure and the position of the intersection line are automatically measured based on the captured image of the structure. Thus, it is possible to provide a structure model creation apparatus and method capable of automatically creating and displaying a structure model.

  The present invention can also be realized as a program for causing a structure model creation apparatus to execute the invention of the structure model creation method described in the flowcharts and the like described in the above embodiments. The program may be stored and used in a built-in storage unit of the structure model creation device, stored in an external storage device, or downloaded from the Internet and used. Moreover, it is realizable also as a recording medium which recorded the said program.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and it is obvious that various modifications can be made to the embodiments without departing from the spirit of the present invention. .

  For example, in the above embodiments, the indoor model has been described as the structure model, but the present invention can also be applied to a model of the external shape of a building. Further, the room is not limited to a room whose periphery is closed, and may be a partially opened room such as a room partitioned by a counter or the like, a room having a staircase or an atrium. Moreover, the room | chamber in which a ceiling, a wall, etc. have a curved surface may be sufficient. In addition, although the example in which the surface positional relationship determination in the third embodiment and the change in the process order in the fourth and fifth embodiments are applied instead of the first embodiment has been described, it can be applied instead of the second embodiment. . In the second embodiment, the positional relationship of the measurement target may be determined based on the code number of the sign with the code attached to the measurement target surface. In addition, the apparatus configuration may be such that there is no imaging unit, and a captured image captured by another imaging apparatus may be taken in, and the storage unit may be externally attached. As for the processing flow, if the origin is determined from the beginning, the coordinate conversion can be omitted. Further, whichever order of the identification code reading step (S114) and the mark position detecting step (S116) may be performed first. Further, the process is not limited to automatically performing all the processes from the captured image acquisition process (S110) to the drawing output process (S195), and may include some manual operations such as setting the ceiling height. In addition, in order to determine the temporary center of gravity of the wall surface, the number of targets attached to one wall surface, the threshold value for determining whether or not to belong to a group, and the like can be appropriately changed.

  The present invention can be used to automatically create a structure model such as an indoor model.

DESCRIPTION OF SYMBOLS 1,1A, 1B Structure model creation apparatus 2 Measurement object surface 3 Captured image 4 Image data acquisition part 5 Storage part 6 Target detection part 7 Calculation part 8 Image processing part 9 Control part 10 Personal computer (PC)
DESCRIPTION OF SYMBOLS 11 Input part 12 Display part 41 Image | photographing part 42 Data acquisition part 51 Photographed image memory | storage part 52 Marking memory | storage part 53 Threshold value memory | storage part 54 Operation data memory | storage part 61 Extraction part 62 Identification code reading part 63 Mark position detection part 71 Marking grouping part 711 Marking direction detection unit 712A First grouping unit 712B Second grouping unit 72 Surface equation calculation unit 73 Adjacent surface specifying unit 731 Surface positional relationship determining unit 732A First surface specifying unit 732B Second surface specifying unit 74 Line calculation unit 75 Corner identification unit 76 Three-dimensional coordinate calculation unit 81 Coordinate conversion unit 82 Model image creation unit 200 Retro target 204 Inner circle portion 206 Outer circle portion CT, CT1 to CT3 Color code target G Temporary center of gravity g1 to g5 Wall surface Provisional center of gravity P1 retro target part P2 reference color part P3 color code part P4 white part To threshold

Claims (14)

With a code having a position detection mark for detecting three or more mark positions that are not in a straight line on a sign surface and a code pattern for identifying a sign with a code on a measurement target surface constituting the surface of the structure An image data acquisition unit that acquires, as a measurement target surface image group, two or more captured images obtained by capturing the measurement target surface on which the label is arranged from different directions so that the sign with the code is included;
An extraction unit for extracting the three or more position detection marks and the code pattern for each of the code-attached signs from the measurement target plane image group acquired by the image data acquisition unit;
An identification code reading unit that reads an identification code from the code pattern extracted by the extraction unit;
A mark position detection unit for obtaining position coordinates of the position detection mark from three or more position detection marks extracted by the extraction unit;
Based on the position coordinates of the position detection mark obtained by the mark position detection unit, or based on the identification code read by the identification code reading unit, the coded signs arranged on the same measurement target surface are the same group A sign grouping unit for grouping the coded signs to belong to;
A surface equation calculation unit that calculates the surface equation of the measurement target surface corresponding to the group using the position coordinates of the position detection mark of the sign with a code that is determined to belong to the same group in the marker grouping unit;
From the surface equation of the measurement target surface corresponding to one group and the surface equation of the measurement target surface corresponding to the other one group, the measurement target surface corresponding to the one group and the measurement corresponding to the other one group An intersection line calculation unit for obtaining an intersection line with the target surface;
The measurement target plane corresponding to the one group based on the mutual positional relationship between the coded sign belonging to one group and the coded sign belonging to each of the other groups in the sign grouping unit An adjacent surface specifying unit that specifies an adjacent measurement target surface adjacent to the measurement target surface corresponding to the one group based on a positional relationship of intersection lines between the measurement target surface corresponding to each of the other groups;
The measurement target surface corresponding to each group for which the surface equation is calculated by the surface equation calculation unit, and the measurement target surface corresponding to each group and the adjacent measurement target surface among the intersection lines obtained by the intersection line calculation unit, A display unit for displaying the intersection line of
Structure model creation device. The sign grouping unit includes a sign direction detection unit that obtains a surface direction or a normal direction of a sign with a code having the position detection mark from the position coordinates of the position detection mark obtained by the mark position detection unit;
With the code arranged on the same measurement target surface based on the surface direction or normal direction of the sign with the sign obtained by the sign direction detection unit and the position coordinates of the position detection mark obtained by the mark position detection unit A first grouping unit for grouping the coded signs such that the signs belong to the same group;
The structure model creation apparatus according to claim 1. The sign grouping unit, based on the identification code of the sign with the code read by the identification code reading unit, sets the sign with the code so that the code signs arranged on the same measurement target surface belong to the same group. Having a second grouping section for grouping;
The structure model creation apparatus according to claim 1. The adjacent surface specifying unit is configured to select the one group based on a mutual positional relationship between a coded sign that belongs to one group and a coded sign that belongs to each of the other groups. Identify adjacent measurement target surfaces adjacent to the measurement target surface corresponding to
The intersection line calculation unit includes a measurement target surface corresponding to the one group based on a surface equation of the measurement target surface corresponding to the one group and a surface equation of the adjacent measurement target surface specified by the adjacent surface specification unit. Obtaining a line of intersection with the adjacent measurement target surface;
The structure model creation device according to any one of claims 1 to 3. The intersection line calculation unit is configured to calculate the measurement target surface corresponding to the one group and the other from the surface equation of the measurement target surface corresponding to the one group and the surface equation of the measurement target surface corresponding to the other group. Find the line of intersection with the surface to be measured corresponding to one group of
The adjacent surface specifying unit specifies an adjacent measurement target surface adjacent to the measurement target surface corresponding to the one group based on the positional relationship of the intersection line obtained by the intersection line calculation unit;
The structure model creation device according to any one of claims 1 to 3. A corner specifying unit that specifies a position where a plurality of intersections calculated by the intersection calculation unit intersect with a corner of the measurement target surface;
The structure model creation apparatus according to any one of claims 1 to 5. As the measurement target surface, a surface equation can include a curved surface that can be expressed by a quadric surface or can be approximately expressed by a quadric surface;
The surface equation calculation unit calculates a surface equation of the curved surface as a quadric surface;
The structure model creation apparatus according to any one of claims 1 to 6. The measurement target surface includes a curved surface whose surface equation can be approximately expressed as a collection of many planes;
The surface equation calculation unit calculates a surface equation of the curved surface as a collection of a plurality of planes;
The structure model creation apparatus according to any one of claims 1 to 6. The adjacent surface specifying unit obtains a temporary centroid of each of the signs with a code that are said to belong to the same group by the sign grouping unit, and the same from the temporary centroids of the signs with a code that are considered to belong to the same group. Determining a temporary centroid of a measurement target surface corresponding to the group, and specifying an adjacent measurement target surface adjacent to the measurement target surface corresponding to one group based on the arrangement of the temporary centroid determined for each measurement target surface;
The structure model creation apparatus according to claim 4. The adjacent surface specifying unit has a coordinate axis when the measurement target surface corresponding to one group is represented by a two-dimensional coordinate in a measurement target surface corresponding to one group with respect to a sign with a code which is determined to belong to each group by the label grouping unit. Identifying measurement target surfaces corresponding to different groups having a coded sign closest to the coded sign located farthest from the coordinate axis on both sides of said as a neighboring measurement target surface;
The structure model creation apparatus according to claim 4. A coordinate conversion unit that converts the position coordinates measured for the measurement target surface so that the main measurement target surface is parallel to two principal axes of a three-dimensional orthogonal coordinate system;
The structure model creation apparatus according to any one of claims 1 to 10. The sign with code corresponds to the identification code read by the identification code reading unit, the position coordinates of the position detection mark obtained by the direction detection unit, the group grouped by the label grouping unit, and the group A sign storage unit for storing the measurement object surface in association with the measurement target surface;
The structure model creation device according to any one of claims 1 to 11. The first grouping unit sets a predetermined threshold value with respect to the surface direction or normal direction of the sign with a sign obtained by the direction detection unit, and the surface direction or normal direction of the code sign has a predetermined value. If it falls within a predetermined threshold, the coded sign is determined to be the same group; if the predetermined threshold is exceeded, the coded sign is determined to be another group;
The structure model creation apparatus according to claim 2. With a code having a position detection mark for detecting three or more mark positions that are not in a straight line on a sign surface and a code pattern for identifying a sign with a code on a measurement target surface constituting the surface of the structure A captured image acquisition step of acquiring, as a measurement target surface image group, two or more captured images obtained by capturing the measurement target surface on which the marker is arranged from different directions so as to include the coded marker;
An extraction step of extracting the three or more position detection marks and the code pattern for each of the code-attached signs from the measurement target surface image group acquired in the captured image acquisition step;
An identification code reading step of reading an identification code from the code pattern extracted in the extraction step;
A mark position detection step of obtaining position coordinates of the position detection mark from three or more position detection marks extracted in the extraction step;
Based on the position coordinates of the position detection mark obtained in the mark position detection step, or on the basis of the identification code read in the identification code reading step, coded signs arranged on the same measurement target surface are in the same group A label grouping step of grouping the coded labels to belong to
A surface equation calculation step of calculating a surface equation of a measurement target surface corresponding to the group using the position coordinates of the position detection mark of the sign with a code that belongs to the same group in the marker grouping step;
Corresponding to the measurement target surface corresponding to the one group and the other one group from the surface equation of the measurement target surface corresponding to the one group and the surface equation of the measurement target surface corresponding to the other one group. An intersection line calculation step for obtaining an intersection line with the measurement target surface;
A measurement target surface corresponding to the one group based on the mutual positional relationship between the coded sign belonging to one group in the sign grouping step and the coded sign belonging to each of the other groups And an adjacent surface specifying step for specifying an adjacent measurement target surface adjacent to the measurement target surface corresponding to the one group based on a positional relationship of intersection lines between the measurement target surface corresponding to each of the other groups;
The measurement target surface corresponding to each group for which the surface equation is calculated in the surface equation calculation step, and the measurement target surface corresponding to each group and the adjacent measurement target surface among the intersection lines obtained in the intersection line calculation step, A display step of displaying the intersection line of
Structure model creation method.