JP2013156609A - Photomap creation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a photomap creation system for properly extracting the required number of still images from a large amount of still images photographed by an aircraft to reduce processing time of photomap creation.SOLUTION: Pieces of photographic position information in which a photographic point is included within a range of specific latitude and longitude are extracted by a photographic position information extraction function 3 from a photographic position information table 2 which stores the photographic position information including the photographic point when still images photographed along a flight path of an aircraft are photographed for every photography, and transferred to a sticking determination function 7 after being rearranged at random by a photographic position information transmission function 4, on the other hand, the respective adjacent points are calculated by an adjacent point calculation function 5 to be summarized in an adjacent point list 6, the sticking determination function 7 makes still images in which duplication ratio of photographic ranges of the corresponding still image is equal to or less than a threshold into sticking objects for each of the pieces of extracted photographic position information, and a photomap creation function 9 sequentially sticks the still images to create a photomap 10.

Description

  The present invention relates to a photographic map creation system that creates a single photographic map based on video taken by an aircraft.

The photo map creation system creates a large photo map by pasting images taken along the flight path of an aircraft in succession.
In conventional photo map creation systems, there are significant restrictions such as severe shooting conditions, a need to make a flight plan in advance, and a long time for photo map creation processing after shooting.
For example, Patent Document 1 describes a technique in which the same spot is shot twice and photographed, and a highly accurate photographic map is created therefrom.
Patent Document 2 relates to an apparatus for creating a photographic map from consecutive N still images. The shooting position information at the time of shooting the first image and the shooting position at the time of shooting the Nth image. From the information, there is described what presumes and pastes the shooting position information of the second image to the (N-1) -th image between them to create a photo map.
Japanese Patent Application Laid-Open No. H10-228667 describes a method for creating a smoothly connected photographic map from a plurality of adjacent images using an image analysis technique.
Patent Document 4 also describes a technique for creating a photographic map in which adjacent images are joined together using an image analysis technique in the same manner as Patent Document 3.
Japanese Patent Application Laid-Open No. 2005-228561 describes a technique in which adjacent captured images are corrected and pasted so that the overlapping portion is maximized.

JP 2000-276045 A (pages 3 to 6, FIG. 1) Japanese Patent Laying-Open No. 2006-189940 (pages 6 to 11, FIG. 1) JP 2002-342754 A (pages 5-7, FIG. 1) Japanese Patent Laid-Open No. 2002-150264 (pages 3 to 6, FIG. 1) JP 2003-316259 A (pages 5-6, FIG. 1)

The prior art is aimed at improving the positional accuracy at the time of creating a photo map, and a technique for creating a more correct photo map has been demanded. However, such a method has a problem that it takes time to shoot, a sufficient preparation time is required, and a process for creating a map after shooting takes a long time.
For example, in Patent Document 1, it is necessary to create a strict flight plan at the time of shooting and fly twice in the same place.
For example, the photographic map can be used to create a hazard map at the time of disaster using an aircraft / helicopter (hereinafter simply referred to as a helicopter). In such a case, a real-time property that provides information quickly is required rather than a highly accurate photographic map.

The following issues exist in creating a photo map in real time from images taken with an aircraft.
(1) It is necessary to cut out as many still images as necessary to cover the shooting area from the video, but the flight speed and shooting direction of the aircraft are changed each time, so the optimum still image cutting cycle cannot be determined in advance. .
Therefore, it is necessary to create a still image with a sufficiently short cycle so as not to be missing, but since the number of still images increases, it takes time to create a photo map.
(2) A still image for creating a photo map cut out from a video image may be in a situation where the same place is taken in duplicate. In particular, when photographing a certain disaster spot, a plurality of still images of that place are cut out. It takes a lot of processing time to stack all of them together to create a single photo map.

There is also a conventional technique for creating a photographic map using a series of images taken without assuming a prior flight plan. For example, Patent Document 2, Patent Document 3, and Patent Document 4 are designed to create a high-continuity photo map by performing image analysis / conversion processing of captured continuous images. It is assumed that only the context of consecutive captured images is subject to analysis / comparison.
However, the actual flight of the aircraft, particularly the flight during a disaster, is not specified, and there are various such as turning and stopping (in the case of a helicopter) in the same area. Therefore, it is considered that it is difficult to create an optimal photograph map by a method that relies solely on the flight context (time order).
Moreover, in these patent documents, it takes a long time to create all the photographic maps, and it is difficult to obtain real-time characteristics.

  In addition, Patent Document 5 performs pasting so that there are many overlapping portions, but it is considered that the overlapping portions of the created photo map may be difficult to see depending on the photographing position error, so it is not suitable for actual use. Can be considered.

  The present invention has been made to solve the above-described problems, and a photographic map that appropriately extracts a necessary number from a large number of still images taken by an aircraft and reduces processing time for photographic map creation. Aim to get a creation system.

  In the photo mapping system according to the present invention, a still image database storing still images taken along the flight path of an aircraft, and a shooting position storing shooting position information including shooting point coordinates in shooting a still image for each shooting. An information database, shooting position information extracting means for extracting shooting position information in which a shooting point is included in a predetermined latitude / longitude range from shooting position information stored in the shooting position information database, and the shooting position information extracting means For each of the extracted shooting position information, an adjacent shooting point is calculated, and an adjacent point calculation means for creating a list of adjacent points. Percentage of overlapping still image shooting ranges based on two shooting position information For each of the shooting position information extracted by the overlapping area calculation means for calculating the shooting position and the shooting position information extraction means A pasting determination means for pasting a still image corresponding to the photographing position information in which the photographing range overlaps with a photographing range of an adjacent photographing point that has already been pasted and does not exceed a threshold, and this The image forming apparatus includes a photo map creating unit that pastes a still image that is an object to be pasted by the pasting determining unit and creates a photo map.

According to the present invention, a still image database storing still images taken along the flight path of an aircraft, a shooting position information database storing shooting position information including shooting point coordinates in shooting a still image, and this shooting Shooting position information extracting means for extracting shooting position information in which a shooting point is included in a predetermined latitude / longitude range from shooting position information stored in the position information database, and shooting positions extracted by the shooting position information extracting means For each piece of information, an adjacent shooting point for calculating an adjacent shooting point and creating a list of adjacent points, an overlapping area for calculating the ratio of overlapping the shooting ranges of corresponding still images based on two shooting position information For each of the shooting position information extracted by the calculating means and the shooting position information extracting means, the shooting range is already pasted. A pasting determination means for pasting a still image corresponding to the photographing position information whose overlapping ratio with the photographing range of the target adjacent photographing point does not exceed the threshold, and a pasting target by the pasting determination means It is equipped with a photo map creation means that creates a photo map by pasting still images, so that the adjacent still images are extracted from the still images that are lined up on the plane of the shooting range, and the positional relationship and the overlap state are extracted. By calculating, the number of still images necessary and sufficient for creating one photo map can be extracted, and the processing time required for creating the photo map can be shortened.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the photograph map creation system by Embodiment 1 of this invention. It is a structure figure which shows the imaging | photography position information table of the photograph map production system by Embodiment 1 of this invention. It is a figure which shows the example which carried out the optimal triangulation of the plane using all the shooting points of the flight of the photography map production system by Embodiment 1 of this invention. It is a figure which shows the adjacent point list of the photograph map production system by Embodiment 1 of this invention. It is a figure which shows the example of the flight path | route of each photograph map creation system by Embodiment 1 of this invention, and its each imaging | photography point. It is a figure which shows the example of the photograph map of the photograph map creation system by Embodiment 1 of this invention. It is a block diagram which shows the photograph map creation system by Embodiment 2 of this invention. An embodiment for claim 2 will be described. It is a figure which shows the influence of the error by the camera angle of the photograph map production system by Embodiment 2 of this invention. It is a block diagram which shows the photograph map creation system by Embodiment 3 of this invention. It is a block diagram which shows the photograph map creation system by Embodiment 4 of this invention.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to the drawings.
1 is a block diagram showing a photographic map creating system according to Embodiment 1 of the present invention.
In FIG. 1, a photo map creating system 100 is configured as follows.
The still image file group 1 (still image database) formed in the storage device is a still image file cut out from a video taken by the helicopter at a constant cycle (for example, every second). The shooting position information table 2 (shooting position information database) formed in the storage device includes the date and time when each still image file in the still image file group 1 was shot, the helicopter position (latitude and longitude altitude), and the shooting point (shooting point). The shooting position information including the latitude and longitude coordinates (the center point, the upper right corner, the upper left corner, the lower right corner, and the lower left corner), camera information, and the file name of the still image file is recorded.
The shooting position information extraction function 3 (shooting position information extraction means) extracts, from the shooting position information table 2, records included in the latitude / longitude range of the shot image to be created among the shooting position information included in the shooting position information table 2. . The shooting position information sending function 4 (shooting position information rearranging means) rearranges the shooting position information extracted by the shooting position information extraction function 3 in a random order.

The adjacent point calculation function 5 (adjacent point calculation means) calculates a list of shooting points (a plurality of cases) adjacent to each shooting point for the shooting position information extracted by the shooting position information extraction function 3. The adjacent point list 6 is created.
The pasting determination function 7 (pasting determination means) extracts the shooting position information according to the order rearranged by the shooting position information sending function 4, and for the corresponding still image, the adjacent point list 6 and the overlapping area calculation described later. The function 8 is used to determine whether or not to paste on one large photo map 10.
The overlapping area calculation function 8 (overlapping area calculation means) calculates the ratio of overlapping of the corresponding still image shooting ranges based on the two pieces of given shooting position information.
The photo map creation function 9 (photo map creation means) pastes the pasting still images determined by the pasting determination function 7 on the photo map 10 in the order rearranged by the shooting position information sending function 4.
The photograph map 10 is finally created by these processes and stored in the storage device.

FIG. 2 is a structural diagram showing a photographing position information table of the photographic map creating system according to Embodiment 1 of the present invention.
In FIG. 2, the shooting position information table 2 records position information (shooting position information) at the time of shooting in record units. When a new image is taken due to the flight of the aircraft, new shooting position information is sequentially added to the end of the shooting position information table 2.
Each record stores the latitude and longitude coordinates of the center point, upper right corner, upper left corner, lower right corner, and lower left corner of the shooting point, camera information, and latitude / path information of the altitude, speed, and position of the aircraft.
The camera information includes a pan angle (horizontal) cp, a tilt angle (vertical) ct, and a zoom value cz.

FIG. 3 is a diagram showing an example in which the plane is optimally divided into triangles using all the shooting points of the flight of the photographic map creating system according to Embodiment 1 of the present invention.
In FIG. 3, a triangle is formed from each of the photographing points P0 to P10.

FIG. 4 is a diagram showing a list of adjacent points of the photographic map creation system according to Embodiment 1 of the present invention.
In FIG. 4, an adjacent point list 6 is a table in which the shooting points of each triangle in FIG.

FIG. 5 is a diagram showing an example of the flight path and each photographing point thereof in the photographic map creating system according to Embodiment 1 of the present invention.
In FIG. 5, still images S <b> 0 to S <b> 10 captured based on the respective capturing points P <b> 0 to P <b> 10 on the flight route R are shown.

FIG. 6 is a diagram showing an example of a photographic map of the photographic map creating system according to Embodiment 1 of the present invention.
In FIG. 6, a photographic map 10 is generated by combining still images S0 to S10.

Next, the operation will be described.
As shown in FIG. 5, the aircraft flies along the flight path R, takes images at the shooting points P0 to P10, and takes still images S0 to S10. In the shooting position information table 2, information related to shooting (shooting position information) is recorded in units of records, and shooting position information when a new shot is taken by flight of an aircraft is at the end of the shooting position information table 2. It will be added sequentially.
The shooting position information extraction function 3 extracts shooting position information having shooting points in a predetermined range from the shooting position information table 2. The extracted shooting position information has the same record structure as the shooting position information table 2.

Next, the photographing position information sending function 4 will be described.
The shooting position information sending function 4 performs a process of randomly sorting the shooting position information extracted by the shooting position information extracting function 3 and passing it to the pasting determination function 7. The reason for rearranging at random is to suppress the influence of the shooting order on the completeness of the finally created photographic map.

Next, the adjacent point list 6 will be described.
An adjacent point of a certain shooting point is a point group that is connected to the shooting point by an edge when the plane is optimally triangulated using all shooting points of the flight. An example is shown in FIG.
As shown in FIG. 3, the adjacent points of the point P0 are P1, P7, and P8. The adjacent point list 6 is represented as a set of triangles created by this optimal triangulation, and is shown in FIG. When acquiring an adjacent point of a certain shooting point P, all the triangles including P are extracted from the adjacent point list 6, and P is removed from a set of points constituting the triangles.

Next, an algorithm for creating an adjacent point list 6 by performing optimal triangulation from a set of shooting points by the adjacent point calculation function 5 will be described.
Since the optimal triangulation has a well-known method as division by Delaunay triangle, it is applied here. The outline is shown below.
(1) First, a large triangle including all the photographing points is created, and the adjacent point list 6 is initialized therewith.
(2) Randomly order each point in the set of shooting points.
(3) The following algorithm is applied to each shooting point according to the ordering. Let P be the selected shooting point.
(A) A triangle PaPbPc including the photographing point P is selected from the adjacent point list 6.
(B) If P is inside PaPbPc,
(A) PaPbPc is divided into three triangles of PPaPb, PPbPc, and PPcPa, with P as a new vertex.
(B) If a triangle including PaPb exists in the adjacent point list 6,
(B1) When it is assumed that P′PaPb, when the smallest one of the inner angles of PP′Pa and PP′Pb is larger than the smallest of the inner angles of PPaPb and P′PaPb,
(B11) PP′Pa and PP′Pb are added to the adjacent point list 6, and P′PaPb is deleted from the adjacent point list 6.
(B12) The process of (b) is performed on each of PP′Pa and PP′Pb.
(B2) If not, add PPaPb to the adjacent point list 6.
(C) When the triangle including PaPb does not exist in the adjacent point list 6, the PPaPb is added to the adjacent point list 6.
(D) The above steps (b) and (c) are similarly performed on PPbPc and PPcPa.
(4) Finally, the maximum triangle registered in (1) is deleted.
By this process, the adjacent point list 6 which is a triangular table formed by connecting the shooting points adjacent to all the shooting points with straight lines can be created.

Next, the operation of the overlapping area calculation function 8 will be described. In the overlapping area calculation function 8, it is necessary to determine a polygon in which two rectangles in the shooting range overlap.
The following is an example of an algorithm for calculating the overlap of two rectangles. As a similar algorithm, there are various methods such as a method for obtaining an intersection of line segments by a plane operation method, but it is not particularly specified in the present invention.
Let the squares of the two shooting ranges be Fp and Fq, respectively. Let P1P2P3P4 be the one in which the top left vertex of Fp is the top and the vertices are arranged clockwise, and Fq is also Q1Q2Q3Q4. P1P2, P2P3, P3P4, P4P1, and Q1Q2, Q2Q3, Q3Q4, and Q4Q1 are the sides of the respective squares. The right side of this side is always inside the rectangle.

Below, an algorithm for obtaining the polygon of the overlapping of the shooting points is shown.
Step 1: The following processing is performed in this order for the four sides P1P2, P2P3, P3P4, and P4P1 of Fp.
(1) Let the selected Fp side be PiPj.
(2) For PiPj, the following processing is performed in order on the four sides Q1Q2, Q2Q3, Q3Q4, and Q4Q1 of Fq.
(A) Let the edge of the selected Fq be QiQj.
(A) When there is an intersection Pk between PiPj and QiQj,
(A) Add Pk to intersection set X.
(B) The edge PiPk is added to the edge set E.
(C) Pi: = Pk is newly set, and the process (2) is repeated.
Since the new edge PiPj (= PkPj) should not have an intersection with QiQj in this loop, it is necessary to confirm the next edge QiQj.
(3) If there are no intersections with the four sides of Fq in the processing of (2), PiPj is added to E.

Step 2: Contrary to Step 1, the same processing as Step 1 is performed on the four sides of Fp for the four sides Q1Q2, Q2Q3, Q3Q4, and Q4Q1 of Fq.
By these two steps, the intersections of all eight sides of Fp and Fq belong to X. A set of sides divided by the intersection is E.

Step 3-1: If there is no intersection in X, there is no overlap or one is included in the other. By checking whether the vertices of Fp and Fq are included in each other, the inclusion relationship can be confirmed. When Fp is included in Fq, the overlap is 100%, and when Fq is included in Fp, the overlap ratio can be calculated by (area of Fq) ÷ (area of Fp). If there is no inclusion relationship, the overlap is 0 percent.

Step 3-2: If an intersection exists in X, a polygon overlapping X and E is created. Since Fp and Fq are each a convex quadrangle, the overlapping polygon is always convex and unique.
(1) Let X be an arbitrary intersection point Px.
(2) All sides PxP1,..., Starting from E to Px are taken out and arranged in clockwise order with reference to the direction vector from Px to the end point. The following processing is performed on the sides in the arrangement order.
(A) Let the extracted side be PxPy. The edge set V is initialized with PxPy.
(B) All the sides PyPa, starting from Py are taken out and arranged in the clockwise order with PyPx (inverse vector of PxPy) as the head, with Py as the center and the direction vector to the end point as a reference.
(C) Let the last side in the sequence be PyPz. When PyPz is on the counterclockwise side when viewed from the side PyPx (that is, when PxPyPz is clockwise in that order)
(A) Add PyPz to V.
(B) If Pz is Px extracted in (2), the search is completed and the process ends.
If not, Px: = Py and Py: = Pz are newly set, and the processing from (a) is performed. (D) If there is no PyPz that turns clockwise, this search fails. Returning to (2), the next PxPy is extracted and the processes (a) to (c) are repeated.

When this process is completed and V is created, the polygon Fx formed by the sides can be referred to as a polygon in which Fp and Fq overlap. Since Fx is a convex polygon, the area of Fx can be obtained by forming a triangle connecting a straight line from an arbitrary point Px to another point and obtaining the area thereof. The overlapping ratio is obtained by (Fx area) / (Fp area).
The overlap area calculation function 8 makes it possible to determine the overlapping ratio of two shooting points. As a result, the processing of the pasting determination function 7 can be realized.

Next, the operation of the pasting determination function 7 will be described.
The pasting determination function 7 repeats the following processing.
(1) One image is sequentially extracted from the shooting point sequence created by the shooting position information sending function 4. Let it be F.
(2) All the shooting points adjacent to F are extracted from the adjacent point list 6, and the following processing is performed in order. Let F ′ be the adjacent shooting point.
(A) When F ′ is already pasted on the photo map, the ratio of the superposition of F and F ′ is calculated. When the ratio exceeds a predetermined threshold, F is excluded from the pasting target, and the process (2) ends.
Otherwise, the same verification is performed for the next adjacent shooting point.
(3) When the overlapping ratio does not exceed the threshold value for all adjacent photographing points, F is set as a pasting target.

  Finally, the photo map creation function 9 creates the photo map 10 as shown in FIG. 6 by pasting the still image to be pasted by the paste determination function 7. In the photo map creation function 9, conversion is performed so that the shape (rectangle or trapezoid) of each still image to be pasted is the same according to the shooting range, and a method such as affine transformation is adopted as the method.

According to the first embodiment, it is necessary to create a single photo map by extracting adjacent still images from still images arranged on the plane of the shooting area and calculating the positional relationship and the degree of overlap. The number of sufficient still images can be kept to a minimum.
Thereby, it is possible to shorten the map creation processing time.

Embodiment 2. FIG.
Next, Embodiment 2 will be described with reference to the drawings.
FIG. 7 is a block diagram showing a photographic map creation system according to Embodiment 2 of the present invention.
In FIG. 7, 1 to 3, 5 to 10, and 100 are the same as those in FIG. In FIG. 7, instead of the shooting position information sending function 4 of FIG. 1, a shooting accuracy measuring function 14 (shooting accuracy calculating means) for measuring shooting accuracy is provided. Here, the shooting accuracy is defined as high-accuracy shooting with less error at the shooting point. The error of the shooting point here means the difference between the shooting point calculated from information such as the latitude and longitude of the aircraft and the camera angle and the actual shooting point.
The error is caused by various factors such as a GPS information shift and a camera angle shift. Among them, the effect of the shift due to the camera angle is the most influential.

FIG. 8 is a diagram showing the influence of error due to the camera angle of the photographic map creating system according to Embodiment 2 of the present invention.
In FIG. 8, when the image is taken directly below the aircraft, the direction is A0. The range of the camera angle deviation is represented by Ad. In that case, the positional deviation on the ground surface is in the range of Ar. When the camera angle is B0 in the oblique direction, even if the same camera angle deviation range Bd = Ad, the positional deviation on the ground surface is Br, which is much larger than Ar.

In the second embodiment, photographing accuracy is measured, and an image adjacent to the image is extracted with a high positional accuracy (still image) as a center.
As shown in FIG. 8, when the camera angle is B0 in an oblique direction, the position shift on the ground surface becomes very large even if the same camera angle shift range Bd = Ad as in the case of photographing directly under the vertical is taken.
Accordingly, it is possible to use the degree of deviation of the camera angle from directly below as an index of the accuracy of the shooting point.
The shooting accuracy measurement function 14 extracts the camera angle from the shooting position information extracted by the shooting position information extraction function 3, calculates how far the value is from the vertically downward direction (D in the figure), and in that order. Rearrange the shooting position information.
The processing result of the photographing accuracy measurement function 14 is passed to the pasting determination function 7. Other processes are the same as those in the first embodiment.

  According to the second embodiment, it is possible to extract an image adjacent to the image with a high positional accuracy as a center, and thus the finally created photograph map has a high accuracy.

Embodiment 3 FIG.
Next, Embodiment 3 will be described with reference to the drawings.
FIG. 9 is a block diagram showing a photographic map creation system according to Embodiment 3 of the present invention.
In FIG. 9, 1 to 5, 5 to 10 and 100 are the same as those in FIG. In FIG. 9, in place of the imaging accuracy measurement function 14 of FIG. 7, an imaging accuracy / area measurement function 24 (imaging accuracy / area measurement means) that measures the area of the range of the imaging point along with the imaging accuracy is provided.

The shooting accuracy / area measurement function 24 of the third embodiment calculates the area of the shooting point range in addition to the shooting accuracy calculation method described in the second embodiment. The calculation of the photographing area can be performed in accordance with a normal polygon area calculation method.
The shooting accuracy / area measurement function 24 calculates the camera angle by the method described in the second embodiment, and performs ordering in the descending order of the area within the shooting points having the same camera angle.
The processing result of the photographing accuracy / area measurement function 24 is passed to the pasting determination function 7. Other processes are the same as those in the first embodiment.

  According to Embodiment 3, it is possible to cover a large area with one still image, and it is possible to reduce pasted still images.

Embodiment 4 FIG.
Next, Embodiment 4 will be described with reference to the drawings.
FIG. 10 is a block diagram showing a photographic map creation system according to Embodiment 4 of the present invention.
In FIG. 10, 1 to 3, 5 to 10, and 100 are the same as those in FIG. In FIG. 10, in place of the shooting position information sending function 4 of FIG. 1 of FIG. The display device 41 displays the still images of the shooting points side by side on the map. The pointing device 42 is used by the user to designate one shooting point from among still images of shooting points displayed on the display device 41.

In the fourth embodiment, the user can select a shooting point using the shooting position specifying function 44.
Therefore, still images corresponding to the shooting position information extracted by the shooting position information extraction function 3 are displayed side by side on the map on the display device 41, and the user uses the pointing device 42 to select one of them. specify. As a result, a shooting point is specified by the shooting position specifying function 44.
Using the photographing position designation function 44, the photographing point designated by the user is set as the head, and thereafter, the photographing points are ordered and arranged according to the following processing.
(1) The shooting point list L is initialized at the first shooting point (F0).
(2) The following processing is repeated.
(A) All adjacent shooting points of all shooting points included in L are acquired from the adjacent point list 6.
(A) The shooting points obtained above are rearranged randomly and added to the end of L. At this time, shooting points already added to L are excluded.
(3) The processing of (2) is repeated until all shooting points included in the adjacent point list 6 are included in L.

As a result, the first shooting point (F0) designated by the user can be given the highest priority, and the shooting points adjacent to the first shooting point (F0) can be arranged in order from F0.
The processing result of the photographing position designation function 44 is passed to the pasting determination function 7. Other processes are the same as those in the first embodiment.

  According to the fourth embodiment, it is possible to create a photo map in which the image designated by the user is given the highest priority.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

DESCRIPTION OF SYMBOLS 1 Still image file group 2 Shooting position information table 3 Shooting position information extraction function 4 Shooting position information sending function 5 Adjacent point calculation function 6 Adjacent point list 7 Pasting decision function 8 Overlapping area calculation function 9 Photo map creation function 10 Photo map 14 shooting accuracy measurement function 24 shooting accuracy / area measurement function 41 display device 42 pointing device 44 shooting position designation function 100 photo map creation system

Claims (5)

Still image database that stores still images taken along the flight path of the aircraft,
A shooting position information database storing shooting position information including shooting point coordinates in the shooting of the still image for each shooting;
Shooting position information extracting means for extracting shooting position information in which a shooting point is included in a predetermined latitude / longitude range from shooting position information stored in the shooting position information database;
For each of the shooting position information extracted by this shooting position information extracting means, an adjacent shooting point is calculated, and an adjacent point calculating means for creating an adjacent point list,
Based on two pieces of shooting position information, an overlapping area calculation means for calculating a ratio of overlapping still picture shooting ranges corresponding to each other,
For each of the shooting position information extracted by the shooting position information extracting means, the ratio of the shooting range overlapping with the shooting range of the adjacent shooting point that has already been pasted is the shooting position information that does not exceed the threshold. A pasting determination means for pasting a corresponding still image,
And a photographic map creation system comprising photographic map creation means for pasting a still image to be pasted by the pasting determination means and creating a photographic map. The photographing position information rearranging means for randomly rearranging the photographing position information extracted by the photographing position information extracting means,
2. The photographic map creation system according to claim 1, wherein the pasting determination means sequentially determines the pasting target for the photographing position information rearranged by the photographing position information rearranging means. Based on the shooting position information, the accuracy of the shooting point of the still image is calculated, and the shooting position information extracted by the shooting position information extracting unit is rearranged in the order of the calculated shooting point accuracy. Equipped with photographing accuracy calculation means,
2. The photographic map creation system according to claim 1, wherein the pasting determining means sequentially determines the pasting target for the photographing position information rearranged by the photographing accuracy calculating means. Based on the shooting position information, the accuracy of the shooting point of the still image is calculated and the area of the shooting range is measured. If the calculated order of accuracy of the shooting points and the accuracy of the shooting points are the same, the shooting is performed. In a descending order of the area of the range, it is provided with photographing accuracy / area measuring means for rearranging the photographing position information extracted by the photographing position information extracting means,
2. The photographic map creation system according to claim 1, wherein the pasting determining means sequentially determines the pasting target for the photographing position information rearranged by the photographing accuracy / area measuring means. A display device for displaying a still image corresponding to the shooting position information extracted by the shooting position information extracting means;
The shooting position information designated by the user from among the still images displayed on the display device is given the highest priority, and the adjacent point list is referred to, and the position is close to the designated shooting position information. It has a shooting position designation means for rearranging shooting position information,
2. The photographic map creation system according to claim 1, wherein the pasting determining means sequentially determines the pasting target for the photographing position information rearranged by the photographing position specifying means.

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